Cervical vertebra reduction system based on magnetic navigation and robotic arm

Abstract

This application relates to a cervical spine reduction system based on magnetic navigation and a robotic arm, comprising: a magnetic navigation generator for generating a magnetic field; a positioning device for fixing to a target object on the patient, generating a magnetic induction signal in the magnetic field and transmitting it wirelessly; a robotic arm for adjusting the posture of the target object; and a control device communicatively connected to both the positioning device and the robotic arm, for acquiring the magnetic induction signal wirelessly transmitted by the positioning device to track the posture of the target object and controlling the robotic arm to adjust the posture of the target object. Through the coordinated operation of the positioning device, the magnetic navigation generator, the robotic arm, and the control device, this application can monitor the posture changes of the target object in real time and accurately, assisting doctors in judging the reduction effect in real time.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a cervical spine repositioning system based on magnetic navigation and a robotic arm. Background Technology

[0002] With the popularization of minimally invasive surgery, image-guided positioning and surgical navigation methods have also developed rapidly. Intraoperative navigation technology has significantly improved the efficiency and precision of surgical procedures, and has also greatly reduced the radiation exposure to doctors and patients during surgery.

[0003] Taking cervical dislocation as an example, as a serious spinal injury, the safest and most effective method currently considered to be axial cranial traction reduction. In this type of cervical reduction surgery, traction parameters, including traction angle, traction force, and traction time, need to be flexibly controlled to achieve precise postural adjustment. Currently, the treatment of cervical dislocation largely relies on the doctor's clinical experience. During treatment, the doctor needs to frequently adjust the traction on the patient's head, and multiple imaging examinations, such as X-rays, are required to closely monitor the reduction. This traditional treatment method is not only prone to over- or under-traction, delaying the condition, but also exposes both the doctor and patient to radiation multiple times, potentially causing harm to their health. Summary of the Invention

[0004] Based on this, this application provides a cervical spine repositioning system based on magnetic navigation and a robotic arm. Through the coordinated work of a positioning device, a magnetic navigation generator, a robotic arm, and a control device, the system can monitor the positional changes of the target object in real time and accurately, assisting doctors in judging the repositioning effect in real time.

[0005] This application provides a cervical spine repositioning system, the cervical spine repositioning system comprising:

[0006] Magnetic navigation generator, used to generate magnetic fields;

[0007] A positioning device for fixing to a patient target object, generating a magnetic induction signal in the magnetic field and transmitting it wirelessly;

[0008] A robotic arm is used to adjust the pose of the target object.

[0009] The control device is communicatively connected to the positioning device and the robotic arm, respectively, and is used to acquire the magnetic induction signal wirelessly transmitted by the positioning device to track the pose of the target object and control the robotic arm to adjust the pose of the target object.

[0010] In one embodiment, the positioning device includes a needle body, a magnetic induction component, and a wireless communication component;

[0011] The needle body has a receiving cavity;

[0012] The magnetic induction component includes a first magnetic sensor, a transmission line, and a data interface. The first magnetic sensor is located on the side of the receiving cavity near the tip of the needle body. The data interface is exposed outside the needle body. The transmission line connects the first magnetic sensor and the data interface.

[0013] The wireless communication component is designed to be detachably connected to the data interface.

[0014] In one embodiment, the data interface includes a contact disposed at the tail of the needle body;

[0015] The wireless communication component includes a power module, an antenna module, and a chip module. The chip module is used to connect to the contact point to obtain the magnetic induction signal of the first magnetic sensor. The antenna module is connected to the chip module and is used to wirelessly transmit the magnetic induction signal.

[0016] In one embodiment, the positioning device further includes a guide assembly having a guide channel; the guide assembly is used to move the needle body along the guide channel to limit the direction of movement of the needle body; the positioning device is used to switch between a moving state and a positioning state.

[0017] In the moving state, the needle body is inserted into the guide assembly, and the tail of the needle body is connected to an external drive mechanism to move under the drive of the external drive mechanism and move towards the target object under the limitation of the guide assembly.

[0018] In the positioning state, the tip of the needle is fixed to the target object, the guiding component and the external driving mechanism are separated from the needle, and the wireless communication component is connected to the data interface to obtain the magnetic induction signal of the first magnetic sensor and transmit it wirelessly.

[0019] In one embodiment, the cervical spine repositioning system further includes:

[0020] A traction bar, which connects the fixation frame to the patient's head and the robotic arm;

[0021] A tracking device is disposed on the tension bar. The tracking device includes a second magnetic sensor and a wireless communication module. The wireless communication module is used to acquire the magnetic induction signal generated by the second magnetic sensor in the magnetic field and wirelessly transmit it to the control device so that the control device can track the position and posture of the tension bar.

[0022] In one embodiment, the pull bar includes a pull rope that is wound around the end of the robotic arm;

[0023] The cervical spine repositioning device also includes a traction device, which is connected to the end of the traction rope away from the fixing frame, and is used to adjust the traction force of the traction rope.

[0024] In one embodiment, the end of the robotic arm is provided with a guide wheel, and the traction rope is wound around the guide wheel to adjust the traction angle of the traction rope by means of the robotic arm.

[0025] In one embodiment, the cervical spine repositioning system further includes:

[0026] The marking device includes a flexible patch, multiple magnetic positioning sensors, and a wireless transmission module. The flexible patch is used to wrap around and be attached to the patient's neck. The multiple magnetic positioning sensors are built into the flexible patch. The wireless transmission module is used to acquire the magnetic induction signals generated by the multiple magnetic positioning sensors in the magnetic field and wirelessly transmit them to the control device for spatial registration.

[0027] In one embodiment, the control device is used to perform the following steps:

[0028] The patient's cervical spine scan images and target parameter information are input into a pre-constructed data model to obtain the corresponding reduction procedure; wherein, the reduction procedure includes a multi-level traction strategy, and each level of the traction strategy includes traction angle information, traction force information and traction duration information;

[0029] The control device sends traction parameters to the robotic arm according to the reset procedure. In one embodiment, the control device is further configured to perform the following steps:

[0030] Based on the reset procedure, a pre-demonstration of the reset process of the target object is performed;

[0031] And / or, according to the reset completion confirmation command, control the robotic arm to gradually remove the traction force.

[0032] In one embodiment, the control device is further configured to perform the following steps:

[0033] Receive external instructions and regenerate the reset strategy by combining at least one of the multi-level traction strategies;

[0034] The traction parameters are sent to the robotic arm according to the reset strategy.

