Reference frame for electromagnetic navigation equipment of surgical robot and electromagnetic navigation equipment

Abstract

The invention relates to a reference frame for electromagnetic navigation of a surgical robot having a robotic arm, the reference frame comprising: a reference frame body; -a holder operably connected with the reference frame body and capable of being driven to hold the reference frame body on rigid tissue closest to a target area in a stationary manner; -a drive for driving the holder; wherein the reference frame body is provided with an accommodating part for detachably mounting an electromagnetic sensing device for electromagnetic navigation, and is provided with a plurality of developing bodies capable of displaying coordinate positions in an image of imaging equipment.

Description

Technical Field

[0001] The invention relates to a reference frame for electromagnetic navigation of a surgical robot, wherein the surgical robot has a mechanical arm. In addition, the invention also relates to an electromagnetic navigation device and an electromagnetic navigation system for the surgical robot. Background Art

[0002] A navigation device for a surgical robot is used to track the position of one or more objects during surgery, the surgical robot is adapted to hold one or more surgical instruments during surgery, and can operate autonomously (e.g., without any human input during surgery), semi-autonomously (e.g., with some human input during surgery), or non-autonomously (e.g., only as directed by human input).

[0003] At present, surgical robot systems are widely used in surgical operations. They usually include a trolley, a robotic arm arranged on the trolley, an optical navigation device, an imaging device, an operating table and other structures. The patient undergoes surgery on the operating table. The navigation device can determine the posture (position and orientation) of one or more target bodies during the operation to detect the movement of the target body, such as the movement of the robotic arm, the movement of the surgical tool, the movement of the patient's anatomical body, etc. In order to accurately determine the posture of the target body, it is usually necessary to set a reference frame on the target body. A plurality of reflective balls are arranged on the body of the reference frame. The reflective balls on the body of the reference frame can be used to collect the reference coordinate information of the target body during the operation and command the robotic arm to work. Since navigation is achieved by aligning the imaging device coordinates, infrared optical positioning coordinates and surgical instrument coordinates through an infrared optical navigation device in the known surgical robot system, the infrared navigation device is easily blocked by objects during the operation. Therefore, the navigation effect of the surgical robot system based on optical navigation will be adversely affected. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an improved reference frame for an electromagnetic navigation device of a surgical robot, an electromagnetic navigation device having the reference frame, and an electromagnetic navigation system, which can avoid the disadvantage that the optical navigation of the surgical robot in the prior art is easily blocked by objects and achieve high-precision navigation.

[0005] According to the first aspect of the present disclosure, the above technical problem is solved by a reference frame for electromagnetic navigation of a surgical robot, the surgical robot having a mechanical arm, and according to the first aspect of the present disclosure, the reference frame comprises: a reference frame body; a holder, the holder is operably connected to the reference frame body and can be driven to fix the position of the reference frame body on the rigid tissue closest to the target area; a driving member for driving the holder; wherein, on the reference frame, especially on its reference frame body, a receiving portion for detachably mounting an electromagnetic sensing device for the electromagnetic navigation is provided and a plurality of developing bodies capable of displaying coordinate positions in an imaging device image are arranged. By fixing the electromagnetic sensing device and the developing body on the same component, i.e., the reference frame, especially on its reference frame body, the relative position of the electromagnetic sensing device and the developing body can be fixed, thereby ensuring that the accuracy of the electromagnetic navigation for the surgical robot is sufficiently high. As an alternative, the electromagnetic sensing device and the developing body can also be arranged on the holder or the driving member.

[0006] In an extended technical solution of the present disclosure, it is provided that the reference frame body includes a distal wall portion away from the rigid tissue during surgery and a leg portion extending from the distal wall portion toward the rigid tissue. The distal wall portion enables the retaining member and the reference frame body to be connected to each other, thereby reliably transmitting the driving force from the driving rod, thereby ensuring that the reference frame can be firmly held on the rigid tissue.

[0007] In a further expanded technical solution of the present disclosure, it is provided that the reference frame body further comprises a plurality of web portions connected between the leg portions, thereby making it more convenient to process the hole for mounting the joint axis. Preferably, two opposing webs may be provided to ensure that the retaining member does not move in the longitudinal direction of the reference frame body, thereby making it more convenient to transmit the retaining force for retaining the reference frame on the rigid tissue.

