Positioning system and surgical system

Abstract

The invention discloses a positioning system which comprises a positioning device, a distance sensor, a tracking device and a controller, the positioning device comprises a base, a tracing frame and a connecting device, the base is used for fixing the positioning device to a target skeleton, and the connecting device comprises a plurality of rotating joints and is used for adjusting the poses of the connecting device and the tracing frame; the distance sensor is arranged on the positioning device in an enveloping manner; the tracking device is used for positioning the position of the positioning device in the operation space; the controller is configured to enter a collision prompting mode when receiving a first signal of the distance sensor, and in the collision prompting mode, if the controller receives a second signal of the distance sensor, a collision prompt is sent out, and the collision prompt is used for indicating that the positioning device is to be collided or interfered. According to the positioning system, when the positioning device is about to be interfered or collided, the distance sensor detects and sends out a signal, and the controller judges the state of being interfered or collided according to the signal receiving condition to generate a prompt, so that the pose of the positioning device can be adjusted in time.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, specifically to a positioning system and a surgical system. Background Art

[0002] During a surgical procedure assisted by a navigation system, it is necessary to locate the position information of the patient's bones in the surgical space to guide the execution of subsequent surgical plans. For example, in a total knee replacement surgery, it is necessary to locate the positions of the patient's femur and tibia through positioning tools. The positioning tools are usually positioning frames with tracer elements. The positioning frames are fixed to the patient's bones, and the tracking device can obtain the positions of the patient's femur and tibia based on the positions of the positioning tools.

[0003] During the surgical procedure, when a doctor, assistant, or robotic arm uses surgical tools to move or operate in the surgical space, it is easy to interfere with or even collide with the positioning tools fixed on the bones. The collided positioning tools may become loose or the positional relationship relative to the bones may change, resulting in the inability to perform the surgery normally. It is necessary to refix the positioning tools and perform bone registration again. Therefore, there is an urgent need to propose a positioning system that can effectively prevent and prompt collisions or interferences to ensure the smooth progress of the surgery. Summary of the Invention

[0004] The present disclosure provides a positioning tool and a surgical positioning system, which solve the problems in the prior art that there are many types and quantities of positioning tools, they cannot be flexibly applied to different scenarios, and it is not conducive to selection and management.

[0005] In a first aspect of the present disclosure, a positioning system is provided, including a positioning device, distance sensors, a tracking device, and a controller. The positioning device includes a base, a tracer frame, and a connecting device. The base is used to fix the positioning device to the target bone. The connecting device includes a plurality of rotating joints for adjusting the poses of the connecting device and the tracer frame. The number of distance sensors is multiple, and they are envelopingly arranged on the positioning device. The tracking device is used to locate the position of the positioning device in the surgical space. The controller is configured to enter the collision prompt mode when receiving the first signal from the distance sensors, and exit the collision prompt mode when not receiving the first signal. In the collision prompt mode, if the controller receives the second signal from the distance sensors, it issues a collision prompt, and the collision prompt is used to indicate that the positioning device will be collided or interfered with.

[0006] Based on the foregoing embodiment, in a first alternative implementation, the distance sensors include a first type of sensor and a second type of sensor. The first type of sensor and the second type of sensor are alternately and annularly arranged on the edge of the tracer frame, the rotating joints, and the connecting arm parts between the rotating joints. The first type of sensor is used to emit the first signal, and the second type of sensor is used to emit the second signal. The threshold for the second type of sensor to sense an object is less than the threshold for the first type of sensor to sense an object. The second type of sensor is in a closed state before entering the collision prompt mode.

[0007] Based on the foregoing embodiments, in a second alternative implementation, the collision prompt includes an image prompt, the positioning system further includes a display screen, and the controller is configured to establish a virtual model according to the positioning device and change the color of the virtual model to give an image prompt on the display screen.