[0035] In one embodiment, the control device is further configured to perform the following steps:

[0036] The pose of the positioning device is compared with the expected reset pose of the target object under the current level traction strategy to obtain the evaluation result;

[0037] Based on the evaluation results, the adjustment increment is calculated to adjust the next level of traction strategy.

[0038] The aforementioned cervical spine reduction system based on magnetic navigation and a robotic arm, through the coordinated operation of a positioning device, a magnetic navigation generator, a robotic arm, and a control device, can monitor the positional changes of the target object in real time and with precision. This assists doctors in judging the reduction effect in real time, improving the accuracy and safety of the reduction. It also reduces the doctor's operational difficulty and workload, as well as the radiation from multiple CT scans. Furthermore, the positioning device in this example provides positioning and tracking for intraoperative navigation. The real-time position of the positioning device reflects the real-time position of the target object. While assisting doctors in judging the reduction effect, it also allows for flexible adjustment of parameters such as the traction force, traction angle, and traction time of the robotic arm based on the real-time traction effect, thereby achieving a safe and efficient surgical procedure. This improves the accuracy and flexibility of cervical spine reduction surgery, while also increasing surgical efficiency and precision. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the cervical spine repositioning system provided according to some embodiments of this application.

[0040] Figure 2 This is an exploded structural diagram of a positioning device provided according to some embodiments of this application.

[0041] Figure 3 This is a schematic diagram of the positioning device provided according to some embodiments of this application in a moving state and its structure relative to a target object.

[0042] Figure 4 This is a schematic diagram of the positioning device provided according to some embodiments of this application in the positioning state and the structure of the target object.

[0043] Figure 5 This is a schematic diagram illustrating the application of a marking device in a cervical spine repositioning system provided according to some embodiments of this application.

[0044] Figure 6 This is a schematic diagram of the structure of a marking device provided according to some embodiments of this application.

[0045] Icon labels:

[0046] 10. Target object;

[0047] 110. Needle body; 111. Needle tip; 120. Magnetic induction component; 123. Data interface; 121. First magnetic sensor; 122. Transmission line; 130. Wireless communication component; 140. Guide component;

[0048] 200. Magnetic navigation generator;

[0049] 300. Robotic arm;

[0050] 400. Marking device; 420. Magnetic positioning sensor; 410. Flexible adhesive tape; 430. Wireless transmission module;

[0051] 500. Control device;

[0052] 600. Pulling strip;

[0053] 700. Tracking device;

[0054] 800. Traction device;

[0055] 900. Fixture. Detailed Implementation

[0056] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0057] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0058] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0059] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0060] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0061] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0062] Traditional axial cranial traction reduction methods are prone to over- or under-traction, delaying treatment and exposing doctors and patients to radiation multiple times, potentially causing harm. The inventors discovered that navigation methods using light, electromagnetic, or ultrasound technologies can assist in cranial traction reduction, significantly reducing radiation exposure for both doctors and patients during surgery. However, these navigation methods typically require real-time tracking of the relative positional changes between the injured vertebrae. Optical navigation requires ensuring unobstructed views between the camera and the injured vertebra, which is challenging. Magnetic navigation, unaffected by light obstruction, allows tracking of vertebral positional changes by placing a magnetic positioning sensor at the end of the instrument or inside the patient. However, the inventors found that most currently used magnetic positioning sensors are wired, which can obstruct the doctor's view and cause cable pulling during surgery when placed at the instrument end. Furthermore, the inventors discovered that changes to traction parameters in cervical spine traction reduction still require manual operation by the doctor, increasing the risk of errors due to frequent manipulation.

[0063] Based on the above-mentioned problems, this application provides a cervical spine repositioning system, which may include a magnetic navigation generator 200, a positioning device, a robotic arm 300, and a control device 500.

[0064] The magnetic navigation generator 200 generates a magnetic field; the positioning device is fixed to the patient target 10, generates a magnetic induction signal in the magnetic field and transmits it wirelessly; the robotic arm 300 adjusts the pose of the target 10; and the control device 500 is communicatively connected to the positioning device and the robotic arm 300, respectively, to acquire the magnetic induction signal wirelessly transmitted by the positioning device to track the pose of the target 10 and control the robotic arm 300 to adjust the pose of the target 10.

[0065] Understandably, the target object 10 in this example can be a cervical vertebra. The magnetic navigation generator 200 can be located to one side of the patient's head to maintain a close distance from the positioning device, so that the sensing element in the positioning device can generate a magnetic induction signal in the magnetic field generated by the magnetic navigation generator 200, enabling the control device 500 to locate and track the positioning device. The magnetic field strength and range of the magnetic navigation generator 200 can be adjusted according to actual needs, for example, adjusting the magnetic field strength based on the patient's body shape and treatment site, to ensure accurate sensing by the positioning device.

[0066] The positioning device can be understood as a Kirschner wire used in conventional surgery or a specially designed needle body 110 equipped with a sensing element (such as a magnetic induction sensor). The sensing element can be snapped onto the needle body 110 by a buckle, needle clip, etc., or built into the needle body 110. In order to avoid problems such as obstruction of the doctor's line of sight and easy pulling caused by the connecting cable of the sensing element, a Bluetooth module electrically connected to the sensing element can also be snapped onto the outside of the needle body 110. The magnetic induction signal of the sensing element collected can be wirelessly transmitted to the control device 500 through the Bluetooth module, so as to get rid of the cable.

[0067] The robotic arm 300 can be connected to the patient's head, specifically to the fixation frame 900 fixed to the patient's head. The robotic arm 300 can have multiple degrees of freedom to facilitate traction and angle twisting of the patient's neck, thereby achieving flexible and multi-degree-of-freedom traction adjustment of the patient's neck.

[0068] In this example, at least two positioning devices can be fixed at the patient's cervical spine. During the traction process of the robotic arm 300, the control device 500 can simultaneously receive the magnetic induction signals generated by the at least two positioning devices in the magnetic field, and monitor the repositioning posture of the injured vertebra based on the received magnetic induction signals.

[0069] In addition, the traction parameters (including traction force, traction angle, traction time, and torsion angle) of the robotic arm 300 for traction of the patient's head can be manually input by the doctor or generated intelligently, and there are no restrictions here.

