Neurosurgical robot

Abstract

The invention discloses a neurosurgical robot, which comprises an arch mechanism, at least one sliding roller positioning mechanism; at least one second rotating mechanism; a first Z-axis linear translation mechanism; and a second Z-axis linear translation mechanism. The neurosurgical robot provided by the invention not only can be used for carrying out conventional neurosurgical operations, but also can provide the required degree of freedom of rotating around the Y axis by arranging a plurality of sliding roller positioning mechanisms on the arch body and cooperating with the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism to carry out non-synchronous movement; and cooperative work of a plurality of surgical tools is realized. According to the arch mechanism, the jamming phenomenon can be avoided, the second rotating mechanism used for providing the rotating freedom degree around the X axis is moved to the base, the load of the execution end can be reduced, the length and weight of a cantilever structure formed by the sliding roller positioning mechanism can be reduced, and the stability of the system can be improved.

Description

Technical Field

[0001] The present invention relates to the field of medical robots, and in particular to a neurosurgery robot compatible with a magnetic resonance imaging (MRI) environment. Background Art

[0002] Stereotactic neurosurgery is a minimally invasive surgical procedure that uses three-dimensional image-guided techniques and tools to assist surgeons in locating the target lesion in the brain. Stereotactic neurosurgery includes a variety of applications, such as electrode implantation, biopsy, laser surgery, radiotherapy, and thermal ablation, to treat a variety of neurosurgical procedures, including functional brain diseases (such as Parkinson's disease, dystonia, tremor, and epilepsy), glioblastoma based on real-time MRI-based thermal dose monitoring, etc. Typically, stereotactic neurosurgery uses preoperative CT / MRI (computed tomography / magnetic resonance imaging) to identify the target lesion and calculate the linear trajectory required to reach the target lesion. Since CT imaging is difficult to provide high-contrast images of soft tissues of the brain, and it imposes ionizing radiation on patients and clinicians; MRI not only has no ionizing radiation, but also provides a high degree of soft tissue resolution and image contrast, and can determine lesions that are difficult to judge in CT. In addition, MRI has the inherent ability to monitor and mark the temperature of the target area, which can be used to monitor ablation surgical treatment. Therefore, MRI is particularly suitable for neurosurgery, which can give full play to the advantages of visualizing the structure and function of the brain, and can monitor the treatment effect.

[0003] At present, the integration of minimally invasive surgical robot technology into neurosurgery has greatly improved surgical accuracy, flexibility, and efficiency. These robots not only have the ability to combine intraoperative image (such as MRI) fusion technology to achieve real-time compensation for brain tissue deformation or drift; in addition, they also help to achieve higher-level control constraints, such as maximum spatial displacement and speed constraints, to improve the safety of surgery. However, there are still very few neurosurgery robots compatible with MRI environments and guided by MRI images on the market, and most of them are still in the research and development stage. The main challenges they face come from: 1) operating space limitations. Since the horizontal closed-hole MRI scanner with an aperture of 60 cm is still the most commonly used, it is extremely difficult to perform surgical operations in such a narrow space; 2) material compatibility limitations. High-density, ferromagnetic and conductive materials are usually incompatible with MRI scanners; 3) driving mode limitations. That is, when the surgical robot moves, it should not interfere with the normal operation of the MRI scanner and should not produce image artifacts; similarly, the operation of the MRI scanner should not affect the operation of the robot; 4) accuracy limitations. The insertion accuracy of surgical tools such as electrodes or puncture needles must meet high requirements, because the target position is often on the millimeter level for an insertion depth of 15 to 20 cm.

[0004] So far, some neurosurgery robot systems have been developed that meet MRI compatibility requirements and can solve the above problems to a certain extent, but they all have certain limitations. For example, Canada's NeuroArm robot is the world's first magnetic resonance neurosurgery robot that combines microsurgery and image-guided puncture biopsy. It has two dexterous piezoelectric motor-driven robotic arms that can be used for stereotactic positioning and microsurgery; but NeuroArm operation and MRI imaging are intermittent, so the ability of real-time MRI-guided intervention is limited. The multifunctional surgical robot ROSA in the form of a robotic arm developed by the French Medtech company can assist in completing a variety of neurosurgery brain surgeries and spinal surgeries, including assisting deep brain stimulation (DBS) to treat Parkinson's disease, but the system has shortcomings such as incompatibility with MRI and inability to monitor in real time. Another example is the NeuroBlate system developed by Canada's Monteris Medical, which can be used to treat brain tumors and epilepsy. It is currently the only minimally invasive neurosurgical robotic laser ablation system that uses MRI guidance. The ClearPoint system developed by the U.S. company ClearPointNeuro (CLPT) is an MRI-guided system designed for the placement of catheters, electrodes, and laser fibers to treat various neurological diseases and conditions and perform biopsies. However, these systems still have the disadvantages of fewer degrees of freedom, smaller working space, larger errors, and longer time consumption, especially the inability to meet the requirements for simultaneous implantation of two electrodes (DBS requires the implantation of two electrodes).