[0008] Based on the foregoing embodiments, in a third alternative implementation, the controller is further configured to establish a first envelope space according to the first type of sensor and the threshold of the sensed object, and establish a second envelope space including a plurality of sub-spaces according to the second type of sensor and the threshold of the sensed object. Each sub-space corresponds to each second type of sensor. After entering the collision prompt mode, the color of the first envelope space changes. When the second signal is received, the color of the sub-space corresponding to the second type of sensor that generates the second signal changes.

[0009] Based on the foregoing embodiments, in a fourth alternative implementation, a spring latch mechanism is provided between the tracer frame and the connecting device, and the spring latch mechanism is used for quickly disassembling and assembling the tracer frame.

[0010] Based on the foregoing embodiments, in a fifth alternative implementation, the rotating joint includes a first rotating part and a second rotating part, and a positioning module is provided between the first rotating part and the second rotating part. The sub-end and the mother-end of the positioning module are respectively arranged at opposite ends of the rotating joint, and are used to position the rotating joint at a predetermined angle and determine the relative contact state of the sub-end and the mother-end.

[0011] Based on the foregoing embodiments, in a sixth alternative implementation, the controller is further configured to receive the signal changes of the positioning module before and after the pose adjustment of the positioning device to determine the angular changes of the first rotating part and the second rotating part, and update the position relationship between the tracer frame and the base according to the angular changes, so that the tracking device locates the position of the target bone after the pose of the positioning device changes.

[0012] Based on the foregoing embodiments, in a seventh alternative implementation, the sub-end of the positioning module is a protruding spring contact, and the mother-end is a circumferentially arranged concave contact. After the spring contact contacts the contact, the rotating joint is positioned and an electrical signal is generated to determine the relative angular relationship between the first rotating part and the second rotating part.

[0013] Based on the foregoing embodiments, in an eighth alternative implementation, the rotating joint is provided with a motor, and the controller is configured to control the motor to drive the rotating joint according to the collision prompt to change the pose of the positioning device.

[0014] The second aspect of the present disclosure provides a surgical system, including a positioning system and a robotic arm system. The positioning tool is the positioning system as described above; the robotic arm system is used to carry a surgical tool to perform a surgical operation with the assistance of the positioning system.

[0015] The positioning system proposed by the present disclosure includes a positioning device, a distance sensor, a tracking device, and a controller. Through the logical control of the distance sensor and the controller, when the positioning device is about to be interfered with or collided, the distance sensor can detect and send a signal, and the controller judges the state of being about to be interfered with and collided according to the signal reception situation and generates corresponding prompts, so as to timely adjust the pose of the positioning device and avoid the loosening or position change of the positioning device, resulting in the inability to perform the operation normally. Brief Description of the Drawings

[0016] Figure 1 Schematic diagram of the positioning system according to an embodiment of the present disclosure;

[0017] Figure 2 Schematic diagram of the structure of the positioning device according to an embodiment of the present disclosure Figure 1 ;

[0018] Figure 3 Schematic diagram of the structure of the positioning device according to an embodiment of the present disclosure Figure 2 ;

[0019] Figure 4 Schematic diagram of the structure of the positioning device in a linear attitude according to an embodiment of the present disclosure;

[0020] Figure 5 Schematic diagram of the structure of the positioning device in a 7-shaped attitude according to an embodiment of the present disclosure;

[0021] Figure 6 Schematic diagram of the structure of the positioning device in an L-shaped attitude according to an embodiment of the present disclosure;

[0022] Figure 7 Schematic diagram of the structure of the positioning device in a fully folded state of the connecting device according to an embodiment of the present disclosure;

[0023] Figure 8 Schematic diagram of the distribution of distance sensors on the positioning device according to an embodiment of the present disclosure;

[0024] Figure 9 is Figure 8 Enlarged view of the structure at the distance sensor in ;

[0025] Figure 10 Schematic diagram of the display of a virtual model on the display according to an embodiment of the present disclosure;

[0026] Figure 11 Schematic diagram of the structure at the fixed groove of the end arm section of the connecting device according to an embodiment of the present disclosure;