[0008] In a further expanded technical solution of the present disclosure, it is stipulated that the reference frame body at least partially accommodates the retaining member, especially allowing the retaining member to be freely converted between its different operating states, thereby ensuring that the operating state of the retaining member can be easily changed, especially ensuring that the retaining member can be freely converted between its retaining state and the open state.

[0009] In a further expanded technical solution of the present disclosure, it is provided that the plurality of developing bodies are respectively arranged on the proximal end region of the leg portion. In particular, the developing bodies can be arranged in different numbers according to application requirements.

[0010] In a further expanded technical solution of the present disclosure, it is provided that the holding member has at least two holding arms and a joint axis for holding the rigid tissue, and the at least two holding arms are hinged around the joint axis. In this way, the reference frame can be conveniently held on the rigid tissue closest to the patient's surgical site, while ensuring that the driving force is advantageously converted into the holding force.

[0011] In a further extended technical solution of the present disclosure, it is provided that a plurality of through holes are provided on the reference frame body, and the plurality of through holes are arranged in different parts of the reference frame body. As an alternative, the plurality of through holes can also be provided on the driving rod or the retaining member. By providing a plurality of through holes on different parts of the reference frame body, such as the distal wall part and the leg part, it is possible to ensure that different components of the reference frame and the electromagnetic sensing device are coupled to each other and facilitate mechanical processing and assembly.

[0012] In a further expanded technical solution of the present disclosure, it is stipulated that one of the multiple through holes is a first through hole for passing the driving member, and two of the multiple through holes are second through holes for installing the joint axis, wherein the first through hole and the second through hole are oriented perpendicular to each other, thereby enabling the various parts of the reference frame body to be coupled to each other in an advantageous manner, especially enabling the driving member and the retaining member to be coupled to the reference frame body in an advantageous manner, while achieving the conversion of the driving force into a retaining force for retaining the reference frame on the rigid tissue in an advantageous manner.

[0013] In a further expanded technical solution of the present disclosure, it is provided that the first through hole has an internal thread and is provided in the distal wall portion, and the second through hole is provided in the web portion, thereby facilitating machining of the through hole onto the reference frame body and making the assembly of the reference frame easier.

[0014] In a further expanded technical solution of the present disclosure, it is stipulated that the driving member includes a screw and a boss, the screw having a distal section, a middle section and a proximal section, wherein a limiting device for limiting the longitudinal movement of the boss along the screw is provided in the proximal section, and an external thread is provided in the middle section, and the driving member engages with the internal thread of the first through hole through the external thread.

[0015] In a further expanded technical solution of the present disclosure, it is stipulated that the limiting device includes a stopper close to the external thread and a retaining ring away from the external thread, and the retaining ring and the stopper are spaced apart along the longitudinal direction of the screw.

[0016] In a further expanded technical solution of the present disclosure, it is provided that the stopper protrudes outward from the outer circumference of the screw in the radial direction. The stopper can be designed to be annular or arc-shaped.

[0017] In a further development of the present disclosure, it is provided that the distal end section of the drive element is designed with a polygonal outer cross section which can be rotated by a screwing tool.

[0018] In a further expanded technical solution of the present disclosure, it is provided that at least two holding arms respectively have a distal end and a proximal end, the distal end contacts the driving member when being driven by the driving member, and the proximal end contacts the rigid tissue when holding the rigid tissue.

[0019] In a further developed technical solution of the present disclosure, it is provided that a plurality of protrusions facing each other are respectively provided on the inner sides of the proximal ends of at least two holding arms.

[0020] In a further expanded technical solution of the present disclosure, it is provided that the receiving portion is designed as a hole with an internal thread for threaded connection with the electromagnetic sensing device.

[0021] In a further expanded technical solution of the present disclosure, it is stipulated that calibration coordinate points for image registration of the imaging device are also provided on the reference frame body.