[0070] In this application, through the coordinated operation of the positioning device, magnetic navigation generator 200, robotic arm 300, and control device 500, the positional changes of the target object 10 can be monitored in real time and accurately. This assists the doctor in judging the reduction effect in real time, improving the accuracy and safety of the reduction, while also reducing the doctor's operational difficulty and workload, as well as reducing the radiation from multiple CT scans. Furthermore, the positioning device in this example provides positioning and tracking for intraoperative navigation. The real-time position of the positioning device reflects the real-time position of the target object 10. While assisting the doctor in judging the reduction effect, it also allows for flexible adjustment of parameters such as the traction force, traction angle, and traction time of the robotic arm 300 based on the real-time traction effect, thereby achieving a safe and efficient surgical procedure. This improves the accuracy and flexibility of cervical spine reduction surgery, while also increasing surgical efficiency and precision.

[0071] Below, we will combine the appendix Figure 1 -Appendix Figure 6 The specific structure of the cervical spine repositioning system provided in the embodiments of this application is described below. (See also...) Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of a cervical spine repositioning device provided according to some embodiments of this application. Figure 2 This is an exploded structural diagram of a positioning device provided according to some embodiments of this application.

[0072] In some embodiments, the positioning device may include a needle body 110, a magnetic induction component 120, and a wireless communication component 130. The magnetic induction component 120 is disposed on the needle body 110 and has a data interface 123; the wireless communication component 130 is detachably connected to the needle body 110 and electrically connected to the data interface 123 when connected to the needle body 110, so as to wirelessly transmit data information collected from the data interface 123.

[0073] It is understood that the needle 110 provided in this example can be a pedicle screw or Kirschner wire used in conventional surgery, or it can be a specially designed needle 110. Implanting this needle 110 into, for example, the pedicle bone can stabilize the pedicle, prevent spinal instability caused by fractures, dislocations, etc., reduce patient pain, and promote the healing of spinal fractures or injuries. Of course, in addition to the above functions, the needle 110 in this example can also be used for intraoperative positioning and tracking of the injured vertebra to determine its position and assist the surgeon in assessing the reduction effect.

[0074] First, taking the needle body 110 as a conventionally used bone needle as an example, the magnetic induction component 120 can be a magnetic induction sensor. The magnetic induction sensor can be pre-fixed to the needle body 110, for example, by snapping it onto the outside of the needle body 110 using a clip or needle clamp. A data interface 123 can be reserved on the outside of the needle body 110. After the needle body 110 enters the vertebra with the external drive mechanism (drill) and is fixed to the vertebra, the external drive mechanism is removed. Then, the wireless communication component 130 is snapped onto the needle body 110 (for example, the tail end of the needle body 110 opposite to the needle tip 111) and electrically connected to the data interface 123. In this example, by setting the magnetic induction component 120 to be detachably connected to the needle body 110, the small size of the needle body 110 can be maintained, which is beneficial for the needle body 110 to enter the patient's target area, thereby improving the feasibility of the surgical operation.

[0075] Of course, the wireless communication component 130 can not only wirelessly transmit the magnetic induction signal from the magnetic induction sensor, but also power the sensor. For example, the wireless communication component 130 is a small and low-power Bluetooth module.

[0076] It should be noted that the magnetic induction component 120 and the wireless communication component 130 can be pre-coupled. That is, only the bone needle enters the vertebra under the drive of the external drive mechanism. After the bone needle is fixed to the vertebra, the external drive mechanism is removed, and then the coupled magnetic induction component 120 and wireless communication component 130 are snapped or clamped on the needle body 110, for example, they can be clamped on the tail end of the needle body 110.

[0077] Secondly, taking the needle body 110 as an example of a specially designed needle, a receiving cavity can be constructed inside the needle body 110. This receiving cavity can be infinitely close to the needle tip 111. The aforementioned magnetic induction sensor can be built into this receiving cavity, that is, the magnetic induction sensor can be set close to the needle tip 111. This arrangement can reduce the error caused by the deformation of the needle body 110 due to the stretching of soft tissues such as muscles during cervical vertebral traction reduction, so as to more accurately track the positional changes of the injured vertebra. The specific method of constructing the receiving cavity in the needle body 110 and the connection between the wireless communication component 130 and the magnetic induction component 120 can be understood with reference to the following example, and will not be repeated here.

[0078] In addition, regardless of whether the magnetic induction component 120 is fixedly connected to the needle body 110 or detachably connected, the wireless communication component 130 is detachably connected to the needle body 110. This configuration allows for timely and rapid replacement of the wireless communication component 130 when its power is insufficient or it malfunctions, without having to replace the entire positioning device, which helps reduce costs.

[0079] In the above example, by detachably connecting the wireless communication component 130 to the needle body 110, it ensures that the needle body 110 can be connected to the position where the wireless communication component 130 is to be installed during the process of entering the target object 10 with the help of the external driving mechanism, thereby ensuring that the needle body 110 stably enters the vertebra. On the other hand, after the needle body 110 is fixed to the vertebra, the external driving mechanism is removed, and the wireless communication component 130 can be smoothly installed on the needle body 110 and electrically connected to the data interface 123 of the magnetic induction component 120, which is pre-installed or installed with the wireless communication component 130 on the needle body 110, so as to wirelessly transmit the magnetic induction signal collected by the magnetic induction component 120. In this example, the setting of the wireless communication component 130 realizes wireless data transmission, freeing it from cable constraints and reducing interference with surgical operations. Moreover, the presence of the positioning device in this example can provide positioning and tracking for intraoperative navigation. The real-time pose of the positioning device can reflect the real-time pose of the injured vertebra, assisting the doctor in judging the reduction effect, avoiding the radiation from multiple imaging examination devices in traditional surgery, and improving the accuracy of the surgery.

[0080] like Figure 2 and Figure 3 As shown, Figure 3 This is a schematic diagram of the positioning device provided according to some embodiments of the present application in a moving state relative to a target object. In some embodiments, the needle body 110 is configured with a receiving cavity, and the magnetic induction component 120 is placed in the receiving cavity; the data interface 123 is exposed outside the needle body 110.

[0081] It is understandable that the size of the receiving cavity can be the same as or slightly larger than the size of the magnetic induction component 120 to avoid the problem of the receiving cavity being too large and affecting the cavity of the needle body 110. In this example, the magnetic induction component 120 can be built into the needle body 110 during the manufacturing process, or the magnetic induction component 120 can be placed in the receiving cavity through the opening reserved in the receiving cavity after the needle body 110 is manufactured. At the same time, in order to ensure the stability of the magnetic induction component 120 in the receiving cavity, the magnetic induction component 120 can be fixed in the needle body 110 by means of adhesive or other methods.