[0027] Figure 12 Schematic diagram of the structure of the tracer frame according to an embodiment of the present disclosure Figure 1 ;

[0028] Figure 13Schematic diagram of the tracer frame structure according to an embodiment of the present disclosure Figure 2 ;

[0029] Figure 14 is Figure 13 an enlarged view of the structure at the guiding groove in the middle;

[0030] Figure 15 Schematic diagram of the bolt and spring mechanism according to an embodiment of the present disclosure;

[0031] Figure 16 Schematic diagram of the structures of the first rotating part and the second rotating part at the rotating joint according to an embodiment of the present disclosure;

[0032] Figure 17 Schematic diagram of the surgical system structure according to an embodiment of the present disclosure.

[0033] Reference numerals: 1 - positioning device, 11 - base, 111 - fixing hole, 12 - tracer frame, 121 - tracer element, 122 - bolt, 1221 - sliding body, 1222 - inserting block, 1223 - dial, 123 - spring, 124 - guiding groove, 125 - guide rod, 13 - connecting device, 131 - first rotating joint, 132 - second rotating joint, 133 - third rotating joint, 134 - fourth rotating joint, 135 - fifth rotating joint, 136 - sixth rotating joint, 137 - connecting arm part, 138 - fixing groove, 139 - top opening, 140 - first rotating part, 141 - second rotating part, 142 - sub - end, 143 - mother - end, 2 - distance sensor, 21 - first - type sensor, 22 - second - type sensor, 3 - tracking device, 4 - controller, 5 - display screen, 6 - first envelope space, 7 - second envelope space, 8 - virtual model, 200 - positioning system, 300 - robotic arm system. Detailed implementation manners

[0034] The features and exemplary embodiments of various aspects of the present disclosure will be described in detail below. For the purpose of making the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present disclosure, rather than to limit the present disclosure. For those skilled in the art, the present disclosure can be implemented without some of these specific details. The following description of the embodiments is only for providing a better understanding of the present disclosure by showing examples of the present disclosure.

[0035] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0036] During a surgical procedure assisted by a navigation system, it is necessary to locate the position information of the patient's bones in the surgical space to guide the execution of subsequent surgical plans. For example, in a total knee replacement surgery, it is necessary to locate the positions of the patient's femur and tibia through a positioning tool. The positioning tool is usually a positioning frame with a tracer element. The positioning frame is fixed to the patient's bones, and the tracking device can obtain the positions of the patient's femur and tibia according to the position of the positioning tool. However, during the surgical procedure, when a doctor, an assistant or a robotic arm moves or operates surgical tools in the surgical space, it is easy to interfere with or even collide with the positioning tool fixed on the bones. After being collided, the positioning tool may become loose or the positional relationship relative to the bones may change, resulting in the inability to perform the surgery normally, and it is necessary to re-fix the positioning tool and perform bone registration.

[0037] For this reason, a first aspect of the present disclosure provides a positioning system, as Figures 1 - 9 shown, comprising a positioning device 1, a distance sensor 2, a tracking device 3 and a controller 4. The positioning device 1 comprises a base 11, a tracer frame 12 and a connecting device 13. The base 11 is used to fix the positioning device 1 to the target bone. The connecting device 13 comprises a plurality of rotating joints for adjusting the pose of the connecting device and the tracer frame. The number of the distance sensors 2 is multiple and they are arranged in an enclosing manner on the positioning device 1. The tracking device 3 is used to locate the position of the positioning device 1 in the surgical space. The controller 4 is configured to enter a collision prompt mode when receiving a first signal from the distance sensor 2 and exit the collision prompt mode when not receiving the first signal. In the collision prompt mode, if the controller receives a second signal from the distance sensor 2, it issues a collision prompt, and the collision prompt is used to indicate that the positioning device 1 is about to be collided or interfered with.

