A small navigation positioning surgical device

Abstract

The application discloses a small navigation positioning surgical device, a feeding module of the surgical device is capable of being quickly and detachably installed at the front end of a six-degree-of-freedom parallel motion module; a positioning mark is fixedly installed at the top of the feeding module; the rear end of the six-degree-of-freedom parallel motion module is fixedly installed at a shell body, and is used for driving the feeding module to realize six-degree-of-freedom motion; a handle is installed at the top of the shell body; a navigation module is used for generating navigation information; a control module is in signal connection with the navigation module and the six-degree-of-freedom parallel motion module, and is used for controlling the six-degree-of-freedom parallel motion module to move according to the navigation information. The surgical device has the characteristics of simple structure, low cost and flexible operation, can compensate physiological motion, has the navigation positioning function, and realizes rotation needle insertion and different surgical operations based on physiological motion compensation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical operation navigation orientation, and particularly relates to a small navigation positioning operation device. BACKGROUND

[0002] In recent years, with the continuous development of medical technology, minimally invasive percutaneous puncture surgery based on extracorporeal image guidance has gradually emerged in the diagnosis and treatment of malignant tumors, with the characteristics of small trauma, light pain, few complications, fast recovery and low cost, making it an important means in the field of tumor treatment. However, although this technology has achieved remarkable clinical results in the targeted diagnosis and treatment of various organs and tissues, there are still a series of problems to be solved.

[0003] Firstly, the current operation method of minimally invasive percutaneous puncture surgery mainly adopts the "blind puncture type" operation method of "scanning positioning-puncturing-scanning confirmation", which leads to longer radiation exposure time for doctors and patients, insufficient puncture accuracy, and excessive dependence on doctors' experience, increasing the risk of complications. In order to improve the safety and accuracy of the operation, a more precise and controllable operation method is needed to reduce radiation exposure, improve puncture accuracy, and reduce the burden of doctors on the learning curve.

[0004] In orthopedic surgery, especially in surgeries involving tools such as bone plates and bone screws, traditional surgical jigs, computer-aided navigation software or image guidance have certain limitations in terms of physiological movement and navigation positioning accuracy, affecting the final outcome of the surgery. One of the challenges in current orthopedic surgery is how to better overcome the interference of physiological movement on the surgical process through technical means to improve the accuracy and success rate of the surgery.

[0005] With the rapid development of robot technology, robot-assisted surgery systems have shown increasing potential in image guidance, positioning surgery and other aspects. In particular, in the fields of tumor biopsy, tumor treatment and orthopedic surgery, robot systems can improve the accuracy of surgery, reduce the learning curve of doctors, and effectively compensate for the impact of physiological movement on the surgical process through precise image guidance and intelligent control. However, there are still a series of challenges, such as high cost, complexity, lack of operational flexibility of robot systems, which need further research and innovation.

[0006] The navigation positioning operation device is difficult to compensate for physiological movement during the operation process, such as lung puncture surgery, which may cause the radial pull of the puncture needle on the needle insertion path due to the lack of physiological movement and the freedom of movement of the robot. SUMMARY

[0007] The small navigation positioning surgical device has the characteristics of simple structure, low cost and flexible operation, and has the navigation positioning function of physiological motion compensation, can realize rotation needle insertion based on physiological motion compensation, and realizes different surgical operations by replacing the surgical end.

[0008] The application adopts the following specific technical solutions:

[0009] The small navigation positioning surgical device comprises a feeding module, a positioning mark, a six-degree-of-freedom parallel motion module, a shell, a navigation module and a control module.

[0010] The feeding module is quickly detachably installed at the front end of the six-degree-of-freedom parallel motion module, and is used for clamping a puncture needle and realizing feeding and withdrawal.

[0011] The positioning mark is fixedly installed at the top of the feeding module.

[0012] The rear end of the six-degree-of-freedom parallel motion module is fixedly installed on the shell, and is used for driving the feeding module to realize six-degree-of-freedom motion.

[0013] The shell has a cavity inside, and a handle is installed at the top.

[0014] The navigation module is used for acquiring the real-time position of the puncture needle and the position coordinates of the target position, and generating navigation information.

[0015] The control module is signal-connected with the navigation module and the six-degree-of-freedom parallel motion module, and is used for controlling the six-degree-of-freedom parallel motion module to move according to the navigation information of the navigation module, so that the puncture needle moves from the starting position to the target position.

[0016] Further, the feeding module comprises a feeding shell, a motor, a transmission shaft, a driving gear, a driven gear and a pair of oppositely arranged guide wheels.