[0082] In this example, the magnetic induction component 120 is placed in the receiving cavity so that it is as close as possible to the needle tip 111, that is, as close as possible to the inside of the injured vertebra. This reduces the error caused by the deformation of the needle body 110 due to the stretching of soft tissues such as muscles during the reduction and traction process. The real-time position of the injured vertebra can be more accurately reflected by the real-time position of the magnetic induction component 120, so as to facilitate real-time and accurate monitoring of the reduction of the injured vertebra.

[0083] In some embodiments, the needle body 110 includes a tip and a tail. The tip of the needle body 110 is defined as the needle tip 111, and the tail of the needle body 110 is defined as the needle tail. The receiving cavity extends from the needle tail to the needle tip 111, and there is a preset distance between the receiving cavity and the needle tip 111.

[0084] Specifically, in this example, the receiving cavity extends along the axial direction of the needle body 110 and moves infinitely closer to the needle tip 111 from the needle tail. Of course, in order to ensure the strength at the needle tip 111, the receiving cavity and the needle tip 111 are usually kept at a preset distance. This distance can be set according to the actual size, material, etc. of the needle body 110, and is not limited here.

[0085] like Figure 2 As shown, in some embodiments, the magnetic induction component 120 includes a first magnetic sensor 121, a transmission line 122 and a data interface 123. The first magnetic sensor 121 is located on the side of the receiving cavity near the tip (needle tip 111) of the needle body, and the transmission line 122 connects the first magnetic sensor 121 and the data interface 123.

[0086] Specifically, in this example, the first magnetic sensor 121 can be a magnetoresistive sensor, which has the characteristics of high sensitivity and strong anti-interference ability, so as to quickly and accurately convert magnetic field changes into electrical signals. The magnetic sensor is placed on the side of the receiving cavity near the needle tip 111, and the transmission line 122 connected to the first magnetic sensor 121 can extend to the needle tail and connect to the data interface 123 exposed at the needle tail.

[0087] The transmission line 122 can be made of a low-resistance metal wire and can be wrapped in an insulating material to improve signal transmission quality and data transmission reliability.

[0088] like Figure 3 As shown, in some embodiments, the data interface 123 includes a contact point located at the tail (tail) of the needle body 110; the wireless communication component 130 includes a power module, an antenna module, and a chip module. The chip module is used to connect to the contact point to obtain the magnetic induction signal of the first magnetic sensor 121, and the antenna module is electrically connected to the chip module to wirelessly transmit the magnetic induction signal.

[0089] Specifically, the data interface 123 can be an interface that extends from the transmission line 122 to the end of the needle, with contacts extending out on the outside of the needle. For example, the contacts can be formed at the end of the needle using a metal plating process, and the contacts can be evenly distributed on the sidewall of the needle to form a regular arrangement, so as to facilitate the docking of the wireless communication component with it.

[0090] The power module of the wireless communication component 130 can use a rechargeable lithium battery or similar device to provide stable power support for the entire wireless communication component 130. The antenna module can use a miniaturized, high-gain antenna, such as a ceramic antenna, to ensure effective transmission of the wireless signal. The chip module uses a high-performance microprocessor that integrates signal processing, data encoding, and decoding functions to quickly and accurately process the magnetic induction signal received from the contact point and wirelessly transmit it through the antenna module.

[0091] This example improves connection efficiency by forming contacts on the sidewall of the needle tail to facilitate quick docking with the wireless communication component 130, and ensures fast data processing and accurate transmission through the antenna module and chip module within the wireless communication component 130, thus realizing efficient wireless data transmission for the positioning device.

[0092] like Figure 3 and Figure 4 As shown, Figure 4 This is a schematic diagram of the positioning device provided according to some embodiments of the present application in a positioning state and a target object. In some embodiments, the positioning device further includes a guide component 140, which is configured with a guide channel; the guide component 140 is used to move the needle body 110 along the guide channel to limit the movement direction of the needle body 110.

[0093] Understandably, the guide assembly 140 is a guide primarily used to assist medical personnel in moving the positioning device to the target object 10. This guide can be handheld or held by a robotic arm. To improve the guiding accuracy of the guide assembly 140, it incorporates a built-in orientation sensor, which helps position the guide assembly 140 at a predetermined location and angle. When the guide assembly 140 is at the predetermined location and angle, the medical personnel insert the needle 110 into the guide channel of the guide assembly 140 and use an external drive mechanism to rotate the needle 110 to enter the target object 10 until it is fixedly connected to the target object 10.

[0094] In some embodiments, the positioning device is used to switch between a moving state and a positioning state; in the moving state, such as Figure 3 As shown, the needle body 110 passes through the guide assembly 140, and the needle tail is connected to an external drive mechanism to move under the drive of the external drive mechanism and move towards the vertebra under the limitation of the guide assembly 140; in the positioning state, as Figure 4 As shown, the tip (needle tip 111) of the needle body 110 is fixed to the target object 10 (e.g., a vertebra), the guide component 140 and the external drive mechanism are separated from the needle body 110, and the wireless communication component 130 is connected to the needle tail to receive the magnetic induction signal sent by the magnetic induction component 120 in real time and transmit the magnetic induction signal wirelessly.

[0095] Specifically, to more clearly describe the use of the positioning device, the example described above, where the magnetic induction component 120 is placed within the receiving cavity of the needle body 110, will be used. During the insertion of the needle body 110 into the target object 10, the needle body 110 passes through the guide channel of the guide component 140. The tail end of the needle body 110 is connected to an external drive mechanism (e.g., an electric drill). Under the guidance of the guide component 140, the needle tip 111 of the needle body 110 is rotated to enter the safe area of ​​the target object 10 (e.g., the spinous process of a vertebra). Once the needle body 110 is fixed to the target object 10, medical personnel can rotate the needle tail to determine the firmness of the connection, i.e., to confirm that the needle body 110 has entered the positioning state. The wireless communication component 130 is then clamped at the needle tail and connected to the data interface 123. Finally, the magnetic field can be activated to activate the magnetic induction component 120, enabling real-time positioning and tracking of the magnetic induction component 120.

[0096] like Figure 5 and Figure 6 As shown, Figure 5 This is a schematic diagram illustrating the application of a marking device in a cervical spine repositioning system provided according to some embodiments of this application. Figure 6This is a schematic diagram of the marking device provided according to some embodiments of this application. In some embodiments, the cervical spine reduction system further includes a marking device 400, which includes a flexible patch 410, a plurality of magnetic positioning sensors 420, and a wireless transmission module 430. The flexible patch 410 is used to wrap around and attach to the patient's neck. The plurality of magnetic positioning sensors 420 are built into the flexible patch 410. The wireless transmission module 430 is used to acquire the magnetic induction signal generated by the plurality of magnetic positioning sensors 420 in the magnetic field and wirelessly transmit it to the control device 500 for spatial registration by the control device.