[0005] There are also some surgical robot systems that use pneumatic or hydraulic drives to drive the robot to move in order to meet the MRI compatibility requirements. However, pneumatic drives have disadvantages such as low relative speed stability and position accuracy, while hydraulic drives may produce vortexes or liquid leakage, and the entire drive system may be relatively large. In addition, some neurosurgical robots are limited by the narrow space of the MRI obturator, so usually these robots can only determine the position and posture of surgical tools (such as puncture needles or electrodes, etc.) under MRI guidance, and it is difficult to complete the entire surgical step in real time in the MRI obturator, such as puncture needle insertion or electrode implantation. In this case, the puncture needle insertion or electrode implantation is only manually inserted / implanted by the doctor after the patient is removed from the MRI obturator to avoid the contact interference between the puncture needle or electrode of regular length in the obturator wall. In some specific cases, the insertion movement of the surgical tool can be completed in the obturator. At this time, in order to avoid interference, the puncture needle or electrode is short, so the insertion / implantation depth is very limited.

[0006] Therefore, a neurosurgery robot system is provided that is compatible with the MRI environment and allows image scanning and surgical tool insertion to be performed simultaneously in real time, and the patient does not need to be repeatedly moved in and out of the scanner for imaging and surgical tool insertion, thereby improving surgical accuracy, shortening surgical time, and reducing safety risks. Furthermore, if multiple surgical tools can be synchronized and coordinated in real time, such as the simultaneous implantation of two electrodes during DBS surgery, it can greatly improve efficiency and will be very beneficial.

[0007] Patent CN115607288A discloses a minimally invasive surgical robot compatible with MRI and CT environments, which can adapt to the obturator cavity size of standard MRI and CT scanners, and can accurately adjust the position and posture of the puncture needle in the obturator cavity, thereby ensuring that the puncture needle punctures the insertion point of the human skin according to the planned path; the minimally invasive surgical robot allows image scanning and robot movement to be carried out synchronously in real time, and the patient does not need to be repeatedly moved in or out of the obturator cavity of MRI or CT during the operation, which can reduce the operation time and improve the operation accuracy. The minimally invasive surgical robot has multiple degrees of freedom and supports automatic implantation, which can solve the above problems to a certain extent; however, it still has at least the following deficiencies: (1) It drives the arch module and the puncture needle positioning module thereon to move back and forth in the Z-axis direction through the synchronous movement of two Z1 translation mechanisms. When the two Z1 translation mechanisms are not completely synchronized, there is a risk of jamming between the two Z1 translation mechanisms and the arch body of the arch module; (2) The minimally invasive surgical robot can only perform single-electrode implantation, and still cannot achieve synchronous implantation of two electrodes. (3) The main power mechanism (puncture needle positioning module) in this scheme is installed on the arch structure and driven by the arch slider mechanism, which has a large load. In addition, the puncture needle positioning module with a large length will form a similar cantilever structure on the arch structure, which will bring great challenges to the supporting strength of the arch and the stability of the overall structure.

[0008] Therefore, it is necessary to improve the existing technology to provide a more reliable solution. Summary of the invention

[0009] The technical problem to be solved by the present invention is to provide a neurosurgery robot in view of the deficiencies in the above-mentioned prior art.

[0010] In order to solve the above technical problems, the technical solution adopted by the present invention is: a neurosurgery robot, comprising:

[0011] The arch mechanism comprises an arch body and a first bracket and a second bracket respectively arranged at two ends of the arch body;

[0012] At least one sliding roller positioning mechanism, comprising a sliding roller assembly that can autonomously move along an arc trajectory on the arch body, and a first rotating mechanism and an implantation module disposed on the sliding roller assembly, wherein the first rotating mechanism is used to drive the implantation module to rotate around the Z axis, and the implantation module is used to perform an implantation operation of a surgical tool (such as an electrode);

[0013] At least one second rotating mechanism, which is used to drive the arch body to rotate around the X-axis relative to the first bracket and the second bracket;

[0014] A first Z-axis linear translation mechanism, an output end of which is rotatably connected to the first bracket, and the rotation direction is around the Y-axis direction, and the first Z-axis linear translation mechanism is used to drive the first bracket to move linearly along the Z-axis direction;

[0015] And a second Z-axis linear translation mechanism, whose output end is connected to the second bracket, the second bracket can rotate around the Y-axis and slide along the X-axis relative to the output end of the second Z-axis linear translation mechanism, and the second Z-axis linear translation mechanism is used to drive the second bracket to move linearly along the Z-axis direction.

