Navigation positioning device and robot and operation system thereof

Abstract

The invention relates to a navigation and positioning device, a robot thereof and a surgical system, belongs to the field of surgical navigation, and is used for assisting needle-shaped radio frequency to position partial resection of nucleus pulposus. The body is provided with a supporting arm, and a sleeve mounting groove is formed in the supporting arm; a positioning sleeve is arranged in the sleeve mounting groove; the positioning sleeve comprises a positioning ring, and a locking section is arranged at the upper end of the positioning ring; a first through hole is formed in the locking section, a plurality of locking blocks distributed circumferentially are arranged on the end face of the locking section, the elastic locking blocks are fan-shaped, and abutting arc surfaces are arranged on the inner sides of the elastic locking blocks; the distance between the axis of the locking section and the nearest point of the abutting arc face is smaller than the radius of a needle-shaped radio frequency puncture outfit sheath, a high-precision navigation positioning device is combined with a robot control system, the motion path of the tail end of a robot in the operation process can be monitored in real time and accurately controlled, and therefore the accuracy of the operation is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the field of surgical navigation, and in particular relates to a navigation positioning device and a robot and a surgical system thereof. Background Art

[0002] Spinal diseases, especially lumbar disc herniation and disc degeneration, have become one of the major diseases affecting the health of the global population. These diseases often cause severe back pain, lower limb numbness and motor dysfunction, seriously affecting the quality of life of patients. Traditional treatments include conservative treatment and surgical treatment, among which partial removal of the nucleus pulposus by needle radiofrequency technology has become an effective treatment method.

[0003] However, despite the significant therapeutic effects of radiofrequency ablation, its successful implementation depends on precise needle positioning and operation during the operation. In the prior art, traditional positioning methods usually rely on image guidance, such as CT or X-rays. Although this can provide relatively clear positioning information, it also has a series of problems. First, the image-guided process requires patients to be exposed to radiation multiple times, especially during CT scans, and both doctors and patients will be subject to certain radiation risks. Secondly, traditional image-guided systems are usually difficult to provide sufficient real-time feedback, resulting in limited control accuracy of the needle position during surgery, which may affect the surgical effect.

[0004] However, the appearance and size of navigation and positioning devices vary according to different surgical procedures. In practice, navigation and positioning devices are often of a single size structure, mostly simple sleeves with average accuracy; and there is currently no better choice for small-diameter, high-precision nucleus pulposus ablation that requires a locking function.

[0005] Based on the above problems, a navigation and positioning device, a robot and a surgical system are proposed. Summary of the invention

[0006] The purpose of the present invention is to provide a navigation positioning device and a robot and a surgical system thereof for solving the problem of poor positioning accuracy in partial removal of the nucleus pulposus by needle-shaped radio frequency.

[0007] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0008] A navigation positioning device is used to assist in positioning of partial nucleus pulposus resection by needle-shaped radiofrequency, the device comprising a body and a guide sleeve;

[0009] The main body is provided with a support arm, and a sleeve installation groove is provided on the support arm; a positioning sleeve is provided in the sleeve installation groove;

[0010] The positioning sleeve comprises a positioning ring, and a locking section is provided at the upper end of the positioning ring;

[0011] The locking section is provided with a first through hole, and a plurality of circumferentially distributed locking blocks are arranged on the end face of the locking section. The elastic locking blocks are fan-shaped and have a contact arc surface on the inner side. The distance from the axis of the locking section to the nearest point of the contact arc surface is less than the radius of the needle-shaped radio frequency puncture device sheath.

[0012] On the other hand, in order to solve the above technical problems, a navigation and positioning robot can be used, characterized in that the robot includes a mechanical arm, and a navigation and positioning device is installed at the end of the mechanical arm.

[0013] On the other hand, in order to solve the above-mentioned technical problems, a navigation and positioning surgical system can be adopted, characterized in that the surgical system includes: a display operation module for displaying image images and surgical path planning; a navigation and positioning robot; a navigation and positioning device installed; a control system for the movement of the navigation and positioning robot.

[0014] Beneficial effects:

[0015] The present invention combines a high-precision navigation and positioning device with a robot control system to monitor in real time and accurately control the movement path of the robot end during surgery, thereby greatly improving the accuracy of the surgery, reducing the risks caused by human operational errors, and improving the safety and efficacy of the surgery.

[0016] The present invention can realize real-time navigation positioning during the operation without the need for frequent use of X-rays or other imaging equipment for positioning, which significantly reduces the risk of radiation exposure of doctors and patients during the operation. It is particularly suitable for patients who need long-term surgical operations.