[0017] The rear end of the feeding shell is installed on the six-degree-of-freedom parallel motion module, and the top surface is installed with the positioning mark.

[0018] The motor is fixedly installed in the feeding shell, and is used for driving the transmission shaft to rotate.

[0019] One end of the transmission shaft is located outside the front end surface of the feeding shell and is fixedly installed with the driving gear.

[0020] The driven gear and the guide wheel are rotatably mounted on the front end surface of the feeding shell; the axial lines of the driving gear, the driven gear and the guide wheel are arranged in parallel; the driven gear is engaged with the driving gear in the horizontal direction;

[0021] The outer periphery of the guide wheel is provided with a first guide groove for guiding the bottom end of the puncture needle;

[0022] The outer periphery of the driving gear and the driven gear is provided with a second guide groove; the driven gear and the driving gear clamp the puncture needle in the oppositely arranged second guide grooves, and drive the puncture needle to act when the driving gear rotates.

[0023] Further, the feeding shell is composed of a middle shell and side shells fixedly mounted on both sides of the middle shell;

[0024] The front end surface of the middle shell is mounted with the driving gear, the driven gear and the guide wheel; the rear end surface of the middle shell is mounted on the six-degree-of-freedom parallel motion module through the quick-release mounting structure;

[0025] The positioning marks are fixedly mounted on the top surface of the middle shell at four corners.

[0026] Further, the feeding module further comprises a driving bevel gear and a driven bevel gear in transmission connection between the motor and the transmission shaft;

[0027] The driving bevel gear is fixedly mounted on the output shaft of the motor;

[0028] The driven bevel gear is fixedly mounted on the other end of the transmission shaft and engaged with the driving bevel gear;

[0029] The positioning mark is a visual positioning ball.

[0030] Further, the six-degree-of-freedom parallel motion module is composed of a bottom platform, a top platform and six motion assemblies;

[0031] The top platform is oppositely arranged with the bottom platform;

[0032] The front end portion of the top platform is mounted with the middle shell through the quick-release mounting structure;

[0033] The rear end portion of the bottom platform is fixedly mounted on the front end of the shell;

[0034] Six said movement assemblies are connected between said bottom platform and said top platform; each movement assembly comprises a three-degree-of-freedom hinge, a middle link, a rear hinge and a push rod electric cylinder; said three-degree-of-freedom hinge is movably connected to a side surface of said top platform facing said bottom platform; said middle link is hingedly connected between said three-degree-of-freedom hinge and said rear hinge; said push rod electric cylinder is accommodated in said shell and fixedly installed on a side of said bottom platform away from said top platform; a push rod of said push rod electric cylinder penetrates through said bottom platform and is hingedly connected with said rear hinge.

[0035] Further, said quick-release mounting structure comprises a clamping groove arranged on said top platform and a clamping block arranged on said middle shell.

[0036] Said clamping block is clamped in said clamping groove in a shape-fitting manner.

[0037] Further, said clamping groove is a trapezoidal groove; said clamping block is a trapezoidal block.

[0038] Said rear hinge is a Hooke's joint or a spherical hinge.

[0039] Further, a binding device for binding said shell to a human body is further included.

[0040] Said binding device comprises an upper base plate, a lower base plate, positioning strips, upper shoulder binding belts, lower shoulder binding belts, upper abdominal binding belts, lower abdominal binding belts, stop buckles and buckles.

[0041] A bottom surface of said upper base plate is used to be attached to an abdomen of a human body, and a top surface thereof is used to fixedly install said shell; said lower base plate is used to be attached to a back of a human body opposite to said upper base plate.

[0042] A top surface of said upper base plate is provided with a plurality of positioning strips, a top edge thereof is connected with two said upper shoulder binding belts, and two side edges thereof are connected with two said upper abdominal binding belts; an end of each of said upper abdominal binding belts and said upper shoulder binding belts is fixedly connected with one said stop buckle.

[0043] A top edge of said lower base plate is connected with said lower shoulder binding belts corresponding to said upper shoulder binding belts one by one, and two side edges thereof are connected with said lower abdominal binding belts corresponding to said upper abdominal binding belts one by one; an end of each of said lower abdominal binding belts and said lower shoulder binding belts is fixedly connected with one said buckle.

[0044] Each of said upper shoulder binding belts and said lower shoulder binding belts, and each of said upper abdominal binding belts and said lower abdominal binding belts is detachably connected through said stop buckle and said buckle.

[0045] Further, a main / passive support module signal-connected with said control module is further included.

[0046] The end of the active / passive support module clamps the handle.

