Navigation and positioning device, robot, and surgical system

Abstract

The present invention relates to a navigation and positioning device, a robot and a surgical system thereof, which belong to the field of surgical navigation and are used to assist in the positioning of partial resection of nucleus pulposus by needle-shaped radiofrequency. The device comprises a main body and a guide sleeve; the main body is provided with a support arm, which is provided with a sleeve mounting groove; a positioning sleeve is provided in the sleeve mounting groove; the positioning sleeve comprises a positioning ring, and a locking section is provided at the upper end of the positioning ring; a first through hole is provided on the locking section, and a plurality of circumferentially distributed locking blocks are provided on the end face of the locking section, and the elastic locking blocks are fan-shaped and a contact arc surface is provided on the inner side thereof; 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 radiofrequency puncturer sheath. By combining the high-precision navigation and positioning device with the robot control system, the movement path of the robot end during the operation can be monitored and accurately controlled in real time, thereby greatly improving the accuracy of the operation.

Description

Technical Field

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

[0002] Spinal diseases, particularly lumbar disc herniation and degenerative disc disease, have become a major health issue affecting the global population. These conditions often cause severe back pain, lower limb numbness, and motor dysfunction, severely impacting patients' quality of life. Traditional treatments include conservative care and surgery, with partial nucleus pulposus removal using needle-like radiofrequency technology becoming an effective treatment option.

[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 existing technology, 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 the patient to undergo multiple radiation exposures, especially during CT scans, in which both doctors and patients will bear 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 depending on the surgical procedure. In practice, navigation and positioning devices are often single-sized, often consisting of simple sleeves with limited accuracy. Furthermore, there is currently no suitable option for the small-diameter, high-precision, and locking features required for nucleus pulposus ablation procedures.

[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, a robot thereof, and a surgical system for solving the problem of poor positioning accuracy in partial nucleus pulposus resection using needle-shaped radiofrequency.

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

[0008] A navigation positioning device for assisting in positioning of partial nucleus pulposus resection with needle-shaped radiofrequency, the device comprising a body and a guide cannula;

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

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

[0011] A first through hole is provided on the locking section, and a plurality of circumferentially distributed locking blocks are provided on the end face of the locking section. The elastic locking blocks are fan-shaped and a contact arc surface is provided on the inner side thereof; 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 radiofrequency puncture device sheath.

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

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

[0014] Beneficial effects:

[0015] By combining a high-precision navigation and positioning device with a robot control system, the present invention can monitor and accurately control the movement path of the robot end during surgery in real time, 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 use real-time navigation to locate during surgery, eliminating the need for frequent use of X-rays or other imaging equipment for positioning, significantly reducing the risk of radiation exposure for doctors and patients during surgery. It is particularly suitable for patients who require 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 following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any 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 cannula 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 This is a structural diagram of the embodiment of the present disclosure;

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

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

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall 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 nucleus pulposus resection by needle-shaped radiofrequency. 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 figure 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 support 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 opened 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. The front end of the locking section 21 is provided with a plurality of circumferentially distributed locking blocks 211 by means of a slot. The locking blocks 211 are fan-shaped and have a contact arc surface 213 on the inner side. The distance between the axis of the locking section 21 and the nearest point of the contact arc surface 213 is less than the radius of the needle-shaped radiofrequency puncture sheath. The locking section 21 is provided with an external thread, and an adjusting nut 3 is mounted on the external thread.

[0033] It is understood that during use, the needle-shaped radiofrequency puncture cannula is combined with the puncture needle to pass through the guide groove 212 through the first through-hole 214 to perform the puncture operation. After the puncture is in place, the adjusting nut 3 is rotated to move toward one end of the guide groove 212. In this way, due to the restrictive effect of the adjusting nut 3, the multiple locking blocks 211 cannot give way. The locking section 21 is squeezed by the contact arc surface 213 to complete the locking of the puncture cannula. After completion, the puncture needle is withdrawn and the needle-shaped radiofrequency is inserted into the puncture cannula to complete the burning and removal of the lesion. Exemplary, 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 have a positioning arc surface 224 on the inner side. 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 radiofrequency puncture sheath. The number of positioning blocks 221 is three. With such a setting, in the nucleus pulposus decompression surgery, especially when partial nucleus pulposus resection is performed using radiofrequency technology. Through the guiding effect of the positioning section, the surgeon can ensure that the puncture needle and the radiofrequency device are accurately aligned with the target area, reduce complications or injuries caused by improper operation, and improve the accuracy and safety of the surgery. When in use, the needle-shaped radiofrequency puncture cannula is matched with the puncture needle and enters the positioning section 22 after passing through the first through hole 214 from the guide groove 212. The three positioning arc surfaces 224 contact the outer wall of the puncture cannula at three points to complete the centering guide. 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 radiofrequency puncture, thereby ensuring that the radiofrequency puncture cannula can reach the predetermined nucleus pulposus site for partial resection.

