Positioning system and surgical system

Abstract

This disclosure discloses a positioning system, including a positioning device, a distance sensor, 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 multiple rotating joints for adjusting the pose of the connecting device and the tracer frame. The distance sensor is enveloped 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 a collision warning mode upon receiving a first signal from the distance sensor. In the collision warning mode, if the controller receives a second signal from the distance sensor, it issues a collision warning, indicating that the positioning device will be collided or interfered with. The positioning system can detect and issue a signal when the positioning device is about to be interfered with or collided with by the distance sensor. The controller determines the state of impending interference or collision based on the received signal and generates a warning to adjust the pose of the positioning device in a timely manner.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to positioning systems and surgical systems. Background Technology

[0002] During navigation-assisted surgery, it is necessary to locate the patient's skeletal position in the surgical space to guide the execution of subsequent surgical plans. For example, in total knee replacement surgery, it is necessary to locate the position of the patient's femur and tibia using 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 position of the patient's femur and tibia based on the position of the positioning tool.

[0003] During surgery, when doctors, assistants, or robotic arms move or manipulate surgical instruments within the surgical space, they are prone to interference or even collisions with positioning tools fixed to the bones. A collision can cause the positioning tool to loosen or change its position relative to the bones, disrupting the surgery and necessitating re-fixation of the positioning tool and bone registration. Therefore, there is an urgent need for a positioning system that can effectively prevent and alert to collisions or interference, ensuring smooth surgical procedures. Summary of the Invention

[0004] This disclosure provides a positioning tool and a surgical positioning system, which solves the problems of existing positioning tools being numerous and varied, unable to be flexibly applied to different scenarios, and not conducive to selection and management.

[0005] The first aspect of this disclosure provides a positioning system, including a positioning device, a distance sensor, a tracking device, and a controller. The positioning device includes a base, a tracer, and a connecting device. The base is used to fix the positioning device to a target bone. The connecting device includes multiple rotating joints for adjusting the position of the connecting device and the tracer. The distance sensor is a plurality of sensors, which are enveloped in 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 a collision warning mode when it receives a first signal from the distance sensor, and exit the collision warning mode when it does not receive the first signal. In the collision warning mode, if the controller receives a second signal from the distance sensor, it issues a collision warning. The collision warning is used to indicate that the positioning device will be collided with or interfered with.

[0006] Based on the aforementioned implementation, in a first optional implementation, 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 around the edge of the tracer, the rotating joint, and the connecting arm between the rotating joints. The first type of sensor is used to emit a first signal, and the second type of sensor is used to emit a second signal. The threshold for the second type of sensor to perceive an object is lower than the threshold for the first type of sensor to perceive an object. The second type of sensor is in a closed state before entering the collision warning mode.

[0007] Based on the aforementioned implementation, in the second optional implementation, the collision warning includes an image warning, the positioning system also includes a display screen, and the controller is configured to build a virtual model based on the positioning device and change the color of the virtual model to issue an image warning on the display screen.

[0008] Based on the aforementioned implementation, in the third optional implementation, the controller is further configured to establish a first envelope space based on the threshold of the first type of sensor and the object it senses, and to establish a second envelope space containing multiple subspaces based on the threshold of the second type of sensor and the object it senses, wherein each subspace corresponds to a second type of sensor. After entering the collision warning mode, the color of the first envelope space changes. When a second signal is received, the color of the subspace corresponding to the second type of sensor that generates the second signal changes.

[0009] Based on the aforementioned implementation methods, in the fourth optional implementation, a spring pin mechanism is provided between the tracer and the connecting device, and the spring pin mechanism is used for quick assembly and disassembly of the tracer.

[0010] Based on the aforementioned embodiments, in the fifth optional 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 male end and female end of the positioning module are respectively provided at opposite ends of the rotating joint, which are used to position the rotating joint at a predetermined angle and determine the relative contact state of the male end and the female end.

[0011] Based on the aforementioned implementation, in the sixth optional implementation, the controller is further configured to receive signal changes of the positioning module before and after the positioning device pose adjustment to determine the angle changes of the first rotating part and the second rotating part, and update the positional relationship between the tracer and the base according to the angle changes, so that the tracking device can locate the position of the target bone after the positioning device pose changes.

[0012] Based on the aforementioned implementation, in the seventh optional implementation, the sub-end of the positioning module is a protruding spring contact, and the female end is a circumferentially recessed contact. After the spring contact contacts the contact point, it positions the rotating joint and generates an electrical signal to determine the relative angular relationship between the first rotating part and the second rotating part.