[0016] Preferably, the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism have the same structure, and both include:

[0017] A mounting base, a Z translation motor, a screw shaft arranged along the Z axis direction and drivingly connected to the Z translation motor, a nut sleeved on the screw shaft, and at least one nut guide rod arranged on the mounting base and parallel to the screw shaft, wherein the nut is provided with a guide hole for the nut guide rod to pass through;

[0018] The mounting base comprises a mounting bottom plate, and two mounting vertical plates spaced apart on the mounting bottom plate along the Z-axis direction, and the screw shaft and the nut guide rod are both connected between the two mounting vertical plates;

[0019] The upper end of the nut is provided with a connecting shaft.

[0020] Preferably, the first bracket includes a first U-shaped frame and a connecting seat connected to the bottom of the first U-shaped frame, the connecting seat is provided with a first connecting hole, and the side of the first U-shaped frame is provided with a first axial hole;

[0021] The connecting shaft on the nut in the first Z-axis linear translation mechanism can be rotatably inserted into the first connecting hole.

[0022] Preferably, the second bracket comprises a second U-shaped frame, two fixed supports connected to the bottom of the second U-shaped frame and spaced apart along the X-axis direction, two support guide rods connected between the two fixed supports and arranged along the X-axis direction, and a sliding support slidably arranged on the two support guide rods, a second connecting hole is provided at the bottom of the sliding support, and a second shaft hole is provided at the side of the second U-shaped frame;

[0023] The connecting shaft on the nut in the second Z-axis linear translation mechanism can be rotatably inserted into the second connecting hole.

[0024] Preferably, both ends of the arch body are provided with a rotating shaft, which is rotatably connected to the first shaft hole on the first U-shaped frame in the first Z-axis linear translation mechanism and the second shaft hole on the second U-shaped frame in the second Z-axis linear translation mechanism respectively.

[0025] Preferably, the neurosurgical robot includes a second rotating mechanism, which is arranged on the first bracket or the second bracket and is drivingly connected to the rotating shaft at the end of the arch body.

[0026] Preferably, the neurosurgical robot comprises two second rotating mechanisms, which are respectively arranged on the first bracket and the second bracket, and the two second rotating mechanisms are respectively driven and connected to the rotating shafts on the two ends of the arch body.

[0027] Preferably, of the inner contour surface and the outer contour surface of the arch body, one surface is a gear contour and the other surface forms an arc-shaped guide track;

[0028] The sliding roller assembly includes a sliding mounting frame movably mounted on the arch body, a driving gear rotatably mounted on the sliding mounting frame and meshing with the gear profile, at least one roller rotatably mounted on the sliding mounting frame and in contact with the arc-shaped guide track surface of the arch body, and a sliding roller driving motor mounted on the sliding mounting frame for driving the driving gear to rotate.

[0029] Preferably, an interface plate is connected to the sliding mounting frame, the first rotating mechanism is connected to the interface plate, and the implant module is connected to the first rotating mechanism and is drivingly connected to an output shaft of the first rotating mechanism.

[0030] Preferably, the neurosurgical robot further comprises a substrate and a head frame arranged on the substrate, the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism are arranged on the substrate at intervals along the X direction, and the head frame is located between the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism;

[0031] The head frame includes two outer fixed blocks arranged on the base plate at intervals along the X direction, an intermediate fixed base plate arranged between the two outer fixed blocks, and two movable side plates symmetrically arranged on both sides of the intermediate fixed base plate, two side plate sliding rods are connected between the intermediate fixed base plate and each outer fixed block, and the movable side plate can be slidably connected to the side plate sliding rods and is located between the intermediate fixed base plate and the outer fixed blocks.

[0032] The beneficial effects of the present invention are:

[0033] In the neurosurgical robot provided by the present invention, the bottom of one end of the arch body is rotatably connected to the nut in the first Z-axis linear translation mechanism through a first U-shaped frame (rotatable around the Y-axis), and the bottom of the other end of the arch body is rotatably connected to the nut in the second Z-axis linear translation mechanism through a second U-shaped frame (rotatable around the Y-axis), and the second U-shaped frame can also slide along the X-axis direction relative to the nut in the second Z-axis linear translation mechanism, so that the operation and control of the robot system is more convenient and reliable, that is, when the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism are not completely synchronized, the arch body as a whole can adaptively rotate around the Y-axis with the help of the rotation of the two ends of the arch body and the left and right sliding of the bottom of one end of the arch body along the X-axis direction, thereby avoiding the occurrence of jamming.

[0034] In addition to being able to perform single surgical tool insertion / implantation, such as all current DBS surgeries in which a single electrode is implanted in sequence, the present invention can also, in some embodiments, provide two sliding roller positioning mechanisms on the arch body, and cooperate with the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism to provide the required degree of freedom of rotation around the Y-axis when performing asynchronous motion, thereby enabling the synchronous implantation or coordinated work of two surgical tools, which can greatly improve surgical efficiency. For example, by providing two sliding roller positioning mechanisms, the synchronous implantation of two electrodes during DBS surgery can be achieved. In fact, as long as there is enough room for movement, multiple sliding roller positioning mechanisms and implantation modules can be simultaneously provided on the arch body, enabling the coordinated work of multiple surgical tools to meet different usage requirements.