[0097] Specifically, the shape and size of the flexible patch 410 can be a general size or customized according to the physiological curve of the patient's neck to achieve a good fit with the surface of the patient's neck. For example, the flexible patch 410 can be set as a strip and has six built-in magnetic positioning sensors 420, and the six magnetic positioning sensors 420 are arranged in an array on the flexible patch 410 so that the flexible patch 410 is wrapped around the back of the patient's neck. In this example, the six magnetic positioning sensors 420 are not on the same plane, which is conducive to subsequent spatial registration over a large area.

[0098] In this example, the wireless transmission module 430 can be integrated into the edge of the flexible patch 410, but there are no specific restrictions.

[0099] It should be noted that if the detection array is also fixed at other locations on the patient's body surface, the flexible patch 410 can be removed after spatial registration is completed. Of course, the flexible patch 410 can also be attached to the patient's body surface indefinitely, without any restrictions.

[0100] To effectively achieve the goal of monitoring the position and posture of the injured vertebrae via magnetic navigation, it is necessary to match the image space corresponding to the patient's pre-traction cervical spine scan with the intraoperative space where the magnetic navigation generator 200 is located; that is, a spatial registration process. This process can be as follows: First, the marking device 400 is placed around the patient's neck, and multiple magnetic positioning sensors 420 on the marking device 400 can be arranged in an array to achieve positioning over a large area; second, the patient and the marking device 400 are scanned together using CT (Computed Tomography) or O-arm. The multiple magnetic positioning sensors 420 will be visualized in the scanned image, thereby obtaining the visualized coordinate positions of the cervical spine region and the multiple magnetic positioning sensors 420 based on the CT or O-arm coordinate system. Of course, additional visualized markers can also be set in the marking device 400 so that they are visualized when the marking device 400 is scanned along with the patient. Then, by controlling the magnetic navigation generator 200 to generate a magnetic field, the positions of multiple magnetic positioning sensors 420 on the marking device 400 are obtained. Since the relative positions of the multiple magnetic positioning sensors 420 on the marking device 400 and the developing marks (if the magnetic positioning sensors 420 are used for developing, they are located at the same position) are known, the CT or O-arm coordinates and magnetic field coordinates can be matched according to the relative positions to achieve spatial registration.

[0101] In this example, through the coordinated operation of the positioning device, magnetic navigation generator 200, robotic arm 300, marking device 400 and control device 500, the positional changes of the target object 10 can be monitored in real time and accurately, assisting doctors in judging the repositioning effect in real time, improving the accuracy and safety of repositioning, and also reducing the difficulty and workload of doctors' operation, as well as reducing the radiation from multiple CT images.

[0102] In addition, this example can display the relative pose change of the target object 10 in real time, so the traction force, traction angle and traction time of the robotic arm 300 can be flexibly adjusted according to the real-time traction effect, thereby realizing a safe and efficient surgical procedure, which is conducive to improving the accuracy and flexibility of cervical spine reduction surgery, and at the same time improving surgical efficiency.

[0103] like Figure 1 As shown, in some embodiments, the cervical spine reduction system further includes a traction bar 600 and a tracking device 700. The traction bar 600 connects the fixation frame 900 for the patient's head and the robotic arm 300; the tracking device 700 is disposed on the traction bar 600 and includes a second magnetic sensor and a wireless communication module. The wireless communication module is used to receive the magnetic induction signal generated by the second magnetic sensor in a magnetic field and wirelessly transmit it to the control device 500 so that the control device 500 can track the position and posture of the traction bar 600 in real time.

[0104] Specifically, in this example, the traction bar 600 can be a medical rope or similar material made of high-strength, low-elasticity material to ensure that it will not break or over-stretch during traction. One end of the traction bar 600 can be fixed to the fixing frame 900, and the other end can be fixedly connected to the robotic arm 300. The traction force and traction angle of the traction bar 600 can be changed by the robotic arm 300 applying force. Of course, the other end of the traction bar 600 can also be simply wrapped around the robotic arm 300, that is, the robotic arm 300 only changes the traction angle of the traction bar 600.

[0105] The tracking device 700 can be clamped on the traction bar 600. It is mainly used to monitor the traction direction and displacement of the traction bar 600. That is, the tracking device 700 can obtain the traction angle of the traction bar 600 in real time and feed it back to the control device 500 so that the control device 500 can adjust the robotic arm 300 in real time according to the data of the tracking device 700 and the data of the first magnetic sensor 121.

[0106] The second magnetic sensor can also generate a magnetic induction signal in the magnetic field generated by the magnetic navigation generator 200, so as to enable the control device 500 to locate and track the second magnetic sensor. The wireless communication module can be a low-power, high-transmission-efficiency Bluetooth module to ensure that the magnetic induction signal generated by the second magnetic sensor is transmitted to the control device 500 in a timely and accurate manner.

[0107] It should be noted that the tracking device 700 in this example can also monitor the displacement of the traction bar 600. When the displacement of the traction bar exceeds the safety protection value, the traction will stop. For example, if the traction bar 600 moves more than 2 cm from its initial position along its axis, the robotic arm 300 will stop the traction action or issue an alarm.

[0108] like Figure 1 As shown, in some embodiments, the traction bar 600 includes a traction rope wound around the end of the robotic arm 300; the cervical spine repositioning system also includes a traction device 800 connected to one end of the traction rope away from the fixing frame 900, for adjusting the traction force of the traction rope.

[0109] Specifically, the traction device 800 can be an electric traction device 800 or a hydraulic traction device 800, which can precisely adjust the magnitude of the traction force. That is, multiple different traction force levels can be set, and doctors can select the appropriate level according to the patient's specific condition and repositioning stage.

[0110] In this example, the traction rope located between the fixed frame 900 and the traction device 800 is wound around the robotic arm 300 so that the traction direction of the traction rope can be adjusted by the robotic arm 300. In one example, the end of the robotic arm 300 is provided with a guide wheel, and the traction rope is wound around the guide wheel so that the traction angle of the traction rope can be adjusted by the robotic arm 300.

[0111] Specifically, the traction device 800 is only used to adjust the pulling force of the traction rope, while the robotic arm 300 is used to adjust the traction angle, such as the left, right, front, and back traction angles of the patient's head. This setting can prevent the robotic arm 300 from applying excessive traction force and becoming unstable, which is beneficial to improving the accuracy and safety of the traction process.