[0022] According to another aspect of the present disclosure, the aforementioned technical problem is solved by an electromagnetic navigation device for a surgical robot with a robotic arm. According to the provisions of the present disclosure, the electromagnetic navigation device includes: the aforementioned reference frame; a plurality of electromagnetic sensing devices, one of which is a first electromagnetic sensing device for sensing the real-time posture of the rigid tissue, which is detachably mounted on the reference frame, and the other is a second electromagnetic sensing device for sensing the real-time posture of the end effector of the robotic arm, which is fixed on the robotic arm; an electronic control unit, which is configured to control a magnetic field generating device to generate a magnetic field to obtain the position of a first electromagnetic sensor disposed on the reference frame; a magnetic field generating device, which is configured to generate a magnetic field covering the first sensing device and the second sensing device above a target area to be operated on; an imaging device, which is configured to perform an intraoperative scan of the target area and the reference frame body to obtain the coordinate position of the target area and the developer on the reference frame based on a coordinate system of the imaging device.

[0023] In an extended technical solution of the present disclosure, it is stipulated that the first electromagnetic sensing device has a connector with an external thread for detachably fixing to the reference frame, a first electromagnetic sensor and a cable, through which the first electromagnetic sensor on the reference frame is coupled to the electronic control unit, and the first electromagnetic sensor is arranged in the connector.

[0024] According to another aspect of the present disclosure, the aforementioned technical problem is solved by an electromagnetic navigation system for a surgical robot. According to the provisions of the present disclosure, the electromagnetic navigation system comprises: the aforementioned electromagnetic navigation device; a trolley device for fixing the robotic arm relative to the target object and an electronic control unit for placing the electromagnetic navigation device; a display device for displaying intraoperative imaging results and providing an operation interface; a robotic arm for guiding the movement of an end effector, which is fixedly connected to the trolley device; and an end effector for performing surgical operations on the target area, which is fixedly connected to the proximal end of the robotic arm.

[0025] Further details and advantages of the examples described in detail herein will become apparent from the following detailed description of the examples in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of an electromagnetic navigation system for a surgical robot in a spinal surgery situation according to a non-limiting embodiment of the present disclosure;

[0027] Figure 2 yes Figure 1 Schematic diagram of a local area A related to the reference frame;

[0028] Figure 3 is from Figure 2 The view from the right with the reference frame held on the spinous processes;

[0029] Figure 4 is a view of an end region of the first electromagnetic sensing device connected to the reference frame body;

[0030] Figure 5 is a perspective schematic diagram of a reference frame body according to a non-limiting embodiment of the present disclosure;

[0031] Figure 6 is a perspective view of a drive member of a reference frame according to a non-limiting embodiment of the present disclosure;

[0032] Figure 7 is a perspective view of a holder of a reference frame according to a non-limiting embodiment of the present disclosure;

[0033] Figure 8 yes Figure 3 A longitudinal section view of the reference frame in the holding state;

[0034] Fig. 9 yes Figure 3 Longitudinal section view of the reference frame in the open state.

[0035] Referring to the accompanying drawings, wherein like reference numerals refer to like parts throughout the several views, the present disclosure generally relates to a reference frame for electromagnetic navigation of a surgical robot, an electromagnetic navigation device for a surgical robot, and an electromagnetic navigation system for a surgical robot. DETAILED DESCRIPTION

[0036] It should also be understood that the specific devices, apparatuses, and systems shown in the accompanying drawings and described in the following specification are merely exemplary examples of the present disclosure. Therefore, specific dimensions and other physical characteristics related to the examples disclosed herein should not be considered limiting.

[0037] When the term "distal" is used with respect to a component (such as a holder, a screw, a reference frame body) of a reference frame, an electromagnetic navigation device and a system for a surgical robot, the term "distal" refers to the side of the component farthest from the patient. When the term "proximal" is used with respect to a component (such as a holder, a screw, a reference frame body) of a reference frame, an electromagnetic navigation device and a system for a surgical robot, the term "proximal" refers to the side of the component closest to the patient. When the term "distal" is used with respect to a component (such as a holder, a screw, a reference frame body) of a reference frame, an electromagnetic navigation device and a system for a surgical robot, the term "distal" refers to the end region of the component farthest from the patient. When the term "proximal" is used with respect to a component (such as a holder, a screw, a reference frame body) of a reference frame, an electromagnetic navigation device and a system for a surgical robot, the term "proximal" refers to the end region of the component closest to the patient. In addition, within the scope of the present disclosure, the term "target object" refers to a patient to be operated on by a surgical robot, the term "target area" refers to the patient's body part involved in the surgical operation by a surgical instrument, and the term "held object" refers to the rigid tissue near the aforementioned body part, especially bone tissue such as the spinous process. The terms "above", "below", "left" and "right" for the orientation are all with respect to the corresponding drawings of the present disclosure. The terms "first" and "second" only indicate that they are not the same components, and do not limit the order.