[0017] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0019] Figure 1 is an overall structural diagram of an embodiment of the present disclosure;

[0020] Figure 2 This is a structural diagram of a guide sleeve according to an embodiment of the present disclosure;

[0021] Figure 3 An internal view of a guide sleeve according to an embodiment of the present disclosure;

[0022] Figure 4This is a structural diagram of a locking slider according to an embodiment of the present disclosure;

[0023] Figure 5 It is a structural diagram of the main body of the embodiment of the present disclosure;

[0024] Figure 6 This is a schematic diagram of the angle of the main body sleeve installation slot of the embodiment of the present disclosure;

[0025] Figure 7 It is a structural diagram of the main body of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] like Figure 1-Figure 7 As shown, the present invention discloses a navigation positioning device for assisting the positioning of partial resection of the nucleus pulposus by needle-shaped radiofrequency, such as Figure 1 An example of the navigation positioning device of the present disclosure is shown in an assembly view. For example, a surgeon can install the device shown in the assembly view on the end of a surgical robot during a nucleus pulposus decompression operation, and insert a needle-shaped radiofrequency puncture device through the positioning sleeve 2 for puncture positioning; Figure 1 As shown, the navigation and positioning device includes a body 1 and a guide sleeve 2;

[0028] The body 1 is L-shaped as a whole, and includes a connecting end 11 and a supporting arm 12;

[0029] The connection end 11 is used to connect to the end of the surgical robot, and the connection method can be bolt fixing.

[0030] like Figure 5 As shown, the support arm 12 is arranged on the side of the connecting end 11 and is curved as a whole. A sleeve installation groove 13 is formed at one end of the support arm 12 away from the connecting end 11, and the positioning sleeve 2 is installed in the sleeve installation groove 13.

[0031] It is understandable that medical staff can match different positioning sleeves 2 according to their needs when using the device; the problem to be solved in the present disclosure is the positioning guidance of needle-shaped radiofrequency in nucleus pulposus decompression surgery; specifically, Figure 2-Figure 3 As shown, the positioning sleeve 2 includes a positioning ring 20, and the upper and lower ends of the positioning ring 20 are provided with a locking section 21 and a positioning section 22 in sequence. The positioning sleeve 2 is made of plastic injection molding and is used as a disposable consumable. At the same time, the injection molded plastic product has a certain elasticity and can better complete positioning and locking.

[0032] The locking section 21 is provided with a first through hole 214, and a guide groove 212 is provided at the front end of the first through hole 214. A plurality of circumferentially distributed locking blocks 211 are provided at the front end of the locking section 21 by means of slotting. The locking blocks 211 are fan-shaped and a contact arc surface 213 is provided on the inner side thereof. The distance from the axis of the locking section 21 to the nearest point of the contact arc surface 213 is less than the radius of the needle-shaped radio frequency puncture sheath. The locking section 21 is provided with an external thread, and an adjusting nut 3 is installed on the external thread.

[0033] It is understandable that during use, the needle-shaped radio frequency puncture cannula is used together with the puncture needle to pass through the first through hole 214 from the guide groove 212 to perform the puncture operation. After the puncture is in place, the adjusting nut 3 is rotated to make it move toward one end of the guide groove 212. In this way, due to the limiting effect of the adjusting nut 3, the multiple locking blocks 211 cannot give way, and the locking section 21 is locked to the puncture cannula by pressing against the arc surface 213. After completion, the puncture needle is pulled out, and the needle-shaped radio frequency is inserted into the puncture cannula to work to complete the burning and removal of the lesion. Exemplarily, the number of the locking blocks 211 is six.

[0034] The positioning section 22 is provided with a plurality of circumferentially distributed positioning blocks 221, the positioning blocks 221 are fan-shaped and the inner side thereof is provided with a positioning arc surface 224, the distance from the axis of the positioning section 22 to the nearest point of the positioning arc surface 224 is the same as the radius of the needle-shaped radio frequency puncture sheath, and the number of the positioning blocks 221 is three, and such a setting is used in the nucleus pulposus decompression surgery, especially when the radio frequency technology is used to perform partial nucleus pulposus resection. Through the guiding effect of the positioning section, the surgeon can ensure that the puncture needle and the radio frequency device are accurately aligned with the target area, reduce complications or injuries caused by improper operation, and improve the accuracy and safety of the operation. When in use, the needle-shaped radio frequency puncture cannula cooperates with the puncture needle to enter the positioning section 22 after passing through the first through hole 214 from the guide groove 212, and the three positioning arc surfaces 224 are in three-point contact with the outer wall of the puncture cannula to complete the centering guidance, and the main function of the positioning section 22 is to ensure that during the operation, the positioning sleeve 2 can accurately guide the position of the needle-shaped radio frequency puncture device, thereby ensuring that the radio frequency puncture device can reach the predetermined nucleus pulposus part for partial resection.