[0038] It is easily understood that through the logical control of the distance sensor 2 and the controller 4, the positioning system can be detected by the distance sensor 2 and send a signal when the positioning device 1 is about to be interfered with or collided. The controller 4 judges the state of being about to be interfered with and collided according to the signal reception situation and generates corresponding prompts so as to timely adjust the pose of the positioning device 1. Among them, the setting of multiple rotating joints of the connecting device 13 allows the positioning device 1 to adjust its pose. That is, when the doctor receives the collision prompt of the positioning system, the pose of the positioning device 1 can be adjusted through the connecting device 13, so as to eliminate the risk that the current positioning device 1 is about to be interfered with or collided. These collision or interference risks may be caused by one or more of the movement of surgical tools, robotic arms, and doctor's arms.

[0039] Specifically, as Figure 1 shown, the base 11 of the positioning device 1 is sheet-shaped, and a fixing hole 111 penetrating the base 11 is provided thereon. Threads are provided in the fixing hole 111 for fixing the base 11 to the target bone through screws. The number of fixing holes 111 is at least two to ensure the stability of the fixing of the positioning device 1. A tracing element 121 for identifying position information is provided on the tracing frame 12. In this embodiment, the tracing element 121 is a reflective sheet. Of course, in some alternative embodiments, the tracing element 121 may be an electromagnetic induction element or an actively emitting LED.

[0040] Among them, in this embodiment, the connecting device 13 includes 6 rotating joints, starting from the base 11, and are sequentially expressed as the first rotating joint 131 to the sixth rotating joint 136. Among them, the rotation axes of the second rotating joint 132, the third rotating joint 133, and the fourth rotating joint 134 are parallel, the rotation axis of the first rotating joint 131 is perpendicular to the rotation axis of the second rotating joint 132, the rotation axis of the fifth rotating joint 135 is perpendicular to the rotation axis of the fourth rotating joint 134, and the rotation axis of the sixth rotating joint 136 is perpendicular to the rotation axis of the fifth rotating joint 135. The connecting arm portions 137 between the second rotating joint 132, the third rotating joint 133, the fourth rotating joint 134, and the fifth rotating joint 135 can be folded into a column shape, at this time, the volume of the connecting device 13 is minimized. In this way, the pose of the tracing frame 12 relative to the base 11 can be flexibly adjusted, and the pose of the connecting device 13 can also be set to a shape that maximally avoids collision, such as a C shape, an L shape, or a 7 shape, etc. Specifically, reference can be made to Figures 4 - 7 . In a simple example, as Figure 4 shown, when the connecting device 13 is integrally arranged in an extended straight shape vertically, it occupies more space above the patient. At this time, by adjusting the second rotating joint, for example, directly adjusting the positioning device 1 with the second rotating joint as the rotation point to adjust the angle of the connecting device 13 relative to the base, the space above the patient can be avoided. Of course, further, asFigure 7 As shown, when the connecting device 13 is further fully folded, the space above the patient's bone can also be maximally vacated. Of course, the posture of the positioning device 1 can be determined according to the specific space to be avoided, and it can be achieved by synchronously adjusting other rotating joints.

[0041] In some alternative embodiments, the distance sensor 2 includes a first type of sensor 21 and a second type of sensor 22. The first type of sensor 21 is used to emit a first signal, and the second type of sensor 22 is used to emit a second signal. The threshold for the second type of sensor 22 to sense an object is less than the threshold for the first type of sensor 21 to sense an object, and the second type of sensor 22 is in an off state before entering the collision prompt mode. The first type of sensor 21 and the second type of sensor 22 are alternately and annularly distributed on the edge of the tracer frame 12, the rotating joints, and the connecting arm portion 137 between the rotating joints.

[0042] Specifically, as Figure 8 and Figure 9 shown, the first type of sensor 21 and the second type of sensor 22 can form an annular sensing combination with circumferential staggered distribution, and these annular sensing combinations are distributed at the edge of the tracer frame 12, at the rotating joints, and at the position of the connecting arm portion 137 between the rotating joints. At the same time, the setting interval between these annular sensing combinations can be determined according to the viewing range of the sensor, so that the entire surrounding of the positioning device 1 can be monitored. In this embodiment, the three connecting arm portions 137 between the second rotating joint 132, the third rotating joint 133, the fourth rotating joint 134, and the fifth rotating joint 135 have a certain length, and multiple groups of annular sensing combinations, such as two groups or three groups, can be appropriately arranged on these connecting arm portions.