[0038] Figure 1It is a schematic diagram of an electromagnetic navigation system for a surgical robot in a spinal surgery according to a non-limiting embodiment of the present disclosure, which includes a trolley device 100, a display device 200, a mechanical arm 300, an end effector 400 and an electromagnetic navigation device 500 for a surgical robot, the electromagnetic navigation device is particularly used to realize intraoperative navigation, and the mechanical arm 300 is preferably designed as a multi-axis mechanical arm in the present disclosure. One end of the mechanical arm 300 can be fixed on the trolley 100, and the other end of the mechanical arm 300 can fix the end effector 400 and guide the movement of the end effector 400. The trolley device 100 is configured to fix the mechanical arm 300 relative to the target object, i.e., the patient to be operated on, and place an electronic control unit 510. As an alternative, the trolley device 100 can also fix the mechanical arm 300 relative to the operating table. The trolley device is also preferably equipped with a lockable roller to make the operation of the robotic surgery system of the present disclosure more flexible. The display device 200 is configured to display the imaging results of the intraoperative imaging device to the surgeon and provide an operation interface. The display device can be designed as a liquid crystal display, for example. The end effector 400 is a surgical instrument used to perform surgical operations on the target area, and in a non-limiting embodiment, it is a spinal surgical instrument, such as a nail placement tool, a drilling tool, etc., which is fixedly connected to the proximal end of the robotic arm 300. The end effector 400 can be detachably mounted on the robotic arm 300 through a multi-purpose surgical instrument connector. The electromagnetic navigation device 500 for the surgical robot is the core component of the electromagnetic navigation system and is mainly responsible for real-time positioning and navigation of the target area and the end effector 400 during the operation. The electromagnetic navigation device 500 will be further described below.

[0039] In a non-limiting embodiment, the electromagnetic navigation device 500 for a surgical robot includes a reference frame 550, multiple electromagnetic sensing devices, an electronic control unit 510, a magnetic field generating device 520 and an imaging device not shown in the drawings, especially a three-dimensional imaging device. One of the multiple electromagnetic sensing devices is a first electromagnetic sensing device 530 for sensing rigid tissue, such as spinous processes, and thereby obtaining the real-time posture of the target area to be operated on by means of its relative position relationship with the target area to be operated on. The first electromagnetic sensing device 530 is detachably mounted on the reference frame 550 (to be further described below). Another electromagnetic sensing device is a second electromagnetic sensing device 540 for sensing the real-time posture of the end effector 400 of the robotic arm 300. The second electromagnetic sensing device 540 is fixed to the proximal region of the robotic arm 300, and this fixation can be performed in particular through a surgical instrument connector. The electronic control unit 510 can control the magnetic field generating device 520 to generate a magnetic field, especially a three-dimensional magnetic field, to obtain the position of the first electromagnetic sensor set on the reference frame 550. The magnetic field generating device 520 can generate a magnetic field above the target area to be operated on, covering the first electromagnetic sensor (not shown) on the reference frame 550 and the second electromagnetic sensor on the robotic arm. The imaging device can perform intraoperative scanning of the target area and the reference frame 550, especially a three-dimensional scan, to obtain the coordinate position of the target area based on the imaging device coordinate system and the developing body 5514 on the reference frame 550 to be further explained below, especially the three-dimensional coordinate position. In a non-limiting embodiment, the imaging device is preferably designed as a CT scanner.

