Vertebral stent placement system and method based on robot navigation

Abstract

The present invention discloses a vertebral stent placement system and method based on robot navigation, wherein the system includes: a path planning module, which is used to plan the vertebral stent to the pedicle isthmus on the imported patient image, and calculate the placement path of the vertebral stent accordingly; an optical tracking module, which is used to obtain in real time the position and posture of the optical tracking component installed on the robot's mechanical arm, the marker installed on the robot's executive component, and the first and second tracers installed on the vertebral stent; a directional navigation module, which is used to calculate the positional relationship between the patient image and the executive component, and navigate the movement of the robot's executive component in combination with the planned vertebral stent placement path; an placement simulation module, which is used to track the placement of the vertebral stent and the expansion amount of the stent body in real time. The present invention can track and display the placement depth and expansion amount of the vertebral stent in real time, so that the doctor can adjust and control the placement and expansion amount more intuitively and controllably.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a vertebral stent placement system and method based on robot navigation. Background Art

[0002] Balloon kyphoplasty (PKP) is a type of minimally invasive surgery that has been widely used to treat vertebral compression caused by vertebral incisions. Special surgical instruments are placed on the compressed part of the patient through a small incision to expand and reposition the compressed part of the vertebra, and then bone cement is injected to reinforce the compressed vertebra. It has a highly effective analgesic effect on patients and can prevent further compression and collapse of the vertebra. However, the above surgical process can still be optimized as follows, which can further improve the accuracy of the depth of the vertebral direction and the actual surgical effect, and at the same time shorten the operation time.

[0003] During the insertion of a vertebral stent or a spherical expander, the C-arm needs to be used for continuous perspective adjustment to ensure the accuracy of the direction of the vertebral stent insertion. The direction of the spherical expander is disordered during expansion, and it is impossible to accurately expand the anterior and posterior end surfaces of the vertebral body. The vertebral stent is square in size and can effectively expand the anterior and posterior end surfaces of the compressed vertebral body. However, the insertion of the vertebral stent mainly relies on the doctor's experience, and it is necessary to manually judge the channel and angle of placement through observation of the patient's preoperative images. Not only is the operation cumbersome and complicated, but it is also not accurate enough. At the same time, because the pedicle is a long isthmus structure, the end of the stent body is a flat rectangular structure, which makes it difficult to enter from the isthmus of the pedicle of the cone. Summary of the invention

[0004] Purpose of the invention: In view of the above-mentioned deficiencies, the present invention proposes a vertebral stent placement system and method based on robot navigation, which can track and display the insertion depth and expansion amount of the vertebral stent in real time, so that doctors can adjust and control the insertion and expansion amount more intuitively and controllably.

[0005] Technical solution:

[0006] The present invention provides a vertebral stent placement system based on robot navigation, comprising:

[0007] A path planning module is used to plan the vertebral stent to the pedicle isthmus on the imported patient image, calculate the insertion path of the vertebral stent based on the calculated path, and display it in real time on the patient image;

[0008] An optical tracking module, used for obtaining in real time the positions and postures of an optical tracking component installed on the robot's mechanical arm, a marker installed on the robot's actuator, and a first tracer and a second tracer installed on a vertebral support, wherein the first tracer is used to trace the position and posture of the vertebral support, and the second tracer is used to trace the amount of expansion of the support body of the vertebral support;

[0009] A directional navigation module is used to extract the position of the marker in the patient image, calculate the positional relationship between the patient image and the actuator in combination with the installation parameters of the marker and the optical tracking component, the position of the optical tracking component and the marker acquired by the optical tracking module, and navigate the movement of the actuator of the robot in combination with the planned vertebral stent placement path;

[0010] The placement simulation module tracks the placement of the vertebral stent and the expansion amount of the stent body in real time according to the positions of the first tracer and the second tracer acquired by the optical tracking module.

[0011] Specifically, the path planning module displays the imported patient image and each slice image thereof, obtains the transformation relationship between the two, and then displays the implantation path of the vertebral stent planned on a certain slice view on the patient image in real time.