[0035] The present invention moves the second rotating mechanism for providing rotational freedom around the X-axis to the base (the bottom of the arch body), which can reduce the load on the execution end (sliding roller positioning mechanism) and reduce the length and weight of the cantilever structure formed by the sliding roller positioning mechanism, thereby improving the stability of the system.

[0036] The neurosurgical robot of the present invention not only allows MRI image scanning and robot manipulation to be performed synchronously in real time, but also does not require the patient to be repeatedly moved into or removed from the obturator cavity of the MRI during surgery, which can reduce surgery time and improve surgery accuracy; the robot can be equipped with both a manual insertion module and an automatic insertion module; the neurosurgical robot can be used to perform a variety of neurosurgical operations such as electrode implantation, biopsy, laser surgery, radiotherapy and thermal ablation, so as to achieve the treatment of functional brain diseases (such as Parkinson's disease, dystonia, tremor and epilepsy, etc.), glioblastoma based on real-time MRI thermal dose monitoring, etc.

[0037] The neurosurgery robot of the present invention can also be used for minimally invasive surgery on other organs or parts after the head frame is removed.

[0038] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic diagram of the overall structure of the neurosurgery robot in Example 1;

[0040] Figure 2 is a schematic diagram of the exploded structure of the neurosurgery robot in Example 1;

[0041] Figure 3 This is a schematic diagram of the overall structure of the arch mechanism and the sliding roller positioning mechanism in Example 1 (without the implantation module);

[0042] Figure 4 This is a schematic diagram of the exploded structure of the arch mechanism and the sliding roller positioning mechanism in Example 1 (without the implantation module);

[0043] Figure 5 It is a schematic diagram of the installation structure of the first Z-axis linear translation mechanism, the second Z-axis linear translation mechanism and the head frame on the substrate in Example 1;

[0044] Figure 6 This is a schematic diagram of the structure of the first Z-axis linear translation mechanism in Example 1;

[0045] Figure 7 is a schematic structural diagram of the first bracket in Example 1;

[0046] Figure 8 is a schematic diagram of the overall structure of the second bracket in Example 1;

[0047] Fig. 9 is a schematic diagram of the exploded structure of the second bracket in Example 1;

[0048] Fig.10 is a schematic structural diagram of the sliding roller assembly in Example 1;

[0049] Fig.11 is a schematic diagram of the overall structure of the first rotating mechanism in Example 1;

[0050] Fig.12 is a schematic diagram of the exploded structure of the first rotating mechanism in Example 1;

[0051] Fig.13 This is a schematic diagram of the neurosurgery robot in Example 1 being installed on an MRI scanning bed and preparing for or performing a neurosurgery operation;

[0052] Fig.14 It is a structural schematic diagram of the arch mechanism and the sliding roller positioning mechanism of the neurosurgery robot in Example 1 rotated to another angle;

[0053] Fig.15 This is a schematic diagram of the structure of the neurosurgery robot in Example 1 when the head frame is removed;

[0054] Fig.16 A schematic diagram of the structure of the neurosurgery robot in Example 1 equipped with an automatic implantation module;

[0055] Fig.17 is a schematic diagram of the overall structure of the neurosurgery robot in Example 2;

[0056] Fig.18 is a schematic diagram of the exploded structure of the neurosurgery robot in Example 2;

[0057] Fig.19 Schematic diagram of the overall structure of the neurosurgery robot in Example 3.

[0058] Description of reference numerals:

[0059] 1—Arch mechanism;

[0060] 11—arch body; 12—first bracket; 13—second bracket; 111—rotating shaft; 112—gear profile; 113—arc-shaped guide track; 121—first U-shaped bracket; 122—connecting seat; 123—first connecting hole; 124—first axial hole; 1211—first L-shaped bracket; 1212—first flat plate; 131—second U-shaped bracket; 132—fixed support; 133—support guide rod; 134—sliding support; 135—second connecting hole; 136—second axial hole; 1311—second L-shaped bracket; 1312—second flat plate;

[0061] 2—Sliding roller positioning mechanism;

[0062] 21—sliding roller assembly; 22—first rotating mechanism; 23—implantation module; 24—interface plate; 211—sliding mounting frame; 212—driving gear; 213—roller; 214—sliding roller driving motor; 221—mounting block; 222—turbine; 223—worm; 224—rotating motor; 225—driving shaft;

[0063] 3—second rotating mechanism;

[0064] 4—first Z-axis linear translation mechanism;

[0065] 41—mounting base; 42—Z translation motor; 43—screw shaft; 44—nut; 45—nut guide rod; 411—mounting base plate; 412—mounting vertical plate; 441—connecting shaft;

[0066] 5—second Z-axis linear translation mechanism;

[0067] 6—Substrate;

[0068] 7—head frame; 71—outer fixed block; 72—middle fixed bottom plate; 73—movable side plate; 74—side plate slide rod; 75—locking threaded hole;

[0069] 8—MRI scanning bed. DETAILED DESCRIPTION

[0070] The present invention is further described in detail below in conjunction with embodiments so that those skilled in the art can implement the invention with reference to the description.

