A surgical robotic system and methods for use thereof

Abstract

The application provides a surgical robot system, which comprises a workstation, a mechanical arm, a scanning module, a guiding module and the like, and rapid registration can be completed by means of the scanning module. The system improves the speed and accuracy of registration, and shortens the operation time.

Description

[0001] This application is a divisional application of Chinese patent application filed on January 21, 2019, entitled "A Surgical Robot System and a Method of Using the Same", application number 201910052855.1. Technical Field

[0002] This invention relates to the field of medical device technology, and in particular to surgical robot systems and methods of using them. Background Technology

[0003] Surgical robotic systems are medical instruments developed in recent years that combine active control of robotic arms with stereotactic localization methods. They are suitable for brain biopsies, radiofrequency / laser ablation, deep brain stimulation implantation, stereotactic EEG electrode implantation for epileptic focus localization, and navigation-required craniotomies (tumor and epileptic focus resection), as well as neuroendoscopic surgeries (hamartoma, brain cyst, pituitary adenoma resection, etc.). The main steps include preoperative planning and registration. Current surgical robotic systems use probes for registration. During probe registration, the probe needs to be manually guided to the matching site, which is slow, time-consuming, and carries the potential risk of accidental contact and damage. Therefore, solutions and systems that can address these issues are needed. Summary of the Invention

[0004] To solve or improve at least one of the above-mentioned problems, the present invention provides a surgical robot system comprising:

[0005] A workstation comprises a housing, a computing control center, a display device, and input devices.

[0006] A robotic arm consists of multiple arm segments connected by joints.

[0007] The scanning module is used to collect information about the target space; the target space refers to the patient's body part to be operated on, such as the head.

[0008] The guidance module is used to guide surgical instruments to move along a predetermined trajectory;

[0009] The information collected by the scanning module is processed by the workstation to obtain the three-dimensional information of the target space.

[0010] The scanning module of the surgical robot system of this invention can include different structural components:

[0011] In the first scheme, the scanning module includes an image acquisition device. The relative positional relationship between the image acquisition device and the robotic arm is known, that is, the coordinates of the image acquisition device in the coordinate system of the robotic arm can be obtained directly without measurement. The image acquisition device can be a camera, such as a monocular camera or a binocular camera. The robotic arm drives the image acquisition device to acquire images at different positions, and the three-dimensional information of the target space can be obtained through calculation and reconstruction.

[0012] In the second scheme, the scanning module includes a light emitting component and an image acquisition device. The light emitting component can emit light, such as infrared light, into the target space. The image acquisition device collects images. After a sufficient number of point clouds are collected, the computing control center calibrates the coordinates of the target space based on the obtained information.

[0013] In the third scheme, the scanning module includes a projection component and an image acquisition device. The projection component can emit a specific coded image to the target space and acquire the image through the image acquisition device. Using a corresponding decoding algorithm, a precise three-dimensional structure of the target space is obtained, and then registration is performed. Compared to laser single-point data acquisition, which only acquires thousands of points within a limited range, the projection component's method of emitting a specific coded pattern significantly improves acquisition efficiency. Within the same registration time, it can comprehensively acquire data within a square area with sides of tens of centimeters, greatly increasing the range of acquired data and obtaining millions of data points, significantly increasing the number of point clouds and thus improving the accuracy of the three-dimensional structure. The projection component can not only emit specific coded patterns but also project images to the target space. For example, it can project important physiological information of the patient, such as heart rate, blood pressure, and blood type, onto the patient's skin surface, thereby displaying information in a contactless and safe manner and allowing for distortion correction. The projection component of the scanning module and the image acquisition device have a predetermined relative spatial relationship. In one embodiment, the projection component of the surgical robot system of the present invention includes a light source, a lens group, a digital micromirror device, and a control module; the image acquisition device is a camera.

[0014] The scanning module of the surgical robot system of the present invention can be moved to a designated position by the robotic arm based on a known fixed position relative to the end of the robotic arm, or the spatial position of the scanning module can be determined by the tracking module.