[0040] The working principle of the electromagnetic navigation device according to the present disclosure is preferably but not limited to: first, an intraoperative three-dimensional CT scan is performed on the target area and the reference frame 550 through a CT scanner not shown, and the coordinate position of the target area and the developing body 5514 on the reference frame 550 based on the CT coordinate system is obtained; then, the electronic control unit 510 controls the magnetic field transmitting device 520 to generate a three-dimensional magnetic field to obtain the position of the first electromagnetic sensor on the reference frame 550; since the relative position of the developing body 5514 on the reference frame 550 and the first electromagnetic sensor on the reference frame 550 is known, the CT coordinates and the electromagnetic field coordinates can be matched according to the relative position relationship; in addition, the position relationship between the second electromagnetic sensor on the robot 300 and the free end of the end effector is known, and the electromagnetic field coordinates and the coordinates of the robot 300 can be matched through this position relationship; finally, the alignment of the CT, electromagnetic field and coordinates of the robot 300 is achieved.

[0041] Figure 2 and Figure 3 yes Figure 15 shows views of a local area A related to the reference frame 550 from different viewing angles, which illustrate the construction of different sides of the reference frame 550, an exemplary assembly of the first electromagnetic sensing device 530 and the reference frame 550, and an example of the reference frame 550 being fixed to the spinous process during surgery. Figure 2 As shown, the first electromagnetic sensing device 530 (which will be further described below) can be fixed to the reference frame 550, especially to the distal wall portion 5516 of the reference frame body, so as to more conveniently assemble the first electromagnetic sensing device on the reference frame. The proximal end of the first electromagnetic sensing device 530 is coupled to the reference frame 550 by means of a connector 5302, and the distal end of the first electromagnetic sensing device 530 is coupled to the reference frame 550. Figure 1 , so as to transmit the data collected by the electromagnetic sensor to the electronic control unit 510. In a non-limiting embodiment, the reference frame 550 may have a holder 553 for holding the reference frame 550 on a rigid tissue, a drive 552 for driving the holder 553, and a reference frame body 551 for coupling the parts of the reference frame 550, wherein the reference frame body 551 at least partially accommodates the holder 553, so that the holder 553 can be in different operating states in the gap between the leg parts 5517 when being driven, in particular Figure 8 and 9 In order to make the reference frame more firmly fixed on the rigid tissue, each leg portion can be designed so that when the leg portion 5517 is Figure 3 In the holding state shown, when each leg portion 5517 is embracing the rigid tissue, the proximal end surfaces of at least two of the leg portions 5517 are in contact with the rigid tissue to support the corresponding rigid tissue. In a non-limiting embodiment, the retaining member 553 is at least partially extended from the side or the side of the reference frame body. Figure 3 The left and right sides of the reference frame body 551 protrude, in particular, protrude from the gap between the leg portions 5517 (see also Figure 5 The retaining member 553 can also be designed as follows according to different application scenarios in surgery. Figure 3 In the case where the retaining member 553 is designed as a distracting member (not shown in the drawings in order to highlight the key points of the disclosure), the reference frame 550 can be fixed on the spinous process by means of two retaining arms 5533 of the retaining member 553 in a manner of being supported between two corresponding spinous processes.

[0042] Figure 4It is a view of the end area of ​​the first electromagnetic sensing device 530 connected to the reference frame body 551, especially a view of the proximal area of ​​the first electromagnetic sensing device 530, which shows an exemplary appearance structure of the first electromagnetic sensing device 530. The first electromagnetic sensing device 530 has a cable 5301, a connector 5302 and a first electromagnetic sensor for sensing the real-time posture of the target area that is not visible in the drawings in a non-limiting embodiment. The first electromagnetic sensor is preferably disposed in or on the connector 5302. Alternatively, the first electromagnetic sensor may also be disposed in other parts of the electromagnetic sensing device, as long as it does not affect the assembly of the electromagnetic sensing device to the reference frame and is sufficiently stable. The connector 5302 may be provided with an external thread or a clamping structure. In order to conveniently connect or fix the first electromagnetic sensing device to the reference frame 550, especially to the reference frame body 551, the connector 5302 may be screwed to allow the first electromagnetic sensing device to be connected or fixed to the reference frame 550, especially to the reference frame body 551. Figure 4 The external threads shown are Figure 5 The internal threads of the through hole 5511 of the reference frame body 551 shown in FIG. 5 are engaged with each other, or the first sensing device can be inserted into the reference frame body 551 through the internal threads of the through hole 5511 of the reference frame body 551. Figure 5 The through hole of the reference frame body 551 not shown in the figure allows the alternative clamping structure to be connected with the Figure 5 The mating snap-fit ​​structures of the through holes of the reference frame body 551 not shown in the figure are snap-fitted to each other.