[0071] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0072] Example 1

[0073] Reference Figure 1-12 This embodiment provides a neurosurgery robot, comprising:

[0074] The arch mechanism 1 comprises an arch body 11 and a first bracket 12 and a second bracket 13 respectively arranged at two ends of the arch body 11;

[0075] A sliding roller positioning mechanism 2, which includes a sliding roller assembly 21 that can autonomously move along an arc track on the arch body 11, and a first rotating mechanism 22 and an implanting module 23 arranged on the sliding roller assembly 21, wherein the first rotating mechanism 22 is used to drive the implanting module 23 to rotate around the Z axis, and the implanting module 23 is used to perform an implantation operation of a surgical tool (such as an electrode);

[0076] A second rotating mechanism 3, which is used to drive the arch body 11 to rotate around the X axis relative to the first bracket 12 and the second bracket 13;

[0077] A first Z-axis linear translation mechanism 4, whose output end is rotatably connected to the first bracket 12, and the rotation direction is around the Y-axis direction. The first Z-axis linear translation mechanism 4 is used to drive the first bracket 12 to perform reciprocating linear movement along the Z-axis direction;

[0078] The second Z-axis linear translation mechanism 5 has an output end connected to the second bracket 13. The second bracket 13 can rotate around the Y-axis and slide along the X-axis relative to the output end of the second Z-axis linear translation mechanism 5. The second Z-axis linear translation mechanism 5 is used to drive the second bracket 13 to perform reciprocating linear movement along the Z-axis direction;

[0079] substrate 6;

[0080] And a head frame 7 is arranged on the substrate 6, the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 are arranged on the substrate 6 at intervals along the X direction, and the head frame 7 is located between the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5.

[0081] Reference Figure 1 The neurosurgical robot has at least five degrees of freedom, namely two linear movements V1 and V2 along the Z-axis, a circular motion R1 along the outer contour of the arch body 11, a rotation R2 around the X-axis, and a rotation R3 around the Z-axis.

[0082] The first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 can both be a spiral screw mechanism, a piston-cylinder device, or a linear transmission mechanism. In this embodiment, the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 have the same structure (refer to Figure 6 ), including:

[0083] A mounting base 41, a Z translation motor 42, a screw shaft 43 arranged along the Z axis direction and drivingly connected to the Z translation motor 42, a nut 44 sleeved on the screw shaft 43, and at least one nut guide rod 45 arranged on the mounting base 41 and parallel to the screw shaft 43, wherein the nut 44 is provided with a guide hole for the nut guide rod 45 to pass through;

[0084] The mounting base 41 includes a mounting bottom plate 411 and two mounting vertical plates 412 spaced apart on the mounting bottom plate 411 along the Z-axis direction. The screw shaft 43 and the nut guide rod 45 are both connected between the two mounting vertical plates 412 . A connecting shaft 441 is provided at the upper end of the nut 44 .

[0085] Working principle: The Z translation motor 42 drives the screw shaft 43 to rotate. Under the restriction of the nut guide rod 45, the nut 44 cannot rotate but can only move linearly along the length direction of the screw shaft 43 and the nut guide rod 45, thereby providing the nut 44 with a reciprocating linear movement function along the Z-axis direction.

[0086] Reference Figure 7 In this embodiment, the first bracket 12 includes a first U-shaped bracket 121 and a connecting seat 122 connected to the bottom of the first U-shaped bracket 121. The connecting seat 122 is provided with a first connecting hole 123. The side of the first U-shaped bracket 121 is provided with a first shaft hole 124. The connecting shaft 441 on the nut 44 in the first Z-axis linear translation mechanism 4 can be rotatably inserted into the first connecting hole 123. The first U-shaped bracket 121 includes a first L-shaped bracket 1211 and a first plate 1212 connected thereto. The side of the first L-shaped bracket 1211 and the first plate 1212 are both provided with a first shaft hole 124.