[0015] The scanning module of the surgical robot system of this invention can be a separate module, used independently or connected to the robotic arm via a flange as a detachable component, or it can be an integrated module, i.e., integrated into the end effector of the robotic arm. When the scanning module is a separate module, it can be used handheld, but it needs to include a marker (a trackable structure) and work in conjunction with a tracking module. When the scanning module is detachable, it is connected to the robotic arm during use, giving it known coordinates in the robotic arm's world coordinate system. For example, in one implementation, the scanning module projects a specific coded image onto the target space and acquires the image through an image acquisition device. Using a corresponding decoding algorithm, a precise three-dimensional structure of the target space is obtained. Image acquisition can be performed in various ways; for example, pre-loaded software in the computing control center adjusts the position of the robotic arm according to program settings, re-acquires image data of the target space, and combines it with previous data to generate a three-dimensional structure. This step can be repeated multiple times until the three-dimensional image meets the requirements. Then, the three-dimensional structure is matched with the pre-generated three-dimensional model, thereby unifying the coordinate system of the surgical area with that of the three-dimensional model. Finally, the scanning module is replaced with a guide module, and the surgical procedure continues. When the scanning module is integrated into the end of the robotic arm, it is used for 3D structural acquisition in the same way as the detachable scanning module, but it does not occupy the flange, so the guide structure can be directly installed for subsequent surgical operations.

[0016] The markers can be mounted on a rigid structure to form a traceable structure, wherein the markers are set in a unique spatial distribution that can determine a unique coordinate system.

[0017] The scanning module can be controlled by a robotic arm or used as an independent structure. Compared with existing technologies that can only collect facial feature points for registration when the patient is in a supine position, it reduces the constraints on the spatial position of the scanning module, increases the angle and position of the acquired images, and can acquire full-head data that is difficult to obtain with existing technologies. Moreover, it is not affected by the patient's posture, expands the range of the scanned images, and thus improves the accuracy of 3D images and registration.

[0018] The surgical robot system of the present invention may further include a position tracking module to track the position of the scanning module. By tracking the spatial position of the scanning module when acquiring images, the coordinate system of the image can be transformed to construct a three-dimensional structure. When the tracking module is included, the composition of the scanning module is the same as described above. The position tracking module can be implemented in various ways:

[0019] In the first case, the position tracking module is an image acquisition device with tracking capabilities, such as a binocular camera. Based on the binocular imaging principle, the position of the tracked scanning module is obtained by acquiring the spatial position of a marker (such as a self-illuminating marker, corner point, etc.) that the binocular camera can track and has a fixed spatial positional relationship with the scanning module. Then, the spatial position of the acquired image information can be determined by the position of the scanning module.

[0020] In the second scenario, the position tracking module is an optical tracking device. An optical tracking device typically includes a light-traceable marker, a camera unit, and a light emitting unit. The light is preferably infrared. The light-traceable marker is fixed to the scanning module, and the light emitting unit projects infrared light onto the marker. The reflected infrared light is received by the camera unit, allowing the position of the scanning module to be monitored in real time through the optical tracking device. The light-traceable marker can take various forms, such as reflective spheres with special spatial relationships, or reference markers composed of reflective spheres.

[0021] In the third scenario, the position tracking module is an electromagnetic tracking device. The electromagnetic tracking device determines the position of the marker by the influence of the marker on the electromagnetic field in the magnetic field. By fixing the electromagnetic marker to the scanning module, the spatial position of the scanning module can be determined by the marker.

[0022] The robotic arm of the surgical robot system of the present invention has at least six degrees of freedom and is capable of sensing applied forces. In one embodiment, the robotic arm of the surgical robot system of the present invention has six joints and a force sensor is provided at the end of the robotic arm, enabling movement in all six degrees of freedom. The force sensor can detect the external force applied to the end of the robotic arm. In another embodiment, the robotic arm of the surgical robot system of the present invention has seven joints, each of which has a torque sensor, enabling movement in all seven degrees of freedom. When the end of the robotic arm (end segment) remains in a fixed position or is restricted in one direction, the joints and other segments can be posture adjusted to facilitate the user. In yet another embodiment, the robotic arm contains motors only at the joints. By measuring the changes in the motor current, the force on the joint can be calculated, allowing for adaptive adjustments. The robotic arm of the surgical robot system of the present invention can also have more than six joints, such as seven, eight, nine, or ten joints, thus providing more degrees of freedom.

[0023] Another aspect of the present invention provides a method of using the surgical robot system of the present invention, the method comprising the following main steps:

[0024] a) The surgical robot system receives and visualizes image data, allowing for surgical planning within the images;

[0025] b) Use the scanning module to scan the target space, and use the workstation to generate a three-dimensional structure from the scanned data, which is then registered with the image from step a.