[0012] More specifically, the path planning module calculates the initial position and posture of the vertebral stent based on the transformation relationship between the acquired patient image and its each slice image, by setting the end point of the vertebral stent to coincide with the center point of the circumscribed cube of the patient image, and setting the axial direction of the vertebral stent to coincide with a certain direction in the orthogonal directions on the cross-sectional slice image of the patient image. Thereafter, the position of the planned end point of the vertebral stent in the patient image is calculated according to the planned insertion path of the vertebral stent, the axial direction of the vertebral stent is calculated according to the setting, and the axial rotation angle of the vertebral stent is calculated in combination with the initial position and posture of the vertebral stent, thereby obtaining the insertion path of the vertebral stent on the patient image.

[0013] Furthermore, the transformation relationship between the patient image and each slice image thereof is obtained as follows:

[0014] The dimensions of the patient image on each coordinate axis of the image coordinate system are obtained, thereby obtaining the circumscribed cube of the patient image. Taking the center point of the circumscribed cube of the patient image as the origin, a three-view coordinate system is constructed in the same direction as the coordinate axis of the image coordinate system. On this basis, the coordinate systems of the corresponding slice views and the slice image coordinate system are constructed, thereby obtaining the transformation relationship between each slice image coordinate system and the image coordinate system, that is, obtaining the transformation relationship between the patient image and each slice image.

[0015] Specifically, during the implantation process of the vertebral stent, the implantation simulation module calculates the real-time rotation angle of the vertebral stent based on the position and posture of the first tracer acquired in real time by the optical tracking module, combined with the position and posture of the first tracer acquired by the optical tracking module when the vertebral stent is initially formed, and performs deviation correction when the real-time rotation angle of the vertebral stent is greater than a set angle.

[0016] Specifically, after the vertebral stent is implanted, the implantation simulation module calculates the posture information of the two end surfaces of the stent body according to the posture of the first tracer acquired in real time by the optical tracking module and the design parameters of the vertebral stent, and controls the vertebral stent to rotate so that the two end surfaces of the stent body are parallel to the end plates of the vertebra, in combination with the posture information of the known vertebral end plates.

[0017] Specifically, before the vertebral stent is placed, a Kirschner wire is placed according to the planned placement path of the vertebral stent to pre-open the planned path, and after the Kirschner wire is removed, the vertebral stent is placed along the Kirschner wire placement path.

[0018] More specifically, a guide for guiding the insertion of a vertebral stent and / or a Kirschner wire is installed on the actuator, and a guide hole for guiding the insertion of a vertebral stent and / or a Kirschner wire sleeve is opened on the guide, wherein the guide hole can be penetrated when the stent body is closed, and the guide hole cooperates with the connecting tube of the vertebral stent and / or the Kirschner wire sleeve to realize the rotation of the vertebral stent or the Kirschner wire in the guide hole.

[0019] Furthermore, the distance between opposite sides of the guide holes is not less than the corresponding cross-sectional dimension when the bracket body is closed, and a group of opposite sides of the guide holes are configured with arc surfaces matching with the connecting tube or Kirschner wire sleeve of the vertebral bracket.

[0020] The present invention also provides a vertebral stent placement method of the aforementioned robot navigation-based vertebral stent placement system, comprising the steps of:

[0021] S1. Import the patient image, and the path planning module plans the vertebral stent to the pedicle isthmus, and calculates the placement path of the vertebral stent based on the image, including the placement position, direction and axial rotation angle of the vertebral stent;

[0022] S2. The directional navigation module extracts the position of the marker in the patient image, combines the installation parameters of the marker and the optical tracking component, and the position of the optical tracking component and the marker obtained by the optical tracking module, calculates the position relationship between the patient image and the actuator, and combines the vertebral stent placement path planned by the path planning module to navigate the robot's actuator movement;

[0023] S3. The vertebral stent is placed. During this process, the placement simulation module tracks the placement process of the vertebral stent and the expansion process of the stent body in real time according to the positions of the first tracer and the second tracer obtained by the optical tracking module.

[0024] Beneficial effects: The present invention can intuitively obtain the position and axial rotation angle of the vertebral stent, so as to complete the precise placement of the vertebral stent from the isthmus of the pedicle according to the planning information, and can track the placement process of the vertebral stent in real time to accurately obtain the placement depth of the vertebral stent. At the same time, the present invention can more intuitively ensure the doctor's real-time adjustment and control of the expansion amount of the stent body. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are merely embodiments of the present invention, and ordinary technicians in this field can obtain other drawings based on these drawings without creative work.