[0043] Moreover, it is easy to understand that the first type of sensor 21 and the second type of sensor 22 have different sensing ranges and can detect the collision trends at different distances. The threshold for the second type of sensor 22 to sense an object is less than the threshold for the first type of sensor 21 to sense an object. When an object is about to collide with the positioning device 1, the second type of sensor 22 can first emit a first signal. After the controller 4 receives the first signal, it enters the collision prompt mode during the period of continuously receiving the first signal. In this mode, the switch of the second type of sensor 22 is turned on, and the second type of sensor 22 can be used to accurately detect the possibility of further collision. In actual setting, the monitoring accuracy of the first type of sensor 21 does not need to be too high and can be less than the monitoring accuracy of the second type of sensor 22. Through such a setting, the scheduling of sensor resources can be realized, without excessive use of high-precision sensors, saving costs. And the early monitoring and sensing of the first type of sensor 21 also reserve a certain buffer time, and a certain degree of early warning and prompt can also be realized at this stage. In addition, in some alternative embodiments, a sensor with two-stage sensing ranges can also be used to replace the two types of sensors.

[0044] In some alternative embodiments, the collision prompt includes an image prompt, and the positioning system further includes a display screen 5. The controller 4 is configured to establish a virtual model according to the positioning device 1 and change the color of the virtual model to give an image prompt on the display screen 5.

[0045] The controller 4 is further configured to establish a first envelope space 6 according to the first type of sensor 21 and the threshold for sensing an object thereof, and establish a second envelope space 7 including a plurality of sub-spaces 71 according to the second type of sensor 22 and the threshold for sensing an object thereof. The sub-space 71 corresponds to each second type of sensor 22. After entering the collision prompt mode, the color of the first envelope space 6 changes. When the second signal is received, the color of the sub-space 71 corresponding to the second type of sensor corresponding to the generation of the second signal changes.

[0046] Specifically, in the positioning system, the provided display screen 5 is used to give a visual image prompt to the doctor. The controller 4 establishes a virtual model 8 corresponding to the positioning device 1. The virtual model 8 may be a model with the same appearance as the positioning device 1, or may be a schematic model only representing the positional relationship of each component. The virtual model may be a two-dimensional or three-dimensional model. As Figure 10 , a two-dimensional schematic model representing the positional relationship of each component is shown. When the first type of sensor 21 in the surgical space detects object information and causes the system to enter the collision prompt mode, at this time, the controller 4 establishes that the color of the first envelope space 6 changes according to the first type of sensor 21 and the threshold for sensing an object thereof, for example, changes from green to yellow, to prompt that an object has entered the range of the first envelope space 6 and may collide or interfere with the positioning device 1. When a certain second type of sensor 22 detects an object signal, the controller 4 receives the second signal sent by it, and the color of the corresponding sub-space in the virtual model changes, for example, from green to red. In this way, through the change of the color of the first envelope space 6, a preliminary prompt is given to the doctor that the positioning device 1 may be about to generate interference or collision. Further, through the change of the color of the corresponding sub-space 71 in the second envelope space 7, the doctor is prompted that a collision or interference is about to occur at the corresponding part, and the pose of the positioning device 1 should be adjusted in time to avoid collision or interference. It is easy to understand that through the respective changes of the colors in the first envelope space 6 and the second envelope space 7, prompts at different stages are provided for the doctor, and a certain buffer time for the doctor to make judgments and responses is also provided.