[0026] c) Install a guidance module at the end of the robotic arm and execute the procedure according to the pre-planned surgical procedure.

[0027] Further, in one implementation, the structural scanning of the target space using the scanning module in step b is performed as follows: the user manually drags the robotic arm to bring the scanning module to the desired position, acquires scanning information, and can perform multiple scans to obtain a complete image of the target space. In another implementation, the structural scanning of the target space using the scanning module in step b is performed as follows: first, the scanning module performs an initial scan of the target space to obtain its approximate position in the coordinate system, such as the patient's supine position and facial orientation; then, the workstation calculates the appropriate position for the scanning module to perform the scan based on the parameters of the scanning module and plans a suitable robotic arm motion trajectory, and then automatically executes the scanning steps, controlling the robotic arm movement and driving the scanning module to the predetermined position in a predetermined sequence, acquiring data from the target space from multiple angles, thereby enabling the acquisition of the complete three-dimensional structure of the target space through decoding and stitching. During the process of the projection component projecting a specific encoded image onto the target space, due to the limited projection angle and the existence of mutual occlusion in the scene, multi-angle acquisition is required to obtain a complete three-dimensional image.

[0028] The system of this invention achieves precise position determination of the scanning module through the tracking module, ensuring that an ideal three-dimensional structure can be obtained. Moreover, compared with traditional point registration, it has a significant advantage in the speed of generating three-dimensional images, shortening the operation time and reducing the operation risk.

[0029] Preferably, in another embodiment, where the scanning module and the connection guide module are detachably connected to the robotic arm, in step b, the scanning module is mounted to the robotic arm via a flange before registration; after registration, the guide module replaces the scanning module.

[0030] The guiding device is generally designed with through holes to assist the movement of surgical instruments in a certain direction. The guiding device can be sterilized when necessary to meet surgical requirements. Those skilled in the art will understand that other forms capable of achieving this function are also possible. The movement of surgical instruments along a predetermined trajectory with the assistance of the guiding module means that surgical instruments, such as guide wires, electrodes, and probes, undergo directionally restricted movement along the axial direction of the through holes in the guiding module, thereby achieving precise stereotactic orientation of the surgical instruments in three-dimensional space.

[0031] The surgical robot system of the present invention can meet the needs of operating rooms, and the guidance module can be sterilized before use. Attached Figure Description

[0032] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of one embodiment of the surgical robot system according to the present invention;

[0034] Figure 2 This is a schematic diagram of another embodiment of the surgical robot system of the present invention;

[0035] Figure 3 This is a schematic diagram of an embodiment of the surgical robot system of the present invention, showing the state in which a scanning module is connected to the end of the robotic arm.

[0036] Figure 4 Another embodiment of the invention is shown, in which the illustrated surgical robot system further includes a tracking module;

[0037] Figure 5 The present invention illustrates another embodiment of a surgical robot system comprising a tracking module and a scanning module as a separate accessory;

[0038] Figure 6 Another embodiment of the invention is shown, in which the surgical robot system includes a tracking module and a scanning module as a separate accessory;

[0039] Figure 7 An embodiment of the present invention is shown, wherein the surgical robot system includes a robotic arm having seven degrees of freedom;

[0040] Figure 8 yes Figure 7 Enlarged view of the robotic arm connecting to the scanning module;

[0041] Figure 9 The present invention illustrates another embodiment of the surgical robot system comprising a tracking module and a robotic arm with seven degrees of freedom;

[0042] Figure 10 Another embodiment of the invention is shown, in which the surgical robot system includes a tracking module, a separate scanning module, and a robotic arm with seven degrees of freedom;

[0043] Figure 11A schematic diagram of yet another embodiment of the invention is shown, in which the scanning module is integrated into a robotic arm.

[0044] icon:

[0045] 100-Workstation; 101-Housing; 102-Computing Control Center; 103-Display Device; 104-Input Device; 1011-Wheels; 1012-Fixing Device; 200-Robotic Arm; 300-Scanning Module; 400-Guidance Module; 500-Tracking Module; 201-Base; 202-First Joint; 203-First Arm Segment; 204-Second Joint; 205-Second Arm Segment; 206-Third Joint; 207-Third Arm Segment; 208- Fourth joint, 209-Fourth arm segment, 210-Fifth joint, 211-Fifth arm segment, 212-Sixth joint, 213-Sixth arm segment, 214-Seventh joint, 215-Seventh arm segment (robotic arm end); 301-Projection component, 302-Image acquisition device, 303-Trackable structure, 3031-Trackable marker (spherical marker or corner point); 501-Camera or projection component, 502-Camera, 503-Infrared emitting device. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] To facilitate understanding of this embodiment, the surgical robot system disclosed in this invention will first be described in detail.