[0026] Figure 1 This is a schematic diagram of the vertebral stent placement system based on robot navigation of the present invention;

[0027] Figure 2 The following are sample images of the imported patient images and their slice images;

[0028] Figure 3 An example diagram of a patient image and each slice image thereof for a planned vertebral stent placement path;

[0029] Figure 4 An example diagram for calculating the positional relationship between the patient image and the actuator for the directional navigation module;

[0030] In the figure, 10. Patient, 20. C-arm, 30. Robot, 40. Optical tracking module; 31. Robotic arm, 32. Actuator, 33. Optical tracking component, 34. Marker. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0032] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should have the common meanings understood by people with ordinary skills in the field to which the present invention belongs. "Include" or "comprising" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but do not exclude other elements or objects.

[0033] The architecture of the vertebral stent placement system based on robot navigation of the present invention is as follows: Figure 1 The system includes a path planning module, an optical tracking module, a directional navigation module and an embedded simulation module.

[0034] in:

[0035] The path planning module is used to plan the vertebral stent to the isthmus of the pedicle on the imported patient image, and calculate the insertion position, direction and axial rotation angle of the vertebral stent based on this, that is, the vertebral stent insertion path is obtained, and the vertebral stent insertion path is displayed in real time on the patient image.

[0036] In the present invention, the path planning module can display the imported patient image and its slice images, and obtain the transformation relationship between the two, as shown in the example diagram. Figure 2 As shown, the path planning module plans the vertebral stent to the pedicle isthmus on the imported patient image, generally planning the vertebral stent to the pedicle isthmus on a certain slice view of the patient image, so that the insertion path of the vertebral stent can be displayed in real time on the patient image. Specifically, the implementation method is as follows:

[0037] According to the imported patient image, the transformation relationship between each slice image and the patient image is obtained, thereby a point on each slice image can be transformed into the patient image, and the end point of the vertebral stent is set to coincide with the center point of the circumscribed cube of the patient image, and the axial direction of the vertebral stent is set to coincide with a certain direction in the orthogonal direction on the cross-sectional slice image of the patient image, and then the initial posture of the vertebral stent is calculated. After that, the position of the planned end point of the vertebral stent in the patient image is calculated according to the aforementioned planning, and the axial direction of the vertebral stent is calculated according to the aforementioned setting. At the same time, the axial rotation angle of the vertebral stent is calculated in combination with the aforementioned initial posture of the vertebral stent, and then the vertebral stent insertion path on the patient image can be obtained, such as Figure 3 As shown, the upper left image, the upper right image, and the lower left image are the transverse view, the coronal view, and the sagittal view of the patient's image, respectively, and the lower right image is a three-dimensional image of the patient's image.

[0038] In the present invention, the transformation relationship between each slice image in the patient image and the patient image is obtained as follows:

[0039] The dimensions of the patient image on each coordinate axis of the image coordinate system are obtained, thereby obtaining the circumscribed cube of the patient image. Taking the center point of the circumscribed cube of the patient image as the origin, a three-view coordinate system is constructed in the same direction as the coordinate axis of the image coordinate system. On this basis, the coordinate systems of the corresponding slice views and the slice image coordinate system are constructed, thereby obtaining the transformation relationship between each slice image coordinate system and the image coordinate system, that is, obtaining the transformation relationship between each slice image and the patient image.

[0040] In the present invention, illustratively, the coordinate system of each slice view is established as follows:

[0041] The slice coordinate system of the cross-sectional view takes the origin of the three-view coordinate system as its origin, and its coordinate axes are in the same direction as the coordinate axes of the three-view coordinate system;

[0042] The slice coordinate system of the sagittal view takes the origin of the three-view coordinate system as its origin, its x-axis direction is in the same direction as the z-axis direction of the three-view coordinate system, its y-axis direction is in the same direction as the y-axis direction of the three-view coordinate system, and its z-axis direction is opposite to the x-axis direction of the three-view coordinate system;

[0043] The coordinate system of the coronal slice view takes the origin of the three-view coordinate system as its origin, its x-axis direction is the same as the x-axis direction of the three-view coordinate system, its y-axis direction is opposite to the z-axis direction of the three-view coordinate system, and its z-axis direction is the same as the y-axis direction of the coordinate system.