[0047] Further, the navigation module adopts electromagnetic navigation, binocular camera or CT / ultrasound real-time guidance for navigation.

[0048] Beneficial effects:

[0049] 1、The miniaturized navigation positioning device can install the feeding module on the shell through the six-degree-of-freedom parallel motion module, the six-degree-of-freedom parallel motion module can drive the feeding module to realize six-degree-of-freedom motion, the control of the feeding module and the six-degree-of-freedom parallel motion module by the navigation module and the control module enables the puncture needle to move from the starting position to the target position, the target position and attitude and physiological motion information are acquired based on the navigation module, the navigation positioning is realized based on the six-degree-of-freedom parallel motion module, and physiological motion is compensated to realize dynamic tracking navigation, so that the navigation positioning function of compensating physiological motion is realized.

[0050] 2、For puncture surgery, the miniaturized navigation positioning device can realize rotation needle insertion based on physiological motion compensation in combination with the feeding module, the six-degree-of-freedom parallel motion module and the navigation module.

[0051] 3、The fixing mode of the miniaturized navigation positioning device can adopt bedside active / passive support fixing, body fixing and doctor hand holding, and can realize remote control operation, manual operation and automatic operation, and is suitable for different scenes.

[0052] 4、The miniaturized navigation positioning device can be used in neurosurgery puncture, soft tissue puncture, tumor puncture, orthopedic surgery navigation (such as pedicle screw implantation) and different surgical operations, and can be realized by replacing corresponding surgical ends for different surgical operations.

[0053] 5、The miniaturized navigation positioning device is composed of the six-degree-of-freedom parallel motion module, the feeding module, the navigation module, the control module and the shell, and has the characteristics of simple structure, low cost and flexible operation. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 It is an overall structure schematic view of the small navigation positioning surgical device.

[0055] Figure 2 It is an overall structure schematic view of the feeding module.

[0056] Figure 3 It is a structure schematic view of the side shell of the feeding module.

[0057] Figure 4 It is a structure schematic view of the guide wheel of the feeding module.

[0058] Figure 5 Structure diagram of the transmission gear of the feeding module;

[0059] Figure 6 Structure diagram of the middle shell of the feeding module;

[0060] Figure 7 Structure diagram of the trapezoidal sliding quick-release mounting structure of the feeding module;

[0061] Figure 8 Structure diagram of the reversing bevel gear of the feeding module;

[0062] Figure 9 Structure diagram of the motor of the feeding module;

[0063] Figure 10 Structure diagram of the end platform and the trapezoidal sliding quick-release connecting slot;

[0064] Figure 11 Structure diagram of the six-degree-of-freedom parallel kinematic module;

[0065] Figure 12 Structure diagram of the shell;

[0066] Figure 13 Structure diagram of the binding belt;

[0067] Figure 14 Structure diagram of the overall translational motion of the small navigation positioning surgical device;

[0068] Figure 15 Structure diagram of the overall rotational motion of the small navigation positioning surgical device;

[0069] Figure 16 Navigation diagram of the small navigation positioning surgical device performing brain surgery;

[0070] Figure 17 Navigation diagram of the small navigation positioning surgical device performing thoracic and abdominal surgery;

[0071] Figure 18 Navigation diagram of the small navigation positioning surgical device performing back spine surgery;

[0072] Figure 19 Fixed working mode of the doctor holding the small navigation positioning surgical device;

[0073] Figure 20 Fixed working mode of the active / passive support;

[0074] Figure 21 Fixed working mode of the body binding small navigation positioning surgical device;

[0075] Figure 22 Schematic diagram for physiological motion detection and respiratory motion compensation.

[0076] Wherein, 1-feeding module; 2-visual positioning ball; 3-six degree of freedom parallel motion module; 4-housing; 11-puncture needle; 12-lateral housing; 13-guiding wheel; 14-transmission gear; 15-middle housing; 16-reversing bevel gear; 17-transmission shaft; 18-motor; 31-top platform; 32-three degree of freedom hinge; 33-middle connecting rod; 34-rear hinge; 35-bottom platform; 36-push rod electric cylinder; 41-handle; 42-rubber groove; 100-small navigation positioning surgical device; 101-upper base plate; 102-lower base plate; 121-fixing bolt; 131-guiding wheel shaft fixing hole; 132-first guiding groove; 141-transmission gear shaft fixing hole; 142-second guiding groove; 151-bolt hole; 152-motor fixing hole; 153-signal lamp connecting hole; 154-bevel gear fixing shaft; 155-driven wheel fixing shaft; 156-transmission shaft fixing hole; 157-guiding wheel fixing shaft; 158-guiding hole; 159-clamp block; 161-bevel gear fixing hole; 181-output shaft; 182-two-wing fixing hole; 200-navigator; 300-positioning reference device; 311-top platform connecting hole; 312-clamp groove; 351-bottom platform connecting through hole; 361-push rod; 400-active / passive support module; 1011-upper shoulder strap; 1012-stop buckle; 1013-upper abdominal strap; 1014-positioning strip; 1021-lower shoulder strap; 1022-clasp; 1023-lower abdominal strap. DETAILED DESCRIPTION