[0043] Figure 5is a perspective view of a reference frame body 551 according to a non-limiting embodiment of the present disclosure, from which the structure of the reference frame body 551 is clearly visible. In a non-limiting embodiment, the reference frame body 551 may include a distal wall portion 5516 that is away from the rigid tissue during surgery and a leg portion 5517 that extends from the distal wall portion 5516 toward the rigid tissue. Additionally or alternatively, the reference frame body 551 also includes a plurality of web portions 5518 connected between the leg portions 5517. In addition or alternatively, two web portions 5518 may be provided, and the two web portions may preferably be opposite to each other, so as to facilitate the installation of the joint shaft 5532 (to be further described below) of the retainer 553. Of course, in another non-limiting embodiment, the reference frame body 551 may also be provided without a web portion, in which case the joint shaft 5532 may be installed on the leg portion 5517, in particular, on two opposite leg portions. A plurality of through holes may be provided on the reference frame body 551, and the plurality of through holes may be arranged at different parts of the reference frame body 551. As a supplement or alternative, one of the plurality of through holes is a first through hole 5511 for passing the driving member 552, and two of the plurality of through holes are second through holes 5513 for installing the joint shaft 5532. As a supplement or alternative, the first through hole 5511 and the second through hole 5513 are oriented perpendicularly to each other so that the retaining member 553 can be easily mounted on the reference frame body 551 and the retaining member 553 can reliably switch the operating state in the reference frame body 551. In order to facilitate the assembly and machining between the components of the reference frame 550, the first through hole 5511 has an internal thread and is opened in the distal wall portion 5516 of the reference frame body 551, and the second through hole 5513 is opened in the web portion 5518 of the reference frame body 551. As an alternative, the first through hole and the second through hole can also be opened in other parts of the reference frame body 551, as long as the two are oriented perpendicularly. Calibration coordinate points 5515 for image registration of the imaging device can also be installed on the reference frame body 551, and the calibration coordinate points 5515 are particularly configured to determine the corresponding positions of the developer 5514 and the electromagnetic sensor. In a non-limiting embodiment, the calibration coordinate points 5515 are arranged on the distal wall portion 5516 of the reference frame body 551. As an alternative, the calibration coordinate points 5515 can also be arranged on the reference frame, especially other parts of the reference frame body that are convenient for installation and / or processing. In addition or alternatively, a plurality of developers 5514 are arranged in the proximal region of the leg portion 5517 of the reference frame body 551, which can be displayed under the imaging device, especially the coordinate position in the imaging device image, so as to be registered with the image taken by the three-dimensional imaging device of the electromagnetic navigation device during surgery.

[0044] Figure 6is a perspective view of a driving member 552 of a reference frame 550 according to a non-limiting embodiment of the present disclosure. In a non-limiting embodiment, the driving member 552 includes a screw 5521 and a boss 5522, wherein the screw 5521 has a distal section, a middle section and a proximal section, and wherein the boss 5522 can be designed to contact the distal region of the holder when driving the holder 553. In addition or alternatively, the boss can be fixedly mounted on the screw 5521, or can be freely rotatably mounted on the screw 5521 and a stopper for limiting the longitudinal movement of the boss 5522 along the screw 5521 is provided at the proximal section of the screw 5521. In a non-limiting embodiment, an external thread is provided in the middle section, and the driving member 552 is engaged with the internal thread of the first through hole 5511 of the reference frame body 551 through the external thread, so that the driving member 552 is movably connected to the reference frame body 551. In order to facilitate the application of external force so that the reference frame 550 is firmly held on the rigid tissue, it is preferred that the distal section of the driving member 552 is designed to have a polygonal outer cross-section so that it can be rotated by the screwing tool 556. As a supplement or alternative, the boss 5522 is provided at the proximal section of the driving member 552 so as to contact the distal end of the retaining member 553. In order to limit the longitudinal movement of the boss 5522 along the screw 5521, it is preferred that the limiting device includes a stopper 5524 close to the external thread of the screw 5521 and a stopper ring 5523 away from the external thread, wherein the stopper ring 5523 and the stopper 5524 are spaced longitudinally along the screw 5521. In a non-limiting embodiment, the stopper 5524 protrudes radially outward from the outer circumference of the screw 5521, wherein the stopper can be designed to be annular or arc-shaped.