[0035] Exemplarily, the positioning sleeve 2 can be installed and fixed by means of threads, buckles, etc.;

[0036] It is understandable that the connection end 11 and the support arm 12 can be processed by an integrated machine or by separate welding.

[0037] like Figure 6As shown, in some embodiments, the angle between the axis of the sleeve mounting groove 13 and the plane of the connecting end 11 is 25°-35°. The purpose of such design is to ensure that the navigation and positioning device is at the optimal puncture angle when it is horizontal. This can provide medical staff with better operating space and reduce the requirements for position control of the surgical robot.

[0038] like Figure 3 As shown, in some embodiments, a clearance groove 201 is provided in the positioning ring 20, and the clearance groove 201 can ensure the elasticity of the positioning block 221, so as to balance the smoothness and centering effect of the puncture sleeve during insertion.

[0039] like Figure 3 , Figure 5 As shown, in some embodiments, a first positioning cone surface 202 is provided on one side of the positioning ring 20 close to the positioning section 22, and a second positioning cone surface 132 that cooperates with the first positioning cone surface 202 is provided above the sleeve mounting groove 13, so that positioning guidance through the cone surface can ensure installation accuracy and smoothness of installation and insertion.

[0040] In some embodiments, the side of the positioning section 22 is provided with two positioning opening grooves 222 and one positioning locking groove 223, and the two positioning opening grooves 222 and one positioning locking groove 223 are distributed in a circle;

[0041] The sleeve installation groove 13 is provided with two positioning bosses 131 that cooperate with the positioning opening groove 222. When the positioning sleeve 2 is installed, the positioning bosses 131 are inserted into the positioning opening groove 222 to complete the positioning.

[0042] Furthermore, a locking slider installation groove 14 is provided on the side of the sleeve installation groove 13, and the front end of the locking slider installation groove 14 is connected to the sleeve installation groove 13 through a guide boss 141, and the guide boss 141 is arranged to correspond to the position of the positioning locking groove 223 when the positioning sleeve 2 is installed; a guide groove 142 is provided on the side of the locking slider installation groove 14 close to the sleeve installation groove 13, and a plurality of linear stop grooves 143 are provided below the guide groove 142;

[0043] The locking slider 4 is installed in the locking slider installation groove 14; Figure 4 As shown, the locking slider 4 includes a slider body 42 and a locking positioning rod 41; the locking positioning rod 41 is arranged at the front end of the slider body 42; when the positioning sleeve 2 is installed, the locking positioning rod 41 is inserted into the positioning locking groove 223, and the locking is completed by interference. At the same time, the locking positioning rod 41 and the positioning boss 131 complete the three-point centering of the positioning section 22 to ensure its installation accuracy; it can be understood that the locking slider 4 can be carried out by means of springs, threads, direct push, etc.

[0044] The slider body 42 is provided with a V-shaped opening groove 43, and an elastic plate 44 is disposed above the opening groove 43. A guide slider 46 is disposed on the upper end surface of the elastic plate 44, and an unlocking button 47 is disposed on the upper end of the guide slider 46; two arc-shaped bosses 45 are disposed on the elastic plate 44, and the arc-shaped bosses 45 are disposed on both sides of the guide slider 46;

[0045] When the locking slider 4 is installed in the locking slider installation groove 14, as the locking slider 4 moves forward, the arc boss 45 will be stuck in the stop groove 143, and the stop groove 143 limits the axis of the arc boss 45 to complete the positioning and locking of the locking slider 4.

[0046] In some embodiments, a weight-reducing groove 15 is provided on the connection end 11 to reduce the weight of the device.

[0047] A solution to the technical problem of the present disclosure may be a navigation and positioning robot, the robot comprising a robotic arm, a navigation and positioning robot: the robot is composed of a robotic arm with multiple degrees of freedom, and the robotic arm can move flexibly in three-dimensional space. The joint part of each robotic arm is controlled by a high-precision motor to achieve precise positioning and movement. The end robotic arm is equipped with the navigation and positioning device mentioned in the present disclosure.