[0087] Reference Figure 8-9 In this embodiment, the second bracket 13 includes a second U-shaped frame 131, two fixed supports 132 connected to the bottom of the second U-shaped frame 131 and spaced apart along the X-axis direction, two support guide rods 133 connected between the two fixed supports 132 and arranged along the X-axis direction, and a sliding support 134 slidably arranged on the two support guide rods 133, a second connecting hole 135 is provided at the bottom of the sliding support 134, and a second shaft hole 136 is provided on the side of the second U-shaped frame 131; the connecting shaft 441 on the nut 44 in the second Z-axis linear translation mechanism 5 can be rotatably inserted into the second connecting hole 135. The second U-shaped frame 131 includes a second L-shaped bracket 1311 and a second plate 1312 connected thereto, and second shaft holes 136 are provided on the side of the second L-shaped bracket 1311 and the second plate 1312.

[0088] Continue to refer to Figure 1-4 That is, the right end bottom of the arch body 11 is rotatably connected (rotatable around the Y axis) to the nut 44 in the first Z-axis linear translation mechanism 4 through the first U-shaped frame 121, and the left end bottom of the arch body 11 is rotatably connected (rotatable around the Y axis) to the nut 44 in the second Z-axis linear translation mechanism 5 through the second U-shaped frame 131, and the second U-shaped frame 131 can also slide along the X-axis direction relative to the nut 44 in the second Z-axis linear translation mechanism 5. Therefore, when the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 are not completely synchronized, with the help of the rotation of the two ends of the arch body 11 and the left and right sliding of the left end bottom of the arch body 11 along the X-axis direction, the arch body 11 as a whole can adaptively rotate around the Y axis, thereby avoiding jamming.

[0089] At the same time, by autonomously controlling the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 to perform asynchronous movement (different movement directions along the Z-axis, or the same movement direction but different movement speeds), the arch body 11 can be rotated around the Y-axis, thereby providing the sliding roller positioning mechanism 2 with a rotational freedom around the Y-axis, which can further increase the flexibility of the neurosurgical robot and better realize the application of the neurosurgical robot in dual implantation operations (further described in the subsequent embodiment 3). For example, referring to Figure 1 The motions along the Z axis provided by the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 are respectively denoted as U1 and U2. If U1 is along the positive direction of the Z axis and U2 is along the negative direction of the Z axis, the arch body 11 rotates around the Y axis in a clockwise direction.

[0090] In this embodiment, a rotating shaft 111 is provided at both ends of the arch body 11, which is rotatably connected to the first shaft hole 124 on the first U-shaped frame 121 in the first Z-axis linear translation mechanism 4 and the second shaft hole 136 on the second U-shaped frame 131 in the second Z-axis linear translation mechanism 5.

[0091] In this embodiment, only one second rotating mechanism 3 is included, which is disposed on the first bracket 12 and is drivingly connected to the rotating shaft 111 at the end of the arch body 11 .

[0092] In this embodiment, among the inner contour surface and the outer contour surface of the arch body 11 , the inner contour surface is a gear contour 112 , and the outer contour surface forms an arc-shaped guide track 113 .

[0093] Reference Fig.10 The sliding roller assembly 21 includes a sliding mounting frame 211 movably mounted on the arch body 11, a driving gear 212 rotatably mounted on the sliding mounting frame 211 and meshing with the gear profile 112, at least one roller 213 rotatably mounted on the sliding mounting frame 211 and in contact with the surface of the arc-shaped guide track 113 of the arch body 11, and a sliding roller driving motor 214 mounted on the sliding mounting frame 211 for driving the driving gear 212 to rotate.

[0094] The sliding roller driving motor 214 drives the driving gear 212 to rotate, and the driving gear 212 engages with the gear profile 112. The roller 213 can roll in contact with the circular arc guide track 113 to play a guiding role. Therefore, when the driving gear 212 rotates, the sliding roller assembly 21 as a whole will move in a circular motion along the circular arc guide track 113 of the arch body 11.

[0095] In this embodiment, an interface plate 24 is connected to the sliding mounting frame 211, the first rotating mechanism 22 is connected to the interface plate 24, the implant module 23 is connected to the first rotating mechanism 22 and is drivingly connected to the output shaft of the first rotating mechanism 22, and the implant module 23 connected thereto is driven to rotate around the Z axis by the first rotating mechanism 22.

[0096] In this embodiment, the first rotating mechanism and the second rotating mechanism are both conventional worm gear mechanisms. Figure 11-12 Taking the first rotating mechanism 22 as an example, its main structure includes:

[0097] The mounting block 221, the turbine 222 rotatably disposed on the mounting block 221, the worm 223 rotatably disposed on the mounting block 221 and meshing with the turbine 222, and the rotating motor 224 disposed on the mounting block 221 for driving the worm 223 to rotate, the mounting block 221 is connected to the sliding mounting frame 211 of the sliding roller assembly 21 through the interface plate 24; the implant module 23 is driven and connected to the driving shaft 225 of the turbine 222. The working principle is: the rotating motor 224 drives the turbine 222 to rotate through the worm 223, and then drives the implant module 23 to rotate around the Z axis through the driving shaft 225 on the turbine 222.