[0048] Reference Figure 1 A schematic diagram of one embodiment of the surgical robot system of the present invention includes: a workstation 100, a robotic arm 200, a scanning module 300, and a guidance module 400, wherein:

[0049] Workstation 100 includes a housing 101, a computing control center 102, a display device 103, and an input device 104. The computing control center 102 is connected to the display device 103, the input device 104, and other hospital equipment, such as magnetic resonance imaging (MRI) equipment or X-ray computed tomography (CT) equipment, or a database communication connection. The display device 103 is used to display the three-dimensional images and software control interface generated by the computing control center 102. There can be more than one display device, and it can also be other existing devices, such as liquid crystal displays, laptops, tablets, smartphones, etc. In one embodiment, a touch screen can be used, which has both display and input functions. In another embodiment, the display device 103 can be glasses with projection display function or a helmet with a projection display screen for the convenience of the user. The input device 104 can be any input accessory, such as a foot switch, touchpad, stylus, touch screen, joystick, trackball, wireless mouse, mouse, keyboard, voice input port, or a combination thereof, allowing the user to input commands to the computing control center 102. If the display device 103 has input function, the input device 104 can be omitted. The housing 101 includes wheels, a fixing device, and a handle to ensure that the user can easily move the workstation 100; the housing 101 may also have a connecting device to fix the workstation 100 to an operating table / head frame, etc. The robotic arm 200 is any robotic arm with at least 6 degrees of freedom, such as a robotic arm with 7, 8, 9, or 10 degrees of freedom, with one end fixedly connected to the workstation 100.

[0050] The scanning module 300 can have several components. In one case, it only includes an image acquisition device, such as a binocular camera. In another case, it includes a light emitting component and an image acquisition device. The light emitting component emits infrared light into the target space, and the image acquisition device captures the image. After acquiring sufficient data, the computing control center calibrates the coordinates of the target space based on the obtained information. In a third scheme, the scanning module includes a projection component and an image acquisition device. The projection component and the image acquisition device have a predetermined relative spatial relationship. The projection component can not only emit specific coded patterns but also project images into the target space. For example, it can project important physiological information of the patient, such as heart rate, blood pressure, and blood type, onto the patient's skin surface, thereby displaying information in a contactless and safe manner and performing distortion correction. The scanning module 300 can be independent, detachably connected to the robotic arm 200, or integrated into the robotic arm 200. Figure 1 The image shows a case where the scanning module 300 is detachably connected to the robotic arm 200.

[0051] The guide module 400 can be connected to the end effector 215 of the robotic arm via a flange. The guide module 400 contains a through hole through which other surgical instruments, such as guide wires, drills, electrodes, etc., can be guided and positioned. When the guide module moves to the designated position and holds it, the surgical instruments can reach the designated position through the through hole of the guide module according to the pre-planned path and length.

[0052] The scanning module 300 is connected to the robotic arm 200, and its relative position with the robotic arm 200 is determined. Then, its spatial position can be determined by the robotic arm 200. The scanning module obtains the scanning data, transmits it to the workstation 100 for processing, establishes a three-dimensional structure, performs registration, and then performs subsequent operations through the guidance module 400.

[0053] Reference Figure 2 A schematic diagram of another embodiment of the surgical robot system of the present invention includes: a workstation 100, a robotic arm 200, a scanning module 300, a guidance module 400, and a tracking module 500, wherein:

[0054] Workstation 100 includes a housing 101, a computing control center 102, a display device 103, and an input device 104. The computing control center 102 communicates with the display device 103, the input device 104, and other hospital equipment, such as MRI or CT equipment, or a database. The display device 103 is used to display the 3D images and software control interface generated by the computing control center 102. There can be more than one display device, and it can also be other existing devices, such as LCD monitors, laptops, tablets, smartphones, etc. In one embodiment, a touch screen can be used, which has both display and input functions. In another embodiment, the display device 103 can be glasses with projection display function or a helmet with a projection screen for the convenience of the user. The input device 104 can be any input accessory, such as a foot switch, touchpad, stylus, touch screen, joystick, trackball, wireless mouse, mouse, keyboard, voice input port, or a combination thereof, allowing the user to input commands to the computing control center 102. If the display device 103 has input function, the input device 104 can be omitted. The housing 101 includes wheels, a fixing device, and a handle to ensure that the user can easily move the workstation 100; the housing 101 may also have a connecting device to fix the workstation 100 to an operating table / head frame, etc. The robotic arm 200 is any robotic arm with at least 6 degrees of freedom, such as a robotic arm with 7, 8, 9, or 10 degrees of freedom, with one end fixedly connected to the workstation 100.