[0077] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0078] As Figure 1 As shown in the structure, the embodiment provides a small navigation positioning surgical device 100, which comprises a feeding module 1, a positioning mark, a six degree of freedom parallel motion module 3, a housing 4, a navigation module and a control module; wherein:

[0079] The feeding module 1, the six degree of freedom parallel motion module 3 and the housing 4 are connected in sequence; in the embodiment, for the convenience of description, the feeding module 1 is connected to the six degree of freedom parallel motion module 3, and the six degree of freedom parallel motion module 3 is connected to the housing 4. Figure 1One end of the feed module 1 is the front end of the small navigation and positioning surgical device 100, and the other end of the housing 4 is the rear end of the small navigation and positioning surgical device 100. The feed module 1 can be quickly and easily installed on the front end of the six-degree-of-freedom parallel motion module 3, and is used to hold the puncture needle 11 and realize feeding and retraction. The puncture needle 11 is held on the front end of the feed module 1. The feeding direction of the puncture needle 11 is vertical. The positioning mark is fixedly installed on the top of the feed module 1. The positioning mark can be a visual positioning ball 2, an LED bead, or similar markers. Figure 1 Four visual positioning balls 2 are set at the top four corners of the feed module 1; the rear end of the six-degree-of-freedom parallel motion module 3 is fixedly installed on the housing 4, and is used to drive the feed module 1 to achieve six degrees of freedom of movement; such as Figure 1 and Figure 12 The structure includes a cavity inside the housing 4, with a handle 41 mounted on the top. A rubber sleeve is fitted over the middle of the handle 41, and a rubber groove 42 is provided on the outer surface of the rubber sleeve to increase friction. The navigation module is used to acquire the real-time position of the puncture needle 11 and the position coordinates of the target position, and to generate navigation information. The navigation module can use electromagnetic navigation, binocular camera, or CT / ultrasound real-time guidance for navigation. The control module is signal-connected to the navigation module and the six-degree-of-freedom parallel motion module 3, and is used to control the movement of the six-degree-of-freedom parallel motion module 3 according to the navigation information of the navigation module, so that the puncture needle 11 moves from the starting position to the target position.

[0080] In the aforementioned small navigation and positioning surgical device 100, such as Figure 2 As shown in the diagram, the feed module 1 includes a feed housing, a motor 18, a drive shaft 17, a driving gear, a driven gear, and a pair of opposing guide wheels 13. The rear end of the feed housing is mounted on the six-degree-of-freedom parallel motion module 3, and a positioning mark is mounted on its top surface. The motor 18 is fixedly installed inside the feed housing and is used to drive the drive shaft 17 to rotate. A schematic diagram of the motor 18 is shown below. Figure 9, the motor 18 has an output shaft 181 and two wing fixing holes 182, and is fixedly installed in the feeding shell through the two wing fixing holes 182, and correspondingly, two motor fixing holes 152 are arranged in the feeding shell 4 and are opposite to the positions of the two wing fixing holes 182; one end of the transmission shaft 17 is located outside the front end face of the feeding shell and is fixedly installed with a driving gear; a driven gear and a guide wheel 13 are rotatably installed on the front end face of the feeding shell; the front end face of the feeding shell is provided with a transmission shaft fixing hole 156 for supporting and extending the transmission shaft 17, a driven gear fixing shaft 155 for installing the driven gear, and a pair of guide wheel fixing shafts 157 for installing the guide wheel 13; the axial lines of the driving gear, the driven gear and the guide wheel 13 are arranged in parallel; the driven gear is engaged with the driving gear in the horizontal direction; the driving gear and the driven gear constitute a pair of transmission gears 14, and a transmission gear shaft fixing hole 141 is arranged at the center of the transmission gear 14; as shown in Figure 4 , a first guide groove 132 for guiding the bottom end of the puncture needle 11 is arranged on the outer circumferential side of the guide wheel 13, a guide wheel shaft fixing hole 131 is arranged at the center of the guide wheel 13, and the guide wheel 13 can be made of rubber; as shown in Figure 5 , the outer circumferential sides of the driving gear and the driven gear are provided with second guide grooves 142; the driven gear and the driving gear clamp the puncture needle 11 in the oppositely arranged second guide grooves 142, and drive the puncture needle 11 to act when the driving gear rotates.