[0098] The head frame 7 is used to clamp and fix the patient's head, and can be adjusted in real time according to the size of the patient's head. Figure 5 In this embodiment, the head frame 7 includes two outer fixed blocks 71 arranged on the base plate 6 at intervals along the X direction, an intermediate fixed bottom plate 72 arranged between the two outer fixed blocks 71, and two movable side plates 73 symmetrically arranged on both sides of the intermediate fixed bottom plate 72. Two side plate slide bars 74 are connected between the intermediate fixed bottom plate 72 and each outer fixed block 71. The movable side plates 73 are slidably connected to the side plate slide bars 74 and are located between the intermediate fixed bottom plate 72 and the outer fixed blocks 71. The two outer fixed blocks 71 and the intermediate fixed bottom plate 72 remain fixed, and the two movable side plates 73 can slide relatively on the side plate slide bars 74. The two movable side plates 73 are slid to adjust to the appropriate position according to the patient's head size, and the patient's head is clamped and fixed, and then the two movable side plates 73 are locked. The locking structure can adopt a conventional mechanism, for example, referring to Figure 5 In an optional embodiment, a locking threaded hole 75 is provided on the bottom edge of the movable side panel 73, and a locking screw (not shown in the figure) is inserted inside. After the positions of the two movable side panels 73 are adjusted, the locking screw is screwed in, penetrates into the locking threaded hole 75 and supports the base plate 6 below, so that the movable side panel 73 is fixed.

[0099] Reference Fig.13, which is a schematic diagram of the neurosurgery robot of this embodiment installed on the MRI scanning bed 8 preparing for or performing a neurosurgery operation.

[0100] Reference Fig.14 , is a structural schematic diagram of the arch mechanism 1 and the sliding roller positioning mechanism 2 in the neurosurgery robot of this embodiment rotated to another angle.

[0101] Reference Fig.15 , is a schematic diagram of the structure of the neurosurgery robot of this embodiment when the head frame 7 is removed. After removing the head frame 7, the robot can also be used for minimally invasive surgery on other organs or parts, and it has wide applicability.

[0102] In this embodiment, the implantation module 23 can hold surgical tools (such as electrodes or puncture needles, etc.) and manipulate them through the insertion point on the skull to the target position. The implantation module 23 can be a conventional manual implantation module or a conventional automatic implantation module (such as the automatic puncture needle insertion mechanism in patent CN115607288A). Fig.16 .

[0103] All power devices (such as motors, etc.) used in this embodiment are magnetically compatible devices, and other electrical components and mechanical parts are also made of magnetically compatible materials to ensure that the neurosurgical robot is compatible with the MRI environment.

[0104] Example 2

[0105] Reference Figure 17-18 As a further improvement on the embodiment 1, in this embodiment, two second rotating mechanisms 3 are included, which are respectively arranged on the first bracket 12 and the second bracket 13, and the two second rotating mechanisms 3 are respectively drivingly connected to the rotating shafts 111 on the two ends of the arch body 11. The two second rotating mechanisms 3 can provide a stronger and more stable driving force to drive the entire arch mechanism 1 to rotate around the X-axis.

[0106] Example 3

[0107] Reference Fig.19 As a further improvement on the basis of Example 1, the arch mechanism 1 in this embodiment includes two sliding roller positioning mechanisms 2, through which the two implant modules 23 can be positioned at the same time, so that it can be applied to double implantation (i.e., synchronous implantation at two positions through two implant modules 23, for example, implanting two electrodes at the same time). When the two positions to be implanted of the double implantation are in the same XOY plane, the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 provide Z-direction displacements in the same direction and at the same speed, without providing rotation around the Y-axis.

[0108] When the two positions to be implanted are not in the same XOY plane, the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 need to provide rotation around the Y-axis, so that the projection of the line connecting the ends of the puncture needles on the two implant modules 23 on the XOZ plane coincides with the projection of the line connecting the two positions to be implanted on the XOZ plane. In other words, by controlling the movement of the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 to rotate the arch body 11 around the Y-axis, the two implant modules 23 can simultaneously reach the top of the two positions to be implanted, and then cooperate with the freedom control of other directions of the neurosurgery robot to achieve the simultaneous positioning of the two implant modules 23, thereby achieving synchronous dual implantation operation.

[0109] Therefore, when the two positions to be implanted are not in the same XOY plane, since the two implant modules 23 are on the same arch body 11, the two can only rotate together around the X-axis, and the flexibility will be affected to a certain extent. However, the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 perform asynchronous motion to provide the required degree of freedom of rotation around the Y-axis, and the double implantation operation can still be achieved at this time.