[0045] Figure 7 is a perspective view of a holder 553 of a reference frame 550 according to a non-limiting embodiment of the present disclosure, the holder 553 having at least two holding arms 5533 and a joint axis 5532 for holding a rigid tissue, the at least two holding arms 5533 being hinged around the joint axis 5532. The at least two holding arms 5533 respectively have a distal end 55331 and a proximal end 55332, wherein the distal end 55331 of the holder 553 contacts the driving member 552 when driven by the driving member 552, and the proximal end 55332 contacts the rigid tissue when holding the rigid tissue. A plurality of protrusions 5531 facing each other are respectively provided on the inner side of the proximal end 55332 of the holding arm 5533, so that the reference frame 550 can be more firmly held on the rigid tissue, especially more firmly clamped or supported on the rigid tissue.

[0046] Figure 8 and Fig. 9 yes Figure 3 The reference frame 550 is a longitudinal cross-sectional view of the reference frame 550 in different operating states, wherein: Figure 8Reference frame 550 is shown with its holder 553 in a holding state, Fig. 9 Reference frame 550 is shown, and its retaining member 553 is in an open state. The following two figures are combined to exemplify the process of detachably fixing reference frame 550 on rigid tissue: by screwing the driving member 552 with a screwing tool 556 whose inner section corresponds to the outer section of the distal end of the driving member 522, the driving member 552 is moved downward relative to the reference frame body 551 in the figure. At this time, since the retaining member 553 is rotatably fixed to the reference frame body 551 by the joint shaft 5532, it cannot move in the vertical direction of the figure. Therefore, as the driving member 552 moves downward, the driving member 552, especially its boss 5522, presses the distal ends 55331 of the two retaining arms 5533 of the retaining member 553 toward the bottom of the figure, and the retaining arms 5533 pivot around the joint shaft 5532, so that the proximal end 55332 of the retaining member 553 hugs the rigid tissue (such as Fig. 9 On the contrary, when the retaining member 553 is fixedly held on the rigid tissue, the driving member 552 is screwed in the opposite direction by the screwing tool 556, so that the driving member 552 moves away from the retaining member 553, and as the boss leaves the distal ends 55331 of the two retaining arms 5533, the proximal end of the retaining member 553 gradually opens and thus releases the rigid tissue (such as Figure 8 ).

[0047] Although various examples of the present disclosure are provided in the foregoing description, those skilled in the art may modify and change these examples without departing from the scope and spirit of the present disclosure. For example, it should be understood that the features of the various embodiments herein may be applicable to other embodiments described herein. Therefore, the description is intended to illustrate rather than to limit. The disclosure is defined by the appended claims, and all changes to the disclosure that fall within the meaning and equivalent scope of the claims will be included within their scope.

Claims

1. A reference frame for electromagnetic navigation of a surgical robot having a robotic arm, characterized in that: The reference frame comprises: - Reference frame body; - a holding member, the holding member being operatively connected to the reference frame body and being capable of being driven to hold the reference frame body in a fixed position on the rigid tissue closest to the target area; - a drive member for driving the retaining member; in, The reference frame is provided with a receiving portion for detachably mounting the electromagnetic sensing device for the electromagnetic navigation and is provided with a plurality of developing bodies capable of displaying coordinate positions in an image of an imaging device.

2. The reference frame according to claim 1, characterized in that The reference frame body includes a distal wall portion that is away from the rigid tissue during surgery and a leg portion extending from the distal wall portion toward the rigid tissue.

3. The reference frame according to claim 2, characterized in that The reference frame body also includes a plurality of web portions connected between the leg portions.

4. The reference frame according to any one of claims 1 to 3, characterized in that The reference frame body (551) at least partially accommodates the retaining member.

5. The reference frame according to claim 2 or 3, characterized in that: The plurality of developing bodies are respectively disposed on proximal end regions of the leg portions.