[0035] For example, the positioning sleeve 2 can be installed and fixed by means of threads, snaps, etc.

[0036] It is understandable that the connecting end 11 and the supporting 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 this design is to ensure that the navigation 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 conical surface 202 is provided on the side of the positioning ring 20 close to the positioning section 22, and a second positioning conical surface 132 that cooperates with the first positioning conical surface 202 is provided above the sleeve mounting groove 13. In this way, positioning guidance through the conical 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 circumference;

[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 snapped into the positioning opening groove 222 to complete the positioning.

[0042] Furthermore, a locking slider mounting groove 14 is provided on the side of the sleeve mounting groove 13. The front end of the locking slider mounting groove 14 is connected to the sleeve mounting groove 13 through a guide boss 141. 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 mounting groove 14 close to the sleeve mounting 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 slot 43, above which is an elastic plate 44, a guide slider 46 being provided on the upper end surface of the elastic plate 44, and an unlocking button 47 being provided on the upper end of the guide slider 46; the elastic plate 44 is provided with two arc-shaped bosses 45, which are arranged 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 will limit 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 connecting end 11 to reduce the weight of the device.

[0047] One solution to the technical problem of the present disclosure may be a navigation and positioning robot comprising a robotic arm. The navigation and positioning robot comprises a robotic arm with multiple degrees of freedom, capable of flexible movement in three-dimensional space. Each joint of the robotic arm is controlled by a high-precision motor, enabling precise positioning and movement. The distal end of the robotic arm is equipped with the navigation and positioning device described in the present disclosure.

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

[0049] Display and Operation Module: This module displays patient images, such as CT or MRI scans, in real time on a high-resolution display. It also displays surgical path planning diagrams, helping surgeons plan entry points and paths during surgery to ensure surgical precision.

[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 optimal surgical path, and display it in real time on the display screen, so that medical staff can modify and select it.

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

[0053] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0054] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A navigation positioning device for assisting in the positioning of partial nucleus pulposus resection with needle-shaped radiofrequency, characterized in that: The device comprises a body and a positioning sleeve; The main body is provided with a support arm, the support arm is provided with a sleeve installation groove; a positioning sleeve is provided in the sleeve installation groove; The positioning sleeve includes a positioning ring, and the upper end of the positioning ring is provided with a locking section; The locking section is provided with a first through hole, and a plurality of circumferentially distributed locking blocks are provided on the end surface 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 radiofrequency puncture sheath. The main body is L-shaped as a whole, including a connecting end and a support arm, and a sleeve installation groove is formed 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°; The locking section is provided with a penetrating external thread, and an adjusting nut is installed on the external thread; The lower end of the positioning ring is provided with a positioning section; The positioning section is provided with three circumferentially distributed positioning blocks, each of which is fan-shaped and has a positioning arc surface on its inner side. 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 radiofrequency puncture sheath; The side of the positioning section is provided with two positioning opening grooves, and the sleeve installation groove is provided with two positioning bosses that cooperate with the positioning opening grooves; 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 circumference; A locking slider mounting groove is provided on the side of the sleeve mounting groove, and the front end of the locking slider mounting groove is connected to the sleeve mounting 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 stuck in the positioning locking groove.

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

3. A navigation and positioning device according to claim 1, 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 linear stop grooves are provided below the guide groove; A V-shaped opening groove is provided on the slider body, an elastic plate is provided above the opening groove, a guide slider is provided on the upper end surface of the elastic plate, and two arc-shaped bosses are provided on the elastic plate, which are arranged on both sides of the guide slider.

4. A navigation and positioning robot, characterized in that: The robot includes 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 to 3.

5. 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 3; Control system; used for the movement of the navigation and positioning robot.

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