[0081] As shown in Figure 2 , Figure 3 and Figure 6 , the feeding shell can be composed of a middle shell 15 and side shells 12 fixedly installed on both sides of the middle shell 15; the middle shell 15 is provided with a latch hole 151 and oppositely arranged guide holes 158 for guiding the puncture needle 11; the side shell 12 is provided with a fixed latch 121 corresponding to the position of the latch hole 151, so that the side shell 12 is assembled and connected by inserting the fixed latch 121 into the latch hole 151; the front end face of the middle shell 15 is installed with the driving gear, the driven gear and the guide wheel 13; the rear end face of the middle shell 15 is installed on the six-degree-of-freedom parallel kinematic module 3 through the quick-release installation structure; the positioning marks are fixedly installed on the top face of the middle shell 15, and the top face of the middle shell 15 is provided with signal lamp connecting holes 153 for installing the positioning marks.

[0082] As shown in Figure 2As shown, the feeding module 1 further comprises a driving bevel gear and a driven bevel gear which are connected in transmission between the motor 18 and the transmission shaft 17; the driving bevel gear and the driven bevel gear constitute a pair of reversing bevel gears 16; the driving bevel gear is fixedly installed on the output shaft 181 of the motor 18; the driven bevel gear is fixedly installed on the other end of the transmission shaft 17 and is in mesh with the driving bevel gear; the inner surface of the middle housing 15 is provided with a bevel gear fixing shaft 154 for installing the driven bevel gear; as shown in Figure 8 As shown, the center of each of the reversing bevel gears 16 is provided with a bevel gear fixing hole 161.

[0083] As shown in Figure 10 and Figure 11 The six-degree-of-freedom parallel kinematic module 3 is composed of a bottom platform 35, a top platform 31 and six kinematic assemblies; the top platform 31 is oppositely arranged with the bottom platform 35; the front end of the top platform 31 is installed with the middle housing 15 through a quick-release installation structure; the rear end of the bottom platform 35 is fixedly installed on the front end of the shell 4; the six kinematic assemblies are connected between the bottom platform 35 and the top platform 31; each kinematic assembly comprises a three-degree-of-freedom hinge 32, a middle connecting rod 33, a rear hinge and a push rod cylinder 36; the three-degree-of-freedom hinge 32 is movably connected to the side surface of the top platform 31 facing the bottom platform 35; the top platform 31 is provided with top platform connecting holes 311 for installing the three-degree-of-freedom hinges 32, as shown in Figure 10 As shown, the six top platform connecting holes 311 are uniformly distributed in the circumferential direction; the middle connecting rod 33 is hingedly connected between the three-degree-of-freedom hinge 32 and the rear hinge; the push rod cylinder 36 is accommodated in the shell 4 and is fixedly installed on the side of the bottom platform 35 away from the top platform 31; the push rod 361 of the push rod cylinder 36 penetrates through the bottom platform connecting through holes 351 of the bottom platform 35 and is hingedly connected with the rear hinge 34; the distribution of the six bottom platform connecting through holes 351 on the bottom platform 35 is shown in Figure 10 As shown, the six bottom platform connecting through holes 351 are grouped into three groups, two by two, and are distributed in the circumferential direction of the bottom platform 35. In use, the bottom platform 35 is fixed to the shell 4, so that the top platform 31 has six degrees of freedom.

[0084] As shown in Figure 7 , Figure 10 and Figure 11 The quick-release installation structure comprises a clamping groove 312 arranged on the top platform 31 and a clamping block 159 arranged on the middle housing 15; the clamping block 159 is clamped in the clamping groove 312 in a shape-fitting manner; the clamping groove 312 can be a trapezoidal groove with a large upper part and a small lower part; the clamping block 159 is a trapezoidal block with a large upper part and a small lower part; the rear hinge 34 is a hook hinge or a spherical hinge.