[0044] In the present invention, exemplarily, the slice image coordinate system of each view is established as follows: the xy plane of the slice coordinate system of each view is used as the slice image, wherein a corner point of the corresponding slice image is used as the origin, and its x and y axis directions are respectively the same as the x and y axis directions of the slice coordinate system of the corresponding view, to establish the slice image coordinate system of each view.

[0045] The optical tracking module is used to obtain in real time the positions and postures of the optical tracking component installed on the robot's mechanical arm, the marker installed on the robot's actuator, and the first and second tracers installed on the vertebral support, wherein the marker is used to trace the actuator's position, the first tracer is used to trace the vertebral support's position, and the second tracer is used to trace the amount of expansion of the support body at the end of the vertebral support. In the present invention, the marker can be set as at least three coplanar and asymmetric tracer balls, and the first tracer and the second tracer can also be set as at least three coplanar and asymmetric tracer balls. Furthermore, the tracer balls can be steel balls.

[0046] In the present invention, the vertebral support can be a conventionally used vertebral support, such as the vertebral support described in patent number CN114145791A, which is provided with a driving rod that can convert the expansion of the support body into its axial movement, so that the corresponding relationship between the axial displacement of the driving rod and the expansion of the support body can be calculated by obtaining the expansion amount of the support body and the axial displacement of the driving rod multiple times, so that the expansion amount of the support body can be calculated according to the axial displacement of the driving rod during the expansion of the support body. In the present invention, the second tracer is fixedly connected to the driving rod, and the axial displacement of the driving rod can be calculated by the posture change of the second tracer obtained by the optical tracking module, and then the expansion amount of the support body can be calculated.

[0047] The directional navigation module is used to extract the position of the marker in the patient image, and calculate the position relationship between the patient image and the execution component by combining the installation parameters of the marker and the optical tracking component, and the position of the optical tracking component and the marker obtained by the optical tracking module, such as Figure 4As shown, the transformation relationship between the patient image and the robot is obtained, and the vertebral stent placement path obtained by the path planning module is combined to navigate the movement of the robot's actuator to prepare for the placement of the vertebral stent; Figure 4 In the figure, the patient 10 lies prone, and the C-arm machine 20 scans and obtains the patient's image. The actuator 32 installed at the end of the mechanical arm 31 of the robot 30 guides the insertion of the vertebral stent, and the optical tracking module 40 obtains the position and posture of the optical tracking component 33 installed on the mechanical arm 31 and the marker 34 installed on the actuator 32.

[0048] The placement simulation module tracks the placement of the vertebral stent and the expansion amount of the stent body in real time according to the positions of the first tracer and the second tracer acquired by the optical tracking module.

[0049] In the present invention, the insertion simulation module transforms the posture of the first tracer and the second tracer obtained by the optical tracking module to the robot reference in combination with the posture of the optical tracking component and the marker obtained by the optical tracking module, and can track the insertion process of the vertebral stent and the expansion process of the stent body in real time to provide a simulation reference for the insertion, rotation and expansion amount of the vertebral stent.

[0050] In the present invention, during the vertebral stent placement process, the placement simulation module calculates the real-time rotation angle of the vertebral stent based on the position and posture of the first tracer obtained in real time by the optical tracking module, combined with the position and posture of the first tracer obtained by the optical tracking module at the initial stage of the vertebral stent, and performs deviation correction when the real-time rotation angle of the vertebral stent is greater than the set angle. Among them, the direction vector of the vertebral stent placement can be calculated based on the position and posture of the first tracer, and then the rotation angle of the vertebral stent during the vertebral stent placement process relative to the vertebral stent at the initial stage of placement can be calculated.

[0051] In the present invention, after the vertebral stent is implanted, the vertebral stent needs to be controlled to rotate in the guide so that the two end faces of the stent body are parallel to the end plates of the vertebral body. During this process, the implantation simulation module calculates the posture information of the two end faces of the stent body according to the posture of the first tracer and the design parameters of the vertebral stent obtained in real time by the optical tracking module, and then combines the posture information of the known vertebral end plates to ensure that the two end faces of the stent body are parallel to the end plates of the vertebral body.