[0047] In some alternative embodiments, the collision prompt includes an acoustic prompt. A sound module is provided on the positioning device 1 for emitting the acoustic prompt. It is easy to understand that during the operation, the doctor's line of sight is focused on the display screen 5 for only a short period of time, and it is impossible to observe the status of the collision prompt in real time. Although the assistant can help with the observation, there may also be a collision of the positioning device 1 during the information transfer process between the assistant and the doctor. Therefore, based on the image prompt, an acoustic prompt can be added to the collision prompt. The sound prompt module is provided on the positioning device 1, and the sound it emits can be easily recognized by the doctor, enabling the doctor to take proactive actions to avoid collisions or timely adjust the pose of the positioning device 1 according to the requirements of the surgical operation.

[0048] In some alternative embodiments, a spring pin mechanism is provided between the tracer frame 12 and the connecting device 13 for quickly disassembling and assembling the tracer frame 12. It is easy to understand that since the tracer frame 12 also occupies a certain space, during the operation, when a certain positioning device 1 is not needed, the tracer frame 12 can be disassembled to create more operating space for the surgical area. For example, in a knee replacement surgery, when osteotomy of the tibia does not require the positioning device 1 fixed on the femur, the tracer frame 12 of the positioning device 1 on the femur can be removed, and the positioning device 1 can be folded into a state with a smaller volume by rotating the joint.

[0049] It is easy to understand that the quick disassembly and assembly of the tracer frame 12 can be achieved by providing a spring pin structure between the tracer frame 12 and the connecting device 13. Specifically, as Figures 11 - 15 shown, the spring pin structure includes a fixed slot 138 provided at the end arm section of the connecting device 13, a pin 122 and a spring 123 provided on the tracer frame 12. A guiding slot 124 is provided on the tracer frame 12, and a guide rod 125 is provided in the guiding slot 124. Two oppositely arranged pins 122 are sleeved on the guide rod 125. A spring 123 is provided between the two pins 122 and the spring 123 is also sleeved on the guide rod 125. The pin 122 includes a horizontal sliding body 1221, a plug block 1222 provided below the sliding body 1221, and a dial 1223 provided above the sliding body 1221. The end of the plug block 1222 is L-shaped, and the horizontal sections of the plug blocks 1222 on the two pins 122 face away from each other. The inside of the fixed slot 138 is hollow and provided with a space for accommodating the plug block 1222, and the top opening 139 of the fixed slot 138 is at least larger than the sum of the lengths of the two horizontal sections of the plug block 1222 to allow the plug block 1222 to be pulled out from the fixed slot 138.

[0050] When installing the tracer frame 12, the tabs of the two pins 122 can be pinched, compressing the spring 123 between the two tabs 1223 to bring the two plug blocks 1222 closer together. Insert the plug blocks 1222 into the fixing groove 138 through the top opening of the fixing groove. Release the tab 1223, and the two plug blocks 1222 move away from each other under the action of the spring 123 and abut against the top opening 139, completing the installation and fixation of the tracer frame 12 and the connecting device 13. Similarly, the disassembly process is similar to the installation process and will not be elaborated here.

[0051] In some alternative embodiments, such as Figure 16 shown, the rotating joint includes a first rotating part 140 and a second rotating part 141. A positioning module is arranged between the first rotating part 140 and the second rotating part 141. The sub-end 142 and the mother-end 143 of the positioning module are respectively arranged at opposite ends of the rotating joint, that is, the first rotating part 140 and the second rotating part 141, for positioning the rotating joint at a predetermined angle and determining the relative contact state between the sub-end 142 and the mother-end 143.

[0052] The controller 4 is also used to receive the signal changes of the positioning module before and after the pose adjustment of the positioning device 1 to determine the angle changes of the first rotating part 140 and the second rotating part 141, and update the position relationship between the tracer frame 12 and the base 11 according to the angle changes, so that the tracking device 3 can locate the position of the target bone after the pose of the positioning device 1 changes.

[0053] It is easy to understand that during the operation, if the doctor cannot avoid the collision or interference through evasive operations after discovering the collision prompt, the pose of the positioning device 1 needs to be adjusted. Usually, the collision or changing the pose of the positioning device 1 will make it difficult to accurately locate the position of the patient's bone during the operation. For this reason, in this solution, the rotating joint of the positioning device 1 is provided with a position relationship between the tracer frame 12 and the base 11 that can be determined after the pose adjustment. According to the updated position relationship, the position of the patient's bone can be normally located without re-registration.