[0085] As shown in Figure 13 and Figure 21As shown in the drawings, the small navigation positioning surgical device 100 can further comprise a binding device for binding the shell 4 to the human body; the binding device comprises an upper base plate 101, a lower base plate 102, positioning strips 1014, upper shoulder straps 1011, lower shoulder straps 1021, upper abdominal straps 1013, lower abdominal straps 1023, buckles 1012 and buckles 1022; the bottom surface of the upper base plate 101 is used to adhere to the abdomen of the human body, and the top surface is used to fixedly install the shell 4; the lower base plate 102 is used to adhere to the back of the human body opposite to the upper base plate 101; the top surface of the upper base plate 101 is provided with a plurality of positioning strips 1014, the top edge is connected with two upper shoulder straps 1011, and both sides are connected with two upper abdominal straps 1013; one buckle 1012 is fixedly connected at the end of each of the upper abdominal straps 1013 and the upper shoulder straps 1011; the top edge of the lower base plate 102 is connected with lower shoulder straps 1021 corresponding to the upper shoulder straps 1011, and both sides are connected with lower abdominal straps 1023 corresponding to the upper abdominal straps 1013; one buckle 1022 is fixedly connected at the end of each of the lower abdominal straps 1023 and the lower shoulder straps 1021; the corresponding upper shoulder straps 1011 and the lower shoulder straps 1021, and the corresponding upper abdominal straps 1013 and the lower abdominal straps 1023 are detachably connected through the buckles 1012 and the buckles 1022.

[0086] As shown in the drawings, Figure 20 and Figure 22 The small navigation positioning surgical device 100 can further comprise a main / passive support module 400 signal connected with the control module; the end of the main / passive support module 400 clamps the handle 41; the main / passive support module 400 can be a mechanical hand, and the end of the mechanical hand clamps the handle 41 at the top of the shell 4.

[0087] When the small navigation positioning surgical device 100 is used, the motor 18 in the feeding module 1 rotates, and the power is transmitted to a pair of transmission gears 14 through a pair of reversing bevel gears 16 and a transmission shaft 17 in sequence, drives the pair of transmission gears 14 to rotate, and the two transmission gears 14 rotate relative to each other, and the feeding movement of the puncture needle 11 is driven through the rotation extrusion of the second guide groove 142, and the movement direction of the puncture needle 11 is guided and fixed through the guide wheel 13. The feeding module 1 is clamped in the clamping groove 312 on the front end surface of the top platform 31 through the clamping block 159 on the rear end surface of the middle housing 15, so as to realize the quick installation and disassembly of the feeding module 1 and the six-degree-of-freedom parallel motion module 3.

[0088] The small navigation positioning surgical device 100 can have a doctor hand-held working mode, a body binding abdominal working mode and a main / passive support mode.

[0089] As shown in the drawings, Figure 19 The doctor hand-held working mode is shown in the drawings, and the doctor holds the shell 4 by hand. Figure 12The handle 41 at the top of the middle shell 4 realizes the holding of the surgical instrument, and the positioning and navigation of the surgical target are completed under the navigation of the navigation module in the operating room; in this mode, the surgical task can be completed by manual or automatic operation of the doctor;

[0090] As Figure 21 shown is the body binding abdominal working mode, the upper shoulder strap 1011 and the lower shoulder strap 1021, the upper abdominal strap 1013 and the lower abdominal strap 1023 are bound to the human body through the stop buckle 1012 and the buckle 1022, so that the upper substrate 101 and the lower substrate 102 are attached to the abdomen and back of the human body, the shell 4 is connected with the human body, and the small navigation positioning surgical device 100 is fixed with the human body, in this mode, the surgical task can be completed by manual, automatic operation or remote operation of the doctor;

[0091] As Figure 20 shown is the main / passive support mode, the small navigation positioning surgical device 100 is fixed on the main / passive support module to complete the fixation, which can realize the fixation of the small navigation positioning surgical device 100 at the bedside during the operation; in this mode, the surgical task can be completed by manual, automatic operation or remote operation of the doctor.

[0092] The navigation module of the small navigation positioning surgical device 100 described above can adopt a navigator navigation mode and a CT scanning positioning navigation mode:

[0093] As Figure 22 shown is the navigator navigation mode, based on the navigator 200, the real-time position of the positioning reference device 300 and the small navigation positioning surgical device 100 is obtained, the real-time acquisition of the target point position is realized, and then the small navigation positioning surgical device 100 realizes the real-time tracking of the target point according to the motion control. Figure 14 The structure diagram of the whole translation movement of the feeding module 1 of the small navigation positioning surgical device 100 is shown, so that the feeding module 1 can move in translation along the x, y and z directions; Figure 15 The structure diagram of the whole rotation movement of the feeding module 1 of the small navigation positioning surgical device 100 is shown, so that the feeding module 1 can rotate around the Rx, Ry and Rz rotation directions.

[0094] As Figure 13 and Figure 21 shown is the CT scanning positioning navigation mode, the small navigation positioning surgical device 100 is fixed with the human body through the binding device, in the surgical process, the position of the shell 4 and the relative position relationship with the patient are determined by scanning the positioning strip 1014 on the top surface of the upper substrate 101, and finally the tracking control of the target point is realized through the motion control of the six-degree-of-freedom parallel motion module 3.