[0112] It should be noted that this example can also increase the number of robotic arms 300 or traction ropes to meet the need for patient head rotation (rotation around the cervical spine axis) during the reduction process. For example, a set of robotic arms 300 can be added, the end of which can be directly connected to the fixation frame 900 to drive the fixation frame 900 in real-time torsional motion.

[0113] In some embodiments, the control device 500 is configured to perform at least the following steps:

[0114] Step S101: Input the patient's cervical spine scan images and target parameter information into the pre-built data model to obtain the corresponding reduction procedure; wherein, the reduction procedure includes a multi-level traction strategy, and each level of traction strategy includes traction angle information, traction force information and traction duration information.

[0115] Step S102: Send traction parameters to the robotic arm 300 according to the reset procedure.

[0116] Understandably, to complete the execution process of the control device 500, a spatial registration step is required before step S101. This step can be understood as a registration process between magnetic navigation coordinates and scanned image coordinates. First, the marking device 400 is placed around the patient's neck. Multiple magnetic positioning sensors 420 on the marking device 400 can be arranged in an array to achieve positioning over a large spatial range. Second, the patient and the marking device 400 are scanned together using CT (Computed Tomography) or O-arm. The multiple magnetic positioning sensors 420 will be visualized in the scanned image, thereby obtaining the visualized coordinate positions of the cervical spine region and the multiple magnetic positioning sensors 420 based on the CT or O-arm coordinate system. Of course, additional visualized markers can also be set in the marking device 400 to be visualized when the marking device 400 is scanned along with the patient. Then, by controlling the magnetic navigation generator 200 to generate a magnetic field, the positions of multiple magnetic positioning sensors 420 on the marking device 400 are obtained. Since the relative positions of the multiple magnetic positioning sensors 420 on the marking device 400 and the developing marks (if the magnetic positioning sensors 420 are used for developing, they are located at the same position) are known, the CT or O-arm coordinates and magnetic field coordinates can be matched according to the relative positions to achieve spatial registration.

[0117] Subsequently, the aforementioned positioning device (including needle body 110, first magnetic sensor 121 and wireless transmission component) is fixed on the patient's target object 10 (e.g., the injured vertebra), and the traction device 800, robotic arm 300 and fixation frame 900 are connected by a traction rope, and the tracking device 700 is fixed on the traction rope to complete the preparation work.

[0118] In step S101, the control device 500 receives the patient's cervical spine scan image and externally input patient parameter information. The patient's parameter information can be manually input by the doctor and may include the patient's age, height, weight, etc. The above information will be input into the data model, and the data model will process and generate a repositioning program for the patient.

[0119] Understandably, the data model constructed above can be trained using big data. The data training sources can include: 1. Clinical case data, such as a large amount of patient imaging data. These images may contain information about the anatomical structure of the cervical spine, the shape of different degrees of cervical dislocation, etc. Analysis of this large amount of imaging data allows for the acquisition of parameters in normal and abnormal cervical spine states, serving as the basis for the data model to understand the cervical spine condition. Also, a large amount of patient treatment process data, including actual traction angles, traction forces, traction times, and actual positional changes of the injured vertebrae during surgery. This data records the effects of different treatment plans in actual operation, thus providing a basis for training the data model to understand the relationship between different traction strategies and cervical spine reduction effects. 2. Simulation experimental data, such as experiments using cervical spine physical models. By simulating different degrees of cervical dislocation and then using various traction methods for reduction, the traction angle, force, and time parameters can be precisely controlled and recorded during the experiment. Simultaneously, high-precision measuring instruments can be used to acquire positional change data of the cervical spine physical model. Third, physician experience data, such as collecting various treatment plans used by physicians in the past cervical spine reduction treatment, including the basis for the selection of traction parameters and the operation techniques at different stages, etc. This data reflects the physician's judgment and decision-making process on cervical spine reduction based on clinical experience, which can be learned by the data model to improve the rationality and accuracy of the reduction program it generates.

[0120] It can be further understood that the reduction procedure can include multi-level traction strategies. For example, the first-level traction strategy is to apply 20N of traction along the cervical spine axis for 20 minutes; the second-level traction strategy is to apply 40N of traction along the cervical spine axis for 20 minutes; and the third-level traction strategy is to adjust the traction angle, deflect 20° to the left (from the patient's perspective), apply 60N of traction, and pull for 30 minutes. Of course, the above reduction procedure is not limited to the three-level traction strategy in the example.

[0121] In step S102, the control device 500 sends traction parameters to the robotic arm 300 step by step according to the reset procedure. The robotic arm 300 adjusts the traction force and traction angle applied to the fixed frame 900 to reset the patient's cervical spine.

[0122] It should be noted that during the above-mentioned repositioning process, the control device 500 will receive the magnetic induction signal sent by the positioning device (first magnetic sensor 121) in real time to generate the positional change of the injured vertebra and display the monitoring status to the doctor in real time so that the doctor can manually adjust it at any time.

[0123] It should be noted that the control device 500 in this example may include one or more controllers / actuators. The above steps can be performed by one or more controllers, one or more actuators, or the controllers and actuators can be performed alternately; no specific limitations are made here. In actual medical operation scenarios, doctors or operators face a control device 500 integrated with controllers and / or actuators, making the operation process simpler. In other words, there is no need to switch between different operating interfaces or devices to complete the various operations of cervical spine repositioning, improving the convenience and accuracy of the operation and reducing the possibility of human error.

[0124] In some embodiments, the control device 500 is further configured to perform step S1011, which pre-demonstrates the reset process of the target object 10 according to the reset procedure.

[0125] Understandably, the control device 500 can generate a fast-forward animation of the pre-formed reduction program, that is, each level of traction strategy, through the 3D module to show the reduction process of the injured vertebra. This allows doctors to view the reduction effect that can be achieved according to the reduction program from different angles, assess the feasibility and safety of the reduction plan in advance, and adjust the reduction plan in a timely manner to improve the safety and success rate of the surgery.

[0126] In some embodiments, to clearly understand the specific implementation of step S102 above, the control device 500 is also used to perform the following steps: step S1021, receiving external instructions and regenerating a reset strategy in combination with at least one of the multi-level traction strategies; step S1022, sending traction parameters to the robotic arm 300 according to the reset strategy.

[0127] Specifically, in step S1021, the control device 500 will display the generated reset program to the doctor step by step. The doctor can input external commands at any time. In one example, the external commands include at least one of the following operations: modifying, adding, deleting, or confirming the reset program.