[0054] Specifically, as Figure 16 shown, the sub-end 142 of the positioning module is a protruding spring contact, and the mother-end is a circumferentially arranged concave contact. After the spring contact touches the contact, the rotating joint is positioned and an electrical signal is generated to determine the relative angular relationship between the first rotating part 140 and the second rotating part 141. As Figure 16As shown, only one sub - end 142 of the positioning module can be provided, and a plurality of contacts on the female end 143 for positioning are circumferentially and evenly distributed, which are used to represent different angular positions. Among them, the contacts of the sub - end 142 and the female end 143 are both made of metal and are respectively connected to the circuit board. When the sub - end 142 and the female end 143 are in contact, an electrical signal is generated, and the generated electrical signal contains the information of the contacts on the female end 143, that is, which contact is in contact. At this time, the relative angular relationship between the first rotating part 140 and the second rotating part 141 can be determined according to this electrical signal. So that subsequently, the controller 4 can determine the angular changes of the first rotating part 140 and the second rotating part 141 according to the signal changes of each rotating joint in the positioning module, and update the position relationship between the tracing frame 12 and the base 11 according to the angular changes, so that the tracking device 3 can locate the position of the target bone after the pose of the positioning device 1 changes. In this way, without interrupting the operation or re - registering, the re - positioning and virtual registration of the pose of the positioning device 1 can be completed, that is, the patient's bone can be continuously tracked and located according to the positioning device 1 with the new pose.

[0055] In some alternative embodiments, the rotating joint is provided with a motor, and the controller 4 is configured to control the motor to drive the rotating joint according to the collision prompt to change the pose of the positioning device 1. Specifically, after the controller 4 receives the second signal sent by the distance sensor and issues a collision prompt, according to the collision prompt information, the controller 4 obtains the position where the positioning device is about to be collided, and accordingly controls the corresponding rotating joint to move to avoid the possible collision or interference. For example, if the connecting arm between the second rotating joint 132 and the third rotating joint 133 is about to be collided or interfered, the controller can control the second rotating joint 132 and / or the third rotating joint 133 to change the pose of the positioning device, and if there is still a collision prompt in the subsequent process, the pose of the positioning device 1 is further adjusted, that is, continuous detection and response are performed. In this way, the automatic avoidance of collision or interference during the operation is realized, ensuring that the operation can proceed smoothly. And, it is easy to understand that since a positioning module is provided between the rotating joints, the angular changes of the first rotating part 140 and the second rotating part 141 can be determined according to the signal changes of the positioning module, and the position relationship between the tracing frame 12 and the base 11 can be updated according to the angular changes. Therefore, after the controller 4 controls the pose of the positioning device 1 to achieve automatic avoidance, since the base is fixed to the bone, the updated position relationship between the tracing frame 12 and the base can be used to continue to determine the position of the target bone, and there is no need to interrupt the operation during the operation to re - register and obtain the corresponding position relationship between the tracing frame 12 on the positioning device 1 and the bone.

[0056] The second aspect of the present disclosure provides a surgical system, including a positioning system and a robotic arm system. The positioning tool is the positioning system as described above; the robotic arm system is used to carry a surgical tool to perform a surgical operation with the assistance of the positioning system.

[0057] Specifically, as Figure 17 shown, during the operation, the positioning system 200 assists in obtaining the position information of the bones in the surgical space, and can generate corresponding prompts for the state in which the positioning device is about to be interfered with and collided, so as to timely adjust the pose of the positioning device and avoid the loosening or position change of the positioning device, which may lead to the inability to perform the operation normally. The robotic arm system 300 carries surgical tools (such as a reciprocating saw, a burr, a drill bit, etc.) to perform the operation according to a predetermined surgical plan. Of course, in some alternative embodiments, the robotic arm system 300 may not be provided, and the doctor holds the surgical tool to perform the operation with the assistance of the positioning system 200. The structure and working principle of the positioning system 200 have been introduced in the foregoing embodiments and will not be elaborated here.