[0055] The scanning module 300 can have several components. In one case, it only includes an image acquisition device, such as a binocular camera. In another case, it includes a light emitting component and an image acquisition device. The light emitting component emits infrared light into the target space, and the image acquisition device captures the image. After acquiring sufficient data, the computing control center calibrates the coordinates of the target space based on the obtained information. In a third scheme, the scanning module includes a projection component and an image acquisition device. The projection component and the image acquisition device have a predetermined relative spatial relationship. The projection component can not only emit specific coded patterns but also project images into the target space. For example, it can project important physiological information of the patient, such as heart rate, blood pressure, and blood type, onto the patient's skin surface, thereby displaying information in a contactless and safe manner and performing distortion correction. The scanning module 300 can be independent, detachably connected to the robotic arm 200, or integrated into the robotic arm 200. Figure 2 The image shows a case where the scanning module 300 is detachably connected to the robotic arm 200.

[0056] The guide module 400 can be connected to the end effector 215 of the robotic arm via a flange. The guide module 400 contains a through hole through which other surgical instruments, such as guide wires, drills, electrodes, etc., can be guided and positioned. When the guide module moves to the designated position and holds it, the surgical instruments can reach the designated position through the through hole of the guide module according to the pre-planned path and length.

[0057] The tracking module 500 can be implemented using different devices, as long as it can track the spatial position of the scanning module 300. For example: Firstly, the tracking module can be a camera device with tracking capabilities, such as a binocular camera. The scanning module contains corner points arranged in a special structure or self-illuminating markers. Based on the binocular imaging principle, the position of the tracked scanning module is obtained, and the spatial position of the obtained image information can be determined through the position of the scanning module. Secondly, the tracking module can be an optical tracking device. Optical tracking devices typically include markers that can be tracked by light, a camera unit, and a light emitting unit. The light is preferably infrared. By fixing the marker to the scanning module, the position of the scanning module can be monitored in real time through the optical tracking device. The marker can be in various forms, such as a sphere. Thirdly, the tracking module can be an electromagnetic tracking device. The electromagnetic tracking device determines the position of the electromagnetic marker by the influence of the electromagnetic marker on the electromagnetic field in the magnetic field. By fixing the electromagnetic marker to the scanning module, the spatial position of the scanning module can be determined through the electromagnetic marker. The tracking module 500 has a defined positional relationship with the workstation 100 or the robotic arm 200.

[0058] Example 1

[0059] See Figure 3 The diagram illustrates the structure of an example of the surgical robot system of the present invention, which includes a workstation 100, a robotic arm 200, a scanning module 300, and a guidance module 400 (not shown). The workstation 100 includes a housing 101, a computing control center 102 (not shown), a touchscreen 103, and foot pedals (not shown). The housing 101 includes four wheels 1011, three fixing devices 1012, and a handle. The robotic arm 200 is a robotic arm with six joints, capable of movement in six degrees of freedom. A force sensor is installed at the end of the robotic arm to sense forces in various dimensions. The scanning module 300 includes a projection component 301 and an image acquisition device 302, which have a predetermined relative spatial position relationship. The projection component 301 can project a specific coded image into the target space and acquire the image through the image acquisition device 302. Through a corresponding decoding algorithm, the accurate three-dimensional structure of the target space is obtained and then registered. The projection component 301 includes a light source, a lens group, a digital micromirror element, and a control module. The image acquisition device 302 is a camera. The projection component 301 can not only emit specific coded patterns but also project images onto a target space, such as projecting important physiological information of the patient, such as heart rate, blood pressure, and blood type, onto the patient's skin surface, thereby displaying information in a contactless and safe manner and performing distortion correction. The wheels 1011 can be omnidirectional wheels for easy movement. Once moved to the appropriate position, the three fixing devices 1012 are raised and lowered to replace the wheels 1011 and provide support, thus fixing the surgical robot system in the appropriate position. The position of the end effector of the robotic arm 200 can be determined in real time in the robotic arm coordinate system. The position of the scanning module 300 relative to the end effector of the robotic arm 200 is fixed, thereby obtaining the position of the scanning module 300 in space. During use, after the scanning module 300 completes the registration step, a guide module replaces the scanning module 300.