[0110] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A neurosurgery robot, characterized in that: include: The arch mechanism comprises an arch body and a first bracket and a second bracket respectively arranged at two ends of the arch body; At least one sliding roller positioning mechanism, comprising a sliding roller assembly that can autonomously move along an arc trajectory on the arch body, and a first rotating mechanism and an implantation module disposed on the sliding roller assembly, wherein the first rotating mechanism is used to drive the implantation module to rotate around the Z axis, and the implantation module is used to perform an implantation operation; At least one second rotating mechanism, which is used to drive the arch body to rotate around the X-axis relative to the first bracket and the second bracket; A first Z-axis linear translation mechanism, an output end of which is rotatably connected to the first bracket, and the rotation direction is around the Y-axis direction, and the first Z-axis linear translation mechanism is used to drive the first bracket to move linearly along the Z-axis direction; And a second Z-axis linear translation mechanism, whose output end is connected to the second bracket, the second bracket can rotate around the Y-axis and slide along the X-axis relative to the output end of the second Z-axis linear translation mechanism, and the second Z-axis linear translation mechanism is used to drive the second bracket to move linearly along the Z-axis direction.

2. The neurosurgery robot according to claim 1, characterized in that: The first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism have the same structure and both include: A mounting base, a Z translation motor, a screw shaft arranged along the Z axis direction and drivingly connected to the Z translation motor, a nut sleeved on the screw shaft, and at least one nut guide rod arranged on the mounting base and parallel to the screw shaft, wherein the nut is provided with a guide hole for the nut guide rod to pass through; The mounting base comprises a mounting bottom plate, and two mounting vertical plates spaced apart on the mounting bottom plate along the Z-axis direction, and the screw shaft and the nut guide rod are both connected between the two mounting vertical plates; The upper end of the nut is provided with a connecting shaft.

3. The neurosurgery robot according to claim 2, characterized in that: The first bracket includes a first U-shaped frame and a connecting seat connected to the bottom of the first U-shaped frame, the connecting seat is provided with a first connecting hole, and the side of the first U-shaped frame is provided with a first axial hole; The connecting shaft on the nut in the first Z-axis linear translation mechanism can be rotatably inserted into the first connecting hole.

4. The neurosurgery robot according to claim 3, characterized in that: The second bracket includes a second U-shaped frame, two fixed supports connected to the bottom of the second U-shaped frame and spaced apart along the X-axis direction, two support guide rods connected between the two fixed supports and arranged along the X-axis direction, and a sliding support slidably arranged on the two support guide rods, a second connecting hole is formed at the bottom of the sliding support, and a second shaft hole is formed at the side of the second U-shaped frame; The connecting shaft on the nut in the second Z-axis linear translation mechanism can be rotatably inserted into the second connecting hole.

5. The neurosurgery robot according to claim 4, characterized in that: Both ends of the arch body are provided with a rotating shaft, which is rotatably connected to the first shaft hole on the first U-shaped frame in the first Z-axis linear translation mechanism and the second shaft hole on the second U-shaped frame in the second Z-axis linear translation mechanism.

6. The neurosurgery robot according to claim 5, characterized in that: It comprises a second rotating mechanism, which is arranged on the first bracket or the second bracket and is drivingly connected to the rotating shaft at the end of the arch body.

7. The neurosurgery robot according to claim 5, characterized in that: It comprises two second rotating mechanisms, which are respectively arranged on the first bracket and the second bracket, and the two second rotating mechanisms are respectively drivingly connected to the rotating shafts on the two ends of the arch body.

8. The neurosurgery robot according to claim 1, characterized in that: Of the inner contour surface and the outer contour surface of the arch body, one surface is a gear contour and the other surface forms an arc-shaped guide track; The sliding roller assembly includes a sliding mounting frame movably mounted on the arch body, a driving gear rotatably mounted on the sliding mounting frame and meshing with the gear profile, at least one roller rotatably mounted on the sliding mounting frame and in contact with the arc-shaped guide track surface of the arch body, and a sliding roller driving motor mounted on the sliding mounting frame for driving the driving gear to rotate.

9. The neurosurgery robot according to claim 8, characterized in that: An interface plate is provided on the sliding mounting frame, the first rotating mechanism is connected to the interface plate, and the implant module is connected to the first rotating mechanism and is drivingly connected to the output shaft of the first rotating mechanism.

10. The neurosurgery robot according to any one of claims 1 to 9, characterized in that: It also includes a substrate and a head frame arranged on the substrate, wherein the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism are arranged on the substrate at intervals along the X direction, and the head frame is located between the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism; The head frame includes two outer fixed blocks arranged on the base plate at intervals along the X direction, an intermediate fixed base plate arranged between the two outer fixed blocks, and two movable side plates symmetrically arranged on both sides of the intermediate fixed base plate, two side plate sliding rods are connected between the intermediate fixed base plate and each outer fixed block, and the movable side plate can be slidably connected to the side plate sliding rods and is located between the intermediate fixed base plate and the outer fixed blocks.

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