[0095] The system functions of the mini navigation and positioning surgical device 100 are described in detail below:

[0096] 1. Motion and positioning functions of the six-degree-of-freedom parallel motion module 3: such as Figure 22 The diagram illustrates the navigation method of the navigator 200. Based on the navigator 200, the real-time positions of the positioning reference device 300 and the small navigation positioning surgical device 100 are acquired to achieve real-time acquisition of the target point position. Subsequently, the small navigation positioning surgical device 100 tracks the target point in real-time based on motion control. The coordinate system of the navigator 200 is M0, the coordinate system of the active / passive support module is M1, the coordinate system of the small navigation positioning surgical device 100 is M2, the coordinate system of the positioning reference device 300 is M3, and the coordinate system of the human body is M4. The position of the end of the small navigation positioning surgical device 100 and the position of the surface marker ball can be obtained through the navigator. The distance from the surface marker ball to the puncture target point can be obtained using CT images. From this, the position of the end of the small navigation positioning surgical device 100 relative to the puncture target point is calculated. Then, the real-time length of the six push rod electric cylinders 36 is calculated using the kinematic model of the small navigation positioning surgical device 100, thereby completing real-time motion tracking control.

[0097] 2. Physiological motion acquisition and dynamic surgical navigation based on respiratory compensation: such as Figure 22 As shown, when a patient undergoes physiological or respiratory movements, the spatial position of the marked ball on the body surface changes relative to the M0 coordinate system in the M3 coordinate system. The position of the end of the small navigation and positioning surgical device 100 relative to the puncture target point under physiological movement can be calculated in real time. Then, the real-time length of the six push rod electric cylinders 36 is calculated through the kinematic model of the small navigation and positioning surgical device 100, thereby completing the real-time acquisition of physiological movements and dynamic movement tracking control.

[0098] 3. Rotary feed motion function of the surgical device: such as Figure 15 As shown, the small navigation and positioning surgical device 100 can rotate in the Rz direction and has a needle insertion degree of freedom in the z direction. Therefore, the small navigation and positioning surgical device 100 has the function of rotating needle insertion. This function is similar to the function of a clinician rotating while inserting a needle, which can complete the puncture and needle insertion function more conveniently and quickly.

[0099] like Figure 16 As shown, when performing brain surgery using the miniature navigation and positioning surgical device 100, this miniature navigation and positioning surgical device is suitable for neurosurgical procedures such as puncture and aspiration.

[0100] like Figure 17 As shown, when performing thoracic and abdominal surgeries using the miniature navigation and positioning surgical device 100, this miniature navigation and positioning surgical device is used for procedures such as puncture biopsy and tumor ablation of organs such as the lungs and liver in the thoracic and abdominal cavities.

[0101] As Figure 18 shown, when performing back spinal surgery with the small navigation positioning surgical device 100, the small navigation positioning surgical device is used for positioning bone tumors, thoracic vertebrae, cervical vertebrae, lumbar pedicle screw placement, and the like.

[0102] Obviously, various modifications and changes can be made to the embodiments of the present application without departing from the spirit and scope of the present application. It is understood that the present application is intended to cover all such modifications and changes, provided they come within the scope of the following claims and their equivalents.