[0060] Example 2

[0061] See Figure 4The diagram shows a structural diagram of another example of the surgical robot system of the present invention, which includes a workstation 100, a robotic arm 200, a scanning module 300, a guidance module 400 (not shown), and a tracking module 500. The workstation 100 includes a housing 101, a computing control center 102 (not shown), a touch screen 103, and foot pedals (not shown). The housing 101 includes four wheels 1011, three fixing devices 1012, and a handle. The robotic arm 200 is a robotic arm with six joints, capable of movement in six degrees of freedom. A force sensor is installed at the end of the robotic arm to sense the force in each dimension. The scanning module 300 includes a projection component 301 and an image acquisition device 302. The projection component 301 and the image acquisition device 302 have a predetermined relative spatial position relationship. The projection component 301 can emit a specific coded image to the target space and acquire the image through the image acquisition device 302. Through a corresponding decoding algorithm, the accurate three-dimensional structure of the target space is obtained and then registered. The projection component 301 includes a light source, a lens group, a digital micromirror element, and a control module. The image acquisition device 302 is a camera. The projection component 301 can not only emit specific coded patterns but also project images onto a target space, such as projecting important physiological information of the patient, such as heart rate, blood pressure, and blood type, onto the patient's skin surface, thereby displaying information in a contactless and safe manner and performing distortion correction. The wheels 1011 can be omnidirectional wheels for easy movement. Once moved to the appropriate position, the three fixing devices 1012 are raised and lowered, replacing the wheels 1011 to provide support, thus fixing the surgical robot system in the appropriate position. The tracking module 500 can track the position of the scanning module 300, which includes a trackable structure ( Figure 4 Not shown in the image, see reference. Figure 5 For example, a special structure composed of actively emitting spherical markers or corner patterns can be used. The tracking module can be a binocular camera, i.e., 501 and 502 are both cameras. The tracking module 500 can also be a structure of a binocular camera plus an infrared light emitting device. In this case, the scanning module 300 includes a light-trackable structure composed of spherical markers that can reflect infrared light. The trackable structure can also be connected to the end effector of the robotic arm to perform positioning or position correction of the end effector.

[0062] Example 3

[0063] See Figure 5The diagram shows a structural diagram of another example of the surgical robot system of the present invention, which includes a workstation 100, a robotic arm 200, a scanning module 300, a guiding module 400, and a tracking module 500. The workstation 100 includes a housing 101, a computing control center 102 (not shown), a touch screen 103, and foot pedals (not shown). The housing 101 includes four wheels 1011, three fixing devices 1012, and a handle. The wheels 1011 can be omnidirectional wheels for easy movement. When moved to the appropriate position, the three fixing devices 1012 are raised and lowered to replace the wheels 1011 and provide support, thereby fixing the surgical robot system in the appropriate position. The robotic arm 200 is a robotic arm with 6 joints, capable of movement in 6 degrees of freedom. Force sensors are installed at the end of the robotic arm to sense forces in various dimensions. The scanning module 300 is an independent component, including a projection component 301, an image acquisition device 302, and a trackable structure 303. The trackable structure 303 includes 4 trackable corner points 3031. The guide module 400, which connects to the end effector of the robotic arm via a flange, contains through-holes through which other surgical instruments, such as guide wires, drills, and electrodes, can be guided and positioned. The tracking module 500 consists of binocular cameras (501 and 502). The scanning module 300 can be handheld and scans the target space. The tracking module 500 tracks the position of the scanning module in real time, thereby unifying the scanned images in the coordinate system of the robotic arm for registration. The workstation 100 then controls the robotic arm 200 to move along a preset path. The tracking module 500 can also track the position of the guide module 400. A similar trackable structure (303) can be added to the guide module 400 as a correction reference for determining its position or as an independent positioning method.