[0052] In the present invention, before the vertebral stent is implanted, a Kirschner wire can be implanted according to the planned vertebral stent implantation path to pre-open the planned path. After the Kirschner wire is removed, the vertebral stent is implanted along the Kirschner wire implantation path, which can further ensure the accuracy of the position and direction during the vertebral stent implantation process.

[0053] In the present invention, a guide for guiding the insertion of a vertebral stent and / or a Kirschner wire may also be installed on the execution component, and a guide hole for guiding the insertion of a vertebral stent and / or a Kirschner wire sleeve may be provided on the guide, wherein the guide hole may be penetrated when the stent body is closed, and the guide hole cooperates with the connecting tube of the vertebral stent and / or the Kirschner wire sleeve to realize the rotation of the vertebral stent or the Kirschner wire in the guide hole. Further, the distance between the opposite sides of the guide hole is not less than the corresponding cross-sectional size when the stent body is closed, and at the same time, a group of opposite sides close to the guide hole are constructed with an arc surface that cooperates with the connecting tube of the vertebral stent or the Kirschner wire sleeve to ensure the axial direction of the insertion of the vertebral stent or the Kirschner wire.

[0054] The present invention also provides a vertebral stent placement method based on the aforementioned robot navigation-based vertebral stent placement system, comprising:

[0055] S1. Import the patient image, and the path planning module plans the vertebral stent to the pedicle isthmus, and calculates the placement position, direction and axial rotation angle of the vertebral stent based on the image;

[0056] S2, the directional navigation module extracts the position of the marker in the patient image, combines the installation parameters of the marker and the optical tracking component, and the position of the optical tracking component and the marker obtained by the optical tracking module, calculates the position relationship between the patient image and the actuator, and combines the vertebral stent placement path obtained by the path planning module to navigate the robot's actuator movement to prepare for the placement of the vertebral stent;

[0057] S3. The vertebral stent is placed. During this process, the placement simulation module tracks the placement process of the vertebral stent and the expansion process of the stent body in real time according to the positions of the first tracer and the second tracer obtained by the optical tracking module.

[0058] In the present invention, during the vertebral stent implantation process, the implantation simulation module calculates the real-time rotation angle of the vertebral stent based on the position and posture of the first tracer obtained in real time by the optical tracking module, combined with the position and posture of the first tracer obtained by the optical tracking module at the initial stage of the vertebral stent, and performs correction when the real-time rotation angle of the vertebral stent is greater than the set angle.

[0059] In the present invention, after the vertebral stent is implanted, the vertebral stent is rotated around its axial direction until the two end surfaces of the stent body are parallel to the end plates of the vertebral body; wherein, the implantation simulation module calculates the posture information of the two end surfaces of the stent body according to the posture of the first tracer and the design parameters of the vertebral stent obtained in real time by the optical tracking module, and then combines the posture information of the end plates of the known vertebral body to monitor the rotation of the vertebral stent in real time to ensure that the stent body is rotated until its two end surfaces are parallel to the end plates of the vertebral body.

[0060] The present invention can map the planned vertebral stent insertion path into a three-dimensional image in real time, so that the position and axial rotation angle of the vertebral stent can be intuitively obtained, so that the vertebral stent can be accurately inserted into the isthmus of the pedicle according to the planning information, and the insertion process of the vertebral stent can be tracked in real time to accurately obtain the insertion depth of the vertebral stent, so that the doctor can insert the stent more intuitively and controllably. At the same time, the present invention can convert the expansion amount of the stent body into the movement of the tracer therein, and intuitively obtain the size of the expansion amount of the stent body through the optical tracking system, so as to more intuitively ensure the doctor's real-time adjustment and control of the expansion amount of the stent body.

[0061] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0062] The embodiments of the present invention are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the protection scope of the present invention.