[0048] A solution to the technical problem of the present disclosure may be a navigation positioning surgery system, which specifically includes the following modules:

[0049] Display operation module: This module displays the patient's image in real time through a high-resolution display screen, such as CT or MRI scan images. The display operation module can also display the surgical path planning diagram to help surgeons plan the entry point and path during the operation to ensure surgical accuracy.

[0050] Image display: The system renders the patient's medical images in real time, displays the patient's anatomical structure on the screen, and overlays the planned surgical path and target area.

[0051] Path planning: The surgical path is generated by surgical navigation software. The system will automatically analyze the patient's specific condition, calculate the best surgical path, and display it in real time on the display screen, so that medical staff can make modifications and selections.

[0052] Navigation and positioning robot: The surgical system includes a navigation and positioning robot equipped with a navigation and positioning device. The robot assists doctors in performing surgical operations through precise motion control and real-time feedback. During the operation, the robot performs precise operations along a predetermined path and corrects the motion trajectory under the guidance of the control system.

[0053] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0054] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A navigation positioning device for assisting the positioning of partial nucleus pulposus resection by needle-shaped radiofrequency, characterized in that: The device comprises a body and a guide sleeve; The main body is provided with a support arm, and a sleeve installation groove is provided on the support arm; a positioning sleeve is provided in the sleeve installation groove; The positioning sleeve comprises a positioning ring, and a locking section is provided at the upper end of the positioning ring; The locking section is provided with a first through hole, and the end surface of the locking section is provided with a plurality of circumferentially distributed locking blocks, the elastic locking blocks are fan-shaped, and the inner side thereof is provided with a resisting arc surface; the distance from the axis of the locking section to the nearest point of the resisting arc surface is less than the radius of the needle-shaped radiofrequency puncture device sheath; The main body is L-shaped as a whole, including a connecting end and a support arm, and a sleeve installation groove is provided at one end of the support arm away from the connecting end; the angle between the axis of the sleeve installation groove and the plane of the connecting end is 25°-35°.

2. The navigation and positioning device according to claim 1 is characterized in that: The locking section is provided with a penetrating external thread, and an adjusting nut is installed on the external thread.

3. The navigation and positioning device according to claim 1 is characterized in that a positioning section is provided at the lower end of the positioning ring; The positioning section is provided with three circumferentially distributed positioning blocks, the positioning blocks are fan-shaped and the inner side thereof is provided with a positioning arc surface, and the distance from the axis of the positioning section to the nearest point of the positioning arc surface is the same as the radius of the needle-shaped radio frequency puncture device sheath.

4. A navigation and positioning device according to claim 1 is characterized in that a first positioning cone surface is provided on the side of the positioning ring away from the locking section, and a second positioning cone surface that cooperates with the first positioning cone surface is provided above the sleeve mounting groove.

5. A navigation and positioning device according to claim 3, characterized in that two positioning opening grooves are provided on the side of the positioning section, and the sleeve mounting groove is provided with two positioning bosses that cooperate with the positioning opening grooves.

6. A navigation and positioning device according to claim 5, characterized in that a positioning locking groove is provided on the side of the positioning section, and two positioning opening grooves and one positioning locking groove are distributed in a circle; A locking slider installation groove is provided on the side of the sleeve installation groove, and the front end of the locking slider installation groove is connected to the sleeve installation groove through a guide boss, and the guide boss is arranged to correspond to the position of the positioning locking groove when the positioning sleeve is installed; A locking slider is installed in the locking slider installation groove, and the locking slider includes a slider body and a locking positioning rod; the locking positioning rod is arranged at the front end of the slider body; when the positioning sleeve is installed, the locking positioning rod is inserted into the positioning locking groove.

7. A navigation and positioning device according to claim 6, characterized in that a guide groove is provided on one side of the locking slider installation groove close to the sleeve installation groove, and a plurality of linearly arranged stop grooves are provided below the guide groove; The slider body is provided with a V-shaped opening groove, an elastic plate is disposed above the opening groove, a guide slider is disposed on the upper end surface of the elastic plate, and two arc-shaped bosses are disposed on the elastic plate, and the arc-shaped bosses are disposed on both sides of the guide slider.

8. A navigation and positioning robot, characterized in that: The robot comprises a robotic arm, and the end of the robotic arm is equipped with the navigation and positioning device according to any one of claims 1-8.

9. A navigation positioning surgery system, characterized in that: The surgical system comprises: Display operation module: used to display image and surgical path planning; A navigation and positioning robot; equipped with a navigation and positioning device according to any one of claims 1 to 8; Control system; used for the movement of the navigation and positioning robot.

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