6. The reference frame according to any one of claims 1 to 3, characterized in that The holding member has at least two holding arms for holding the rigid tissue and a joint axis, and the at least two holding arms are hinged around the joint axis.

7. The reference frame according to claim 3, characterized in that A plurality of through holes are provided on the reference frame body, and the plurality of through holes are arranged at different parts of the reference frame body.

8. The reference frame according to claim 7, characterized in that One of the plurality of through holes is a first through hole for passing the driving member, and two of the plurality of through holes are second through holes for mounting the joint shaft, wherein the first through hole and the second through hole are oriented perpendicularly to each other.

9. The reference frame according to claim 8, characterized in that The first through hole has an internal thread and is opened in the distal wall portion, and the second through hole is opened in the web portion.

10. The reference frame according to claim 9, characterized in that The driving member includes a screw and a boss, the screw has a distal section, a middle section and a proximal section, the proximal section is provided with a limit device for limiting the longitudinal movement of the boss along the screw, and the middle section is provided with an external thread, and the driving member is engaged with the internal thread of the first through hole through the external thread.

11. The reference frame according to claim 10, characterized in that The limiting device comprises a stopper close to the external thread and a stop ring away from the external thread, and the stop ring is spaced apart from the stopper along the longitudinal direction of the screw rod.

12. The reference frame according to claim 11, characterized in that The stopper protrudes outward from the outer circumference of the screw in the radial direction.

13. The reference frame according to claim 10, characterized in that The distal end section of the driving member (552) is designed to have a polygonal outer cross-section and can be rotated by a screwing tool (556).

14. The reference frame according to claim 6, characterized in that The at least two retaining arms (5533) respectively have a distal end and a proximal end, wherein the distal end contacts the driving member when driven by the driving member, and the proximal end contacts the rigid tissue when retaining the rigid tissue.

15. The reference frame according to claim 14, characterized in that A plurality of protrusions facing each other are respectively provided on the inner sides of the proximal ends of the at least two retaining arms (5533).

16. The reference frame according to any one of claims 1 to 3, characterized in that The accommodating portion (5512) is designed as a hole for threaded connection with the electromagnetic sensing device, and the hole has an internal thread.

17. The reference frame according to any one of claims 1 to 3, characterized in that Calibration coordinate points (5515) for image registration of imaging equipment are also provided on the reference frame body.

18. An electromagnetic navigation device for a surgical robot having a mechanical arm, characterized in that: The electromagnetic navigation device comprises: - A reference frame according to any one of claims 1 to 17; - a plurality of electromagnetic sensing devices, one of which is a first electromagnetic sensing device for sensing the real-time posture of the rigid tissue, which is detachably mounted on the reference frame, and another is a second electromagnetic sensing device for sensing the real-time posture of the end effector (400) of the robot arm, which is fixed on the robot arm; - an electronic control unit (510) configured to control the magnetic field generating device (520) to generate a magnetic field to obtain a position of a first electromagnetic sensor disposed on a reference frame (550); - a magnetic field generating device (520) configured to generate a magnetic field over the target area to be operated on that covers the first sensing device (530) and the second sensing device (540); - an imaging device configured to perform intraoperative scanning on the target area and the reference frame body to obtain coordinate positions of the target area and the developing body on the reference frame based on a coordinate system of the imaging device.

19. The electromagnetic navigation device according to claim 18, characterized in that: The first electromagnetic sensing device comprises a connector (5302) with an external thread for detachably fixing to the reference frame, a first electromagnetic sensor and a cable (5301), wherein the first electromagnetic sensor on the reference frame is coupled to the electronic control unit (510) via the cable (5301), wherein the first electromagnetic sensor is arranged in the connector (5302).

20. An electromagnetic navigation system for a surgical robot, the electromagnetic navigation system comprising: - An electromagnetic navigation device (500) according to claim 18 or 19; - a trolley device (100) for fixing the mechanical arm (300) relative to the target object and for placing the electronic control unit (510) of the electromagnetic navigation device; - A display device (200) for displaying intraoperative imaging results and providing an operation interface; - a mechanical arm (300) for guiding the movement of the end effector (400), which is fixedly connected to the trolley device (100); - An end effector (400) for performing a surgical operation on the target area, which is fixedly connected to the proximal end of the robotic arm (300).

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