Claims

1. A small-sized navigation positioning surgical device, characterized by, The device comprises a feeding module, a positioning mark, a six-degree-of-freedom parallel motion module, a shell, a navigation module and a control module. The feeding module is quickly detachably mounted at the front end of the six-degree-of-freedom parallel motion module, and is used for clamping a puncture needle and realizing feeding and withdrawal. The positioning mark is fixedly mounted at the top of the feeding module. The rear end of the six-degree-of-freedom parallel motion module is fixedly mounted on the shell, and is used for driving the feeding module to realize six-degree-of-freedom motion. The shell has a cavity inside, and a handle is mounted at the top. The navigation module is used for acquiring the real-time position of the puncture needle and the position coordinates of the target position, and generating navigation information. The control module is signal-connected with the navigation module and the six-degree-of-freedom parallel motion module, and is used for controlling the six-degree-of-freedom parallel motion module to move according to the navigation information of the navigation module, so that the puncture needle moves from the starting position to the target position. The feeding module comprises a feeding shell, a motor, a transmission shaft, a driving gear, a driven gear and a pair of oppositely arranged guide wheels. The rear end of the feeding shell is mounted on the six-degree-of-freedom parallel motion module, and the top surface is provided with the positioning mark. The motor is fixedly mounted in the feeding shell, and is used for driving the transmission shaft to rotate. One end of the transmission shaft is located outside the front end surface of the feeding shell and is fixedly provided with the driving gear. The driven gear and the guide wheel are rotatably mounted on the front end surface of the feeding shell. The axis lines of the driving gear, the driven gear and the guide wheel are arranged in parallel, and the driven gear is engaged with the driving gear in the horizontal direction. The outer periphery of the guide wheel is provided with a first guide groove for guiding the bottom end of the puncture needle. The outer periphery of the driving gear and the driven gear is provided with a second guide groove, and the puncture needle is clamped in the oppositely arranged second guide grooves, and the puncture needle is driven to move when the driving gear rotates. The feeding shell is composed of a middle shell and side shells fixedly mounted on both sides of the middle shell. The front end surface of the middle shell is provided with the driving gear, the driven gear and the guide wheel, and the rear end surface of the middle shell is mounted on the six-degree-of-freedom parallel motion module through a quick-release mounting structure. The positioning mark is fixedly mounted on the top surface of the middle shell at four corners. The six-degree-of-freedom parallel motion module is composed of a bottom platform, a top platform and six motion assemblies. The top platform is oppositely arranged with the bottom platform. The front end of the top platform is provided with the middle shell through the quick-release mounting structure. The rear end of the bottom platform is fixedly mounted on the front end of the shell. Six said movement assemblies are connected between said bottom platform and said top platform; each movement assembly comprises a three-degree-of-freedom hinge, a middle link, a rear hinge and a push rod electric cylinder; said three-degree-of-freedom hinge is movably connected to a side surface of said top platform facing said bottom platform; said middle link is hingedly connected between said three-degree-of-freedom hinge and said rear hinge; said push rod electric cylinder is accommodated in said shell and fixedly installed on a side of said bottom platform away from said top platform; a push rod of said push rod electric cylinder penetrates through said bottom platform and is hingedly connected to said rear hinge.

2. The compact navigational positioning surgical device of claim 1, wherein, Said feeding module further comprises a driving bevel gear and a driven bevel gear in transmission connection between said motor and said transmission shaft; Said driving bevel gear is fixedly installed on an output shaft of said motor; Said driven bevel gear is fixedly installed on the other end of said transmission shaft and in meshing engagement with said driving bevel gear; Said positioning mark is a visual positioning ball.

3. The compact navigational positioning surgical device of claim 1, wherein, Said quick-release mounting structure comprises a clamping groove provided on said top platform and a clamping block provided on said middle shell; Said clamping block is clamped in said clamping groove in shape fitting manner.

4. The compact navigational positioning surgical device of claim 3, wherein, Said clamping groove is a trapezoidal groove and said clamping block is a trapezoidal block. Said rear hinge is a Hooke's joint or a spherical hinge.

5. The compact navigation and positioning surgical device according to any one of claims 1 to 4, wherein, Further comprising a binding device for binding said shell to a human body; Said binding device comprises an upper base plate, a lower base plate, positioning strips, upper shoulder binding belts, lower shoulder binding belts, upper abdominal binding belts, lower abdominal binding belts, stop buckles and buckles; A bottom surface of said upper base plate is used to be attached to an abdomen of a human body and a top surface thereof is used to fixedly install said shell; said lower base plate is used to be attached to a back of a human body opposite to said upper base plate; A top surface of said upper base plate is provided with a plurality of positioning strips, a top edge thereof is connected with two said upper shoulder binding belts and two side edges thereof are each connected with two said upper abdominal binding belts; an end of each of said upper abdominal binding belts and said upper shoulder binding belts is fixedly connected with one said stop buckle; A top edge of said lower base plate is connected with said lower shoulder binding belts corresponding to said upper shoulder binding belts one by one and two side edges thereof are connected with said lower abdominal binding belts corresponding to said upper abdominal binding belts one by one; an end of each of said lower abdominal binding belts and said lower shoulder binding belts is fixedly connected with one said buckle; Corresponding said upper shoulder binding belts and said lower shoulder binding belts and corresponding said upper abdominal binding belts and said lower abdominal binding belts are detachably connected through said stop buckles and said buckles.

6. The compact navigation and positioning surgical device according to any one of claims 1 to 4, wherein, Further comprising a main / passive support module in signal connection with said control module; An end of said main / passive support module clamps said handle.

7. The compact navigation positioning surgical device according to any one of claims 1 to 4, wherein Said navigation module adopts electromagnetic navigation, binocular camera or CT / ultrasound real-time guidance for navigation.

Images