Claims

1. A vertebral stent placement system based on robot navigation, characterized in that: include: A path planning module is used to plan the vertebral stent to the pedicle isthmus on the imported patient image, and calculate the insertion path of the vertebral stent based on the image; The path planning module displays the imported patient image and each slice image thereof, obtains the transformation relationship between the two, and then displays the planned vertebral stent placement path on a certain slice view in real time on the patient image; An optical tracking module, used for obtaining in real time the positions and postures of an optical tracking component installed on the robot's mechanical arm, a marker installed on the robot's actuator, and a first tracer and a second tracer installed on a vertebral support, wherein the first tracer is used to trace the position and posture of the vertebral support, and the second tracer is used to trace the amount of expansion of the support body of the vertebral support; A directional navigation module is used to extract the position of the marker in the patient image, calculate the positional relationship between the patient image and the actuator in combination with the installation parameters of the marker and the optical tracking component, the position of the optical tracking component and the marker acquired by the optical tracking module, and navigate the movement of the actuator of the robot in combination with the planned vertebral stent placement path; The placement simulation module tracks the placement of the vertebral stent and the expansion amount of the stent body in real time according to the positions of the first tracer and the second tracer acquired by the optical tracking module.

2. The robot-navigation-based vertebral stent placement system according to claim 1, characterized in that: The path planning module calculates the initial posture of the vertebral stent based on the transformation relationship between the acquired patient image and its slice images, by setting the end point of the vertebral stent to coincide with the center point of the circumscribed cube of the patient image, and setting the axial direction of the vertebral stent to coincide with a certain direction in the orthogonal directions on the cross-sectional slice image of the patient image. Thereafter, the position of the planned end point of the vertebral stent in the patient image is calculated according to the planned insertion path of the vertebral stent, the axial direction of the vertebral stent is calculated according to the setting, and the axial rotation angle of the vertebral stent is calculated in combination with the initial posture of the vertebral stent, thereby obtaining the insertion path of the vertebral stent on the patient image.

3. The robot-navigation-based vertebral stent placement system according to claim 2, characterized in that: The transformation relationship between the patient image and each slice image thereof is obtained as follows: The dimensions of the patient image on each coordinate axis of the image coordinate system are obtained, thereby obtaining the circumscribed cube of the patient image. Taking the center point of the circumscribed cube of the patient image as the origin, a three-view coordinate system is constructed in the same direction as the coordinate axis of the image coordinate system. On this basis, the coordinate systems of the corresponding slice views and the slice image coordinate system are constructed, thereby obtaining the transformation relationship between each slice image coordinate system and the image coordinate system, that is, obtaining the transformation relationship between the patient image and each slice image.

4. The robot-navigation-based vertebral stent placement system according to claim 1, characterized in that: During the implantation process of the vertebral stent, the implantation simulation module calculates the real-time rotation angle of the vertebral stent based on the position and posture of the first tracer acquired in real time by the optical tracking module, combined with the position and posture of the first tracer acquired by the optical tracking module at the initial stage of the vertebral stent, and performs deviation correction when the real-time rotation angle of the vertebral stent is greater than the set angle.

5. The robot-navigation-based vertebral stent placement system according to claim 1, characterized in that: After the vertebral stent is implanted, the implantation simulation module calculates the posture information of the two end surfaces of the stent body according to the posture of the first tracer acquired in real time by the optical tracking module and the design parameters of the vertebral stent, and controls the vertebral stent to rotate so that the two end surfaces of the stent body are parallel to the end plates of the vertebra, in combination with the posture information of the known vertebral end plates.

6. The robot-navigation-based vertebral stent placement system according to claim 1, characterized in that: Before the vertebral stent is placed, a Kirschner wire is placed according to the planned placement path of the vertebral stent to pre-open the planned path. After the Kirschner wire is removed, the vertebral stent is placed along the Kirschner wire placement path.

7. The robot-navigation-based vertebral stent placement system according to claim 1 or 6, characterized in that: A guide for guiding the insertion of a vertebral stent and / or a Kirschner wire is installed on the actuator, and a guide hole for guiding the insertion of a vertebral stent and / or a Kirschner wire sleeve is opened on the guide, wherein the guide hole can be penetrated when the stent body is closed, and the guide hole cooperates with the connecting tube of the vertebral stent and / or the Kirschner wire sleeve to realize the rotation of the vertebral stent or the Kirschner wire in the guide hole.

8. The robot-navigation-based vertebral stent placement system according to claim 7, characterized in that: The distance between the opposite sides of the guide holes is not less than the corresponding cross-sectional size when the bracket body is closed, and a group of opposite sides of the guide holes are close to each other and are configured with an arc surface that matches the connecting tube or the Kirschner wire sleeve of the vertebral bracket.

Images