[0128] Specifically, based on the aforementioned repositioning procedure, and more specifically, on each level of traction strategy, the doctor can modify, add, delete, or confirm the traction strategy according to their own experience. The control device 500 will combine the external commands with the single-level traction strategy, multi-level traction strategy, or all-level traction strategy to generate a new repositioning strategy. Of course, this repositioning strategy still needs to be finally confirmed by the doctor; that is, the control device 500 can only proceed to the next step after receiving the external confirmation command.

[0129] It should be noted that the control device 500 can display all multi-level traction strategies to the doctor, or only the current level of traction strategy. Similarly, after seeing all the multi-level traction strategies, the doctor can choose to adjust all the traction strategies at once, or adjust only one level of traction strategy at a time, and then adjust the next level of traction strategy after the current level of traction strategy has been executed. There are no restrictions on the specifics.

[0130] It should be noted that since the control device 500 receives external operation commands, it needs to regenerate the reset procedure in step S102 above and send traction parameters to the robotic arm according to the regenerated reset strategy. If the external command is only a confirmation command, then the reset strategy in this example is equivalent to the reset procedure in the example above.

[0131] In some embodiments, to clearly understand another specific implementation of step S102 above, the control device 500 is further configured to perform the following steps: step S1024, comparing the pose of the positioning device with the expected reset pose of the target object 10 under the current level traction strategy to obtain an evaluation result; step S1025, calculating the adjustment increment based on the evaluation result to adjust the next level traction strategy.

[0132] Understandably, in addition to the mode that doctors can manually adjust at any time, there is also a mode where the control device 500 can intelligently adjust. The control device 500 will estimate the expected reduction effect after operating according to the current level of traction strategy based on the reduction procedure (specifically, each traction strategy). This includes the possible reduction effects under different cervical spine conditions and different traction parameters. When the control device 500 executes each step of the operation according to the traction angle information, traction force information, and traction duration information in the reduction procedure, it can predict the expected reduction effect based on the corresponding relationship in the data model. Then, during the execution of the current level of traction strategy, the position of the positioning device is received in real time, and the actual position of the injured vertebra is analyzed based on the position of the positioning device and compared with the expectation to obtain the actual evaluation result. Quantitative evaluation indicators, such as position error and reduction progress, can be used to evaluate the reduction effect.

[0133] Based on the evaluation results, the control device 500 will adjust the next level of traction strategy within a safe range and calculate the adjustment increment. For example, it can quantify the difference between the expected and actual reduction states by calculating indicators such as the difference in cervical joint angle and the vertebral body position offset. Of course, for different indicators, different weights can be set to comprehensively evaluate the closeness between the actual reduction state and the expected reduction effect based on the importance of the weights, thereby adjusting the traction degree and traction angle of the next level of traction strategy to improve the accuracy and safety of reduction.

[0134] The above process, through precise acquisition and comparative analysis of the expected and actual reset postures, enables timely detection and adjustment of deviations during the reset process. In one example, the control device 500 receives feedback information from the tracking device 700 in real time to confirm the success of the adjustment. It can be understood that the control device 500 obtains the posture (traction angle, displacement, etc.) of the traction rope in real time by receiving feedback information from the tracking device 700. The posture of the traction rope corresponds to the direct output of the robotic arm 300's operation. In this example, the control device 500 can quickly determine whether the robotic arm 300 accurately executes the command by verifying whether the traction rope moves according to the preset parameters, thus ensuring the immediate controllability of the traction operation. Furthermore, the control device 500 simultaneously receives data from the positioning device (corresponding to the injured vertebral posture) and the tracking device 700 (corresponding to the traction rope posture). The traction rope posture serves as the verification of the operation input, while the injured vertebral posture serves as the verification of the reset effect. The combination of these two can form a closed-loop control. In other words, if the traction rope parameters are correct but the injured vertebra is not repositioned, the strategy needs to be adjusted; if the traction rope parameters are abnormal, the operation of the robotic arm 300 needs to be corrected first.

[0135] Furthermore, by receiving feedback information from the tracking device 700 in real time, the control device 500 in this application can also avoid the problem of abnormal vertebral position data due to signal loss or sensor malfunction of the positioning device. That is, the cervical spine reduction system can still maintain basic operational control through the position data of the traction rope, which enhances the fault tolerance of the cervical spine reduction system to a certain extent.

[0136] In summary, since the feedback information from the tracking device 700 can reflect the accuracy of the robotic arm 300's operation in real time and directly, and ensures safety during the traction process, it forms a complete closed-loop control logic by combining it with the above-mentioned assessment results of the injured vertebra's posture, while also taking into account both real-time performance and accuracy.

[0137] It should be noted that the adjustment range of the robotic arm 300 can be preset with a safety threshold, for example, the maximum traction force should not exceed 0.2 times the patient's weight.

[0138] To more clearly explain the principles of real-time monitoring and result evaluation of vertebral position changes during traction reduction, this example uses a single injured vertebra as an example.

[0139] In one embodiment, the control device includes the following steps when calculating the adjustment increment: Step S1041, defining the pose of the target object in the image coordinate system as an identity matrix. Based on the reset strategy, the expected reset pose of the target object is obtained as follows: Step S1042: Based on image registration, obtain the transformation matrix from the magnetic navigation coordinate system to the image coordinate system. Step S1043: At time zero, obtain the pose of the positioning device in the image coordinate system as follows: Step S1044: At time t, obtain the pose of the positioning device in the image coordinate system as follows: Step S1045: Based on the transformation of the positioning device's pose, obtain the pose transformation of the target object, including through a real-time transformation matrix. Update the real-time pose of the target object. Step S1046: Based on the expected reset pose and the pose transformation of the target object, obtain the evaluation result. Step S1047, based on the evaluation results The difference between the current pose of the target object and the expected reset pose is obtained to determine the adjustment increment; where T represents the pose, c represents the target object, s represents the positioning device, ct represents the image coordinate system, em represents the magnetic navigation coordinate system, 0 represents time zero, and t represents time t.