[0064] Example 4

[0065] See Figure 6The diagram shows a structural diagram of another example of the surgical robot system of the present invention, which includes a workstation 100, a robotic arm 200, a scanning module 300, a guiding module 400, and a tracking module 500. The workstation 100 includes a housing 101, a computing control center 102 (not shown), a touch screen 103, and foot pedals (not shown). The housing 101 includes four wheels 1011, three fixing devices 1012, and a handle. The wheels 1011 can be omnidirectional wheels for easy movement. When moved to the appropriate position, the three fixing devices 1012 are raised and lowered to replace the wheels 1011 and provide support, thereby fixing the surgical robot system in the appropriate position. The robotic arm 200 is a robotic arm with 6 joints, capable of movement in 6 degrees of freedom. Force sensors are installed at the end of the robotic arm to sense forces in various dimensions. The scanning module 300 is an independent component, including a projection component 301, an image acquisition device 302, and a light-traceable structure 303. The light-traceable structure 303 includes four light-traceable spherical markers 3031. The guiding module 400, which can be connected to the end of the robotic arm via a flange, contains through holes through which other surgical instruments, such as guide wires, drills, and electrodes, can be guided and positioned. The tracking module 500 is a structure consisting of binocular cameras (501 and 502) and an infrared emitter 503. The infrared emitter 503 emits infrared light, which illuminates a spherical marker 3031 that reflects infrared light. The light reflected by the spherical marker 3031 is captured by the binocular cameras, allowing the calculation of the spatial coordinates of the scanning module 300. The scanning module 300 can be used handheld to scan the target space. The tracking module 500 tracks the position of the scanning module in real time, thereby converting the scanned image into the coordinate system of the robotic arm. The workstation 100 then controls the robotic arm 200 to move along a preset path. The tracking module 500 can also track the positions of the guiding module 400 and the robotic arm 200; that is, by adding a trackable structure similar to 303 to the guiding module 400 and the robotic arm 200, it can serve as a calibration reference or an independent positioning method.

[0066] Example 5

[0067] Reference Figure 7 This illustrates another example of the surgical robot system of the present invention, which is basically the same as that of Embodiment 1, except that the robotic arm 200 has 7 degrees of freedom. An enlarged view of the robotic arm 200 connected to the scanning device 300 is shown in [the image]. Figure 8As shown, the robotic arm 200 includes a base 201, a first joint 202, a first arm segment 203, a second joint 204, a second arm segment 205, a third joint 206, a third arm segment 207, a fourth joint 208, a fourth arm segment 209, a fifth joint 210, a fifth arm segment 211, a sixth joint 212, a sixth arm segment 213, a seventh joint 214, and a seventh arm segment 215 (the end effector of the robotic arm); each joint is equipped with a torque sensor; the robotic arm 200 is mounted to the workstation 100 via the base 201. The scanning module 300 includes a projection assembly 301 and an image acquisition device 302.

[0068] Example 6:

[0069] See Figure 9 This illustrates another example of the surgical robot system of the present invention, which is basically the same as that in embodiment 2, except that the robotic arm 200 has 7 degrees of freedom, and there are motors at the joints of the robotic arm. The force on the robotic arm 200 can be calculated by the magnitude of the current in the motors. In some cases, there may also be torque sensors at the joints to sense the force.

[0070] Example 7:

[0071] See Figure 10 This illustrates another example of the surgical robot system of the present invention, which is essentially the same as that of Embodiment 4, except that the robotic arm 200 has seven degrees of freedom. This example can also employ the same scanning and tracking modules as in Embodiment 3, i.e., using corner points as trackable markers and using a binocular camera to acquire images.

[0072] The surgical robot system of the present invention can be used in a variety of surgical scenarios and has different usage methods. Only some examples are shown below.

[0073] Example 8:

[0074] An example of the method of using the surgical robot system in Example 1 includes the following steps:

[0075] A) The workstation 100 of the surgical robot system receives medical imaging data, such as magnetic resonance imaging data, functional magnetic resonance imaging data, CT image data, phase contrast magnetic resonance angiography (PC-MRA) data, etc., through an interface. Preferably, the surgical data is formatted uniformly. Then, the "Neurosurgery Robot Planning Software" pre-loaded in the workstation 100 constructs a three-dimensional model of the target space, in which blood vessels are displayed. The user plans the surgical plan and determines the path of the surgical instruments according to the planning guide provided with the software.

[0076] B) Fix the workstation 100 in a suitable position. The user issues commands through the input device 104, such as a mouse or keyboard, so that the robotic arm 200 controls the scanning device 300 connected to the flange. The projection component projects structured light into the target space, the camera captures images, and the three-dimensional structure of the target space is calculated based on the decoding of the encoded images. Preferably, the software of the workstation 100 can control the robotic arm 200 to adjust its position according to the range of the captured images. After multiple data acquisitions, the required three-dimensional structure is obtained. Then, the three-dimensional structure of the surgical area is registered with the three-dimensional model in step A.