[0058] Although the present disclosure has been described in detail with general descriptions and specific embodiments above, based on the present application, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present disclosure all fall within the scope of protection required by the present disclosure.

Claims

1. A positioning system, characterized in that, Comprising: A positioning device, including a base, a tracer bracket and a connecting device. The base is used to fix the positioning device to the target bone. The connecting device includes a plurality of rotating joints for adjusting the pose of the connecting device and the tracer bracket. The tracer bracket is detachably connected to the connecting device; A plurality of distance sensors, which are arranged in an enveloping manner on the positioning device; A tracking device for positioning the position of the positioning device in the surgical space; A controller, which is configured to enter a collision prompt mode when receiving a first signal from the distance sensor, exit the collision prompt mode when not receiving the first signal. In the collision prompt mode, if the controller receives a second signal from the distance sensor, it issues a collision prompt, and the collision prompt is used to indicate that the positioning device will be collided or interfered.

2. The positioning system according to claim 1, wherein The distance sensor includes a first type of sensor and a second type of sensor. The first type of sensor and the second type of sensor are alternately arranged in a ring at the edge of the tracer bracket, on the rotating joints and on the connecting arms between the rotating joints. The first type of sensor is used to emit the first signal, and the second type of sensor is used to emit the second signal. The threshold for the second type of sensor to sense an object is less than the threshold for the first type of sensor to sense an object. The second type of sensor is in a closed state before entering the collision prompt mode.

3. The positioning system according to claim 2, wherein The collision prompt includes an image prompt. The positioning system further includes a display screen. The controller is configured to establish a virtual model according to the positioning device and change the color of the virtual model to issue the image prompt on the display screen.

4. The positioning system according to claim 3, characterized in that, The controller is also used to establish a first enveloping space according to the first type of sensor and its threshold for sensing an object, and establish a second enveloping space including a plurality of sub-spaces according to the second type of sensor and its threshold for sensing an object. The sub-spaces correspond to each of the second type of sensors. After entering the collision prompt mode, the color of the first enveloping space changes. When receiving the second signal, the color of the sub-space corresponding to the second type of sensor that generates the second signal changes.

5. The positioning system according to claim 1, characterized in that, A spring pin mechanism is provided between the tracer bracket and the connecting device, and the spring pin mechanism is used for quickly disassembling and assembling the tracer bracket.

6. The positioning system according to claim 1, wherein The rotating joint includes a first rotating part and a second rotating part. A positioning module is provided between the first rotating part and the second rotating part. The sub-end and the mother-end of the positioning module are respectively arranged at opposite ends of the rotating joint, and are used to position the rotating joint at a predetermined angle and determine the relative contact state of the sub-end and the mother-end.

7. The positioning system according to claim 6, wherein The sub-end of the positioning module is a protruding spring contact, and the mother-end is a circumferentially arranged concave contact. After the spring contact contacts the contact, the rotating joint is positioned and an electrical signal is generated to determine the relative angular relationship between the first rotating part and the second rotating part.

8. The positioning system according to claim 6, characterized in that, The controller is further configured to receive the signal changes of the positioning module before and after the pose adjustment of the positioning device to determine the angular changes of the first rotating part and the second rotating part, and update the positional relationship between the tracing frame and the base according to the angular changes, so that the tracking device locates the position of the target bone after the pose of the positioning device is changed.

9. The positioning system according to claim 1, characterized in that, The rotating joint is provided with a motor, and the controller is configured to control the motor to drive the rotating joint according to the collision prompt so as to change the pose of the positioning device.

10. A surgical system, characterized in that, Comprising: A positioning system, where the positioning tool is the positioning system according to any one of claims 1-9; A robotic arm system for carrying a surgical tool to perform a surgical operation with the assistance of the positioning system.

Images