[0140] Specifically, firstly, we can assume that the pose of the initially injured vertebra in the image coordinate system {ct} after the CT scan is a unit matrix. Then, according to the reset strategy, the expected pose after reset is: Based on the above example, the planning in this example involves breaking down the expected steps for each step according to the doctor's plan and the repositioning procedure. Next, spatial registration is performed; the specific process can be understood by referring to the above example and will not be repeated here. The resulting transformation matrix from the magnetic navigation coordinate system {em} to {ct} is... Subsequently, real-time navigation is performed. Specifically, at time zero, i.e., the initial state, the pose of the positioning device (first magnetic sensor) under {ct} is: At time t, that is, at the moment when the current-level reset strategy is completed, the pose of the positioning device (first magnetic sensor) under {ct} is: Then, based on the pose transformation of the positioning device, the pose transformation of the injured vertebra is calculated. Specifically, this can be done by using a real-time transformation matrix... Update the real-time position of the injured vertebrae. Finally, evaluate the current reset result. Specifically, according to This allows us to determine the difference between the current position and posture of the injured vertebra and the expected position. For example, the current position and posture of the injured vertebra may need to be adjusted around the cervical spine axis. Rotation angle , that is, Therefore, the next level of traction strategy can adjust the traction method to generate a corresponding rotational torque.

[0141] In some embodiments, the control device 500 is further configured to perform step S105, receive a reset completion confirmation command, and control the robotic arm 300 to gradually remove the traction force.

[0142] Specifically, after the repositioning procedure is completed and after receiving confirmation from the doctor that the repositioning is complete, the control device 500 can control the robotic arm 300 to gradually remove the traction force so that the patient's head can slowly return to its original position, avoiding the situation where the patient is injured again due to the sudden removal of all traction force.

[0143] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0144] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A cervical spine repositioning system, characterized in that, The cervical spine repositioning system includes: Magnetic navigation generator (200) is used to generate a magnetic field; A positioning device for fixing to a patient target (10), generating a magnetic induction signal in the magnetic field and transmitting it wirelessly; the positioning device includes a needle body (110), a magnetic induction component (120) and a wireless communication component (130). A robotic arm (300) is used to adjust the pose of the target object (10); A traction bar (600) connects the fixation frame (900) of the patient's head and the robotic arm (300). The control device (500) is communicatively connected to the positioning device and the robotic arm (300) respectively, and is used to acquire the magnetic induction signal wirelessly transmitted by the positioning device to track the pose of the target object (10) and control the robotic arm (300) to adjust the pose of the target object (10); The control device (500) is used to perform the following steps: The patient's cervical spine scan images and target parameter information are input into a pre-constructed data model to obtain the corresponding reduction procedure; wherein, the reduction procedure includes a multi-level traction strategy, and each level of the traction strategy includes traction angle information, traction force information and traction duration information; The traction parameters are sent to the robotic arm (300) according to the reset procedure.

2. The cervical spine repositioning system according to claim 1, characterized in that, The needle body (110) is configured with a receiving cavity; The magnetic induction assembly (120) includes a first magnetic sensor (121), a transmission line (122), and a data interface (123). The first magnetic sensor (121) is located on the side of the receiving cavity near the tip of the needle body (110). The data interface (123) is exposed outside the needle body (110). The transmission line (122) connects the first magnetic sensor (121) and the data interface (123). The wireless communication component (130) is detachably connected to the data interface (123).

3. The cervical spine repositioning system according to claim 2, characterized in that, The data interface (123) includes a contact point located at the tail of the needle body (110); The wireless communication component (130) includes a power module, an antenna module, and a chip module. The chip module is used to connect to the contact point to obtain the magnetic induction signal of the first magnetic sensor (121). The antenna module is connected to the chip module to wirelessly transmit the magnetic induction signal.

4. The cervical spine repositioning system according to claim 2, characterized in that, The positioning device further includes a guide assembly (140) having a guide channel; the guide assembly (140) is used to move the needle body (110) along the guide channel to limit the direction of movement of the needle body (110); the positioning device is used to switch between a moving state and a positioning state. In the moving state, the needle body (110) passes through the guide assembly (140), and the tail of the needle body (110) is connected to an external drive mechanism to move under the drive of the external drive mechanism and move toward the target object (10) under the limitation of the guide assembly (140). In the positioning state, the tip of the needle body (110) is fixed to the target object (10), the guide component (140) and the external drive mechanism are separated from the needle body (110), and the wireless communication component (130) is connected to the data interface (123) to obtain the magnetic induction signal of the first magnetic sensor (121) and perform wireless transmission.

5. The cervical spine repositioning system according to claim 1, characterized in that, The cervical spine repositioning system also includes: A tracking device (700) is disposed on the tension bar (600). The tracking device (700) includes a second magnetic sensor and a wireless communication module. The wireless communication module is used to acquire the magnetic induction signal generated by the second magnetic sensor in the magnetic field and wirelessly transmit it to the control device (500) so that the control device (500) can track the position and posture of the tension bar (600).

6. The cervical spine repositioning system according to claim 5, characterized in that, The pull bar (600) includes a pull rope, which is wound around the end of the robotic arm (300); The cervical spine repositioning system also includes a traction device (800), which is connected to one end of the traction rope away from the fixing frame (900) and is used to adjust the traction force of the traction rope.

7. The cervical spine repositioning system according to claim 6, characterized in that, The end of the robotic arm (300) is provided with a guide wheel, and the traction rope is wound around the guide wheel so as to adjust the traction angle of the traction rope by means of the robotic arm (300).

8. The cervical spine repositioning system according to claim 1, characterized in that, The cervical spine repositioning system also includes: The marking device (400) includes a flexible patch (410), multiple magnetic positioning sensors (420), and a wireless transmission module (430). The flexible patch (410) is used to be attached around the patient's neck. The multiple magnetic positioning sensors (420) are built into the flexible patch (410). The wireless transmission module (430) is used to acquire the magnetic induction signals generated by the multiple magnetic positioning sensors (420) in the magnetic field and wirelessly transmit them to the control device (500) for spatial registration.

9. The cervical spine repositioning system according to claim 1, characterized in that, The control device (500) is also used to perform the following steps: Based on the reset procedure, a pre-demonstration of the reset process of the target object (10) is performed; And / or, according to the reset completion confirmation command, control the robotic arm (300) to gradually remove the traction force.

10. The cervical spine repositioning system according to claim 1, characterized in that, The control device (500) is also used to perform the following steps: Receive external instructions and regenerate the reset strategy by combining at least one of the multi-level traction strategies; The traction parameters are sent to the robotic arm (300) according to the reset strategy.

11. The cervical spine repositioning system according to claim 1, characterized in that, The control device (500) is also used to perform the following steps: The pose of the positioning device is compared with the expected reset pose of the target object (10) under the current level traction strategy to obtain the evaluation result; Based on the evaluation results, the adjustment increment is calculated to adjust the next level of traction strategy.

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