[0077] C) After registration, the surgical procedure is performed. In the placement of deep electrodes, the following steps are taken: The user replaces the scanning module 300 with the guiding module 400. The workstation 100 sends instructions to the robotic arm 200 according to the surgical plan outlined in step A. The robotic arm 200 moves to the designated position. The user guides the surgical drill bit through the guiding module 400 to determine its direction and position. Following the parameters provided by the neurosurgical robot planning software, surgical accessories such as limiters are installed. An incision is then made at the surgical site, such as the head. Other surgical instruments, such as guide wires or electrodes, are then used to replace the drill bit, advancing along the channel of the directional device to the designated position. If it is a multi-step surgery, the robotic arm can be dragged to the required position according to the pre-planned surgical procedure to complete this step. This process is repeated multiple times until all planned steps are completed.

[0078] Example 9

[0079] Reference Figure 11 In another embodiment of the present invention, the numerical designations and references are consistent with... Figure 1 Similar to, but differing in that the scanning module 300 is integrated into the robotic arm 200, preferably into the end effector of the robotic arm, ensuring sufficient degrees of freedom for angle adjustment. During use, the guidance module 400 is sterilized as needed, while the scanning module 300, due to its electronic components, is generally not suitable for high-temperature sterilization. However, in this embodiment, because the scanning module 300 is integrated into the robotic arm 200, it is similar to, or even integrated into, the robotic arm 200. Figure 1 The descriptions differ. When installing the guide module 400, it is not necessary to remove the scanning module 300 from the flange. The robotic arm 200 with the flange and scanning module 300 is wrapped with a sterile drape, and then the sterilized guide module 400 is installed on the flange. The operation can then be continued using sterilized surgical instruments.

[0080] Example 10

[0081] Example of the use of the surgical robot system in Example 9 is basically the same as that in Example 7, except that the scanning module is integrated into the end of the robotic arm. Therefore, it does not occupy the flange. After registration is completed, the guide device is directly connected to the robotic arm through the flange.

[0082] In the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0083] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A neurosurgical robot system, characterized in that, Include: The workstation includes a housing, a computing control center, and a display device; A robotic arm comprising multiple arm segments connected by joints, the robotic arm having at least 6 degrees of freedom; A scanning module is used to collect information from a target space. The scanning module includes a projection component and an image acquisition device. The projection component can emit a specific coded image into the target space and acquire the image through the image acquisition device. Through a corresponding decoding algorithm, accurate three-dimensional information of the target space is obtained. The projection component can also project a pattern into the target space. The guidance module is used to guide the surgical instruments to move along a predetermined trajectory, thereby achieving precise stereoscopic orientation of the surgical instruments in three-dimensional space. A position tracking module capable of tracking the position of a device comprising a trackable structure, the device comprising a trackable structure being selected from one or more of the following: a scanning module, a guiding module, a surgical instrument, and a flange; The information collected by the scanning module is processed by the workstation to obtain three-dimensional information of the target space; The scanning module is connected to the end of the robotic arm, or integrated into the robotic arm; The guide module is connected to the end of the robotic arm via a flange, or is integrated into the robotic arm.

2. The system according to claim 1, characterized in that, The position tracking module tracks the position of the scanning module, and then tracks the spatial position of the scanning module when it acquires the image. It then transforms the coordinate system of the image to construct a three-dimensional structure.

3. The system according to claim 2, characterized in that, The workstation calculates the appropriate position for the scanning module to scan based on the parameters of the scanning module and plans a suitable robotic arm motion trajectory. Then, it automatically executes the scanning steps, controls the movement of the robotic arm, and drives the scanning module to the predetermined position to collect data from the target space.

4. The system according to claim 1, characterized in that, The projection component and the image acquisition device have a predetermined relative spatial position relationship.

5. The system according to claim 1, characterized in that, The projection assembly includes a light source, a lens group, a digital micromirror element, and a control module.

6. The system according to claim 1, characterized in that, The position tracking module is an optical tracking device, which includes a camera unit and a light emitting unit.

7. The system according to claim 1, characterized in that, The position tracking module is an electromagnetic tracking device.

8. The system according to any one of claims 1 to 7, characterized in that, The robotic arm is configured to sense the forces acting on it.

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