[0013] Based on the aforementioned implementation methods, in the eighth optional implementation, the rotating joint is equipped with a motor, and the controller is configured to control the motor to drive the rotating joint to change the pose of the positioning device according to the collision prompt.

[0014] A second aspect of this 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 surgical tools and perform surgical operations with the assistance of the positioning system.

[0015] The positioning system proposed in this disclosure includes a positioning device, a distance sensor, a tracking device, and a controller. Through the logic control of the distance sensor and the controller, the positioning system can detect when the positioning device is about to be interfered with or collided with, and send a signal. The controller determines the state of impending interference or collision based on the received signal and generates a corresponding prompt so as to adjust the position of the positioning device in time and avoid the positioning device becoming loose or changing position, thus preventing the surgery from being performed normally. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a positioning system according to an embodiment of the present disclosure;

[0017] Figure 2 This is a schematic diagram of the positioning device structure according to an embodiment of the present disclosure. Figure 1 ;

[0018] Figure 3 This is a schematic diagram of the positioning device structure according to an embodiment of the present disclosure. Figure 2 ;

[0019] Figure 4 This is a schematic diagram of the positioning device structure for a linear posture according to an embodiment of the present disclosure;

[0020] Figure 5 This is a schematic diagram of the positioning device structure for a 7-shaped posture according to an embodiment of this disclosure;

[0021] Figure 6 This is a schematic diagram of the positioning device structure for an L-shaped posture according to an embodiment of the present disclosure;

[0022] Figure 7 This is a schematic diagram of the positioning device structure in the fully folded state of the connecting device according to an embodiment of the present disclosure.

[0023] Figure 8 This is a schematic diagram of the distance sensor distribution on the positioning device according to an embodiment of the present disclosure;

[0024] Figure 9 for Figure 8 Enlarged view of the structure at the mid-range sensor;

[0025] Figure 10 This is a schematic diagram of a display showing a virtual model according to an embodiment of the present disclosure;

[0026] Figure 11 This is a schematic diagram of the structure at the fixing groove of the end arm section of the connecting device according to an embodiment of this disclosure;

[0027] Figure 12 This is a schematic diagram of the tracer frame structure according to an embodiment of the present disclosure. Figure 1 ;

[0028] Figure 13This is a schematic diagram of the tracer frame structure according to an embodiment of the present disclosure. Figure 2 ;

[0029] Figure 14 for Figure 13 Enlarged view of the central guide groove structure;

[0030] Figure 15 This is a schematic diagram of the pin and spring mechanism according to an embodiment of the present disclosure;

[0031] Figure 16 This is a schematic diagram of the structure of the first rotating part and the second rotating part at the rotating joint in an embodiment of this disclosure;

[0032] Figure 17 This is a 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-Pin, 1221-Sliding body, 1222-Insertion block, 1223-Pulley, 123-Spring, 124-Guide 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, 1 36-Sixth rotating joint, 137-Connecting arm, 138-Fixing groove, 139-Top opening, 140-First rotating part, 141-Second rotating part, 142-Daughter end, 143-Female 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

[0034] The features and exemplary embodiments of various aspects of this disclosure will now be described in detail. To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description, in conjunction with the accompanying drawings and specific embodiments, will provide a further detailed description. It should be understood that the specific embodiments described herein are intended to explain this disclosure only and not to limit it. For those skilled in the art, this disclosure can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this disclosure by illustrating examples.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0036] In navigation-assisted surgery, it is necessary to locate the patient's skeletal position within the surgical space to guide the execution of subsequent surgical plans. For example, in total knee replacement surgery, the positions of the patient's femur and tibia need to be located using a positioning tool. This tool is typically a positioning frame with a tracer element, fixed to the patient's bones. Tracking devices can obtain the positions of the femur and tibia based on the position of the positioning tool. However, during surgery, when the surgeon, assistant, or robotic arm moves or manipulates surgical tools within the surgical space, interference or even collisions can easily occur with the positioning tool fixed to the bones. A collision can cause the positioning tool to loosen or change its positional relationship relative to the bones, making the surgery impossible to proceed normally. This necessitates re-fixing the positioning tool and performing bone registration.

[0037] Therefore, the first aspect of this disclosure provides a positioning system, such as Figures 1-9 As shown, the device includes a positioning device 1, a distance sensor 2, a tracking device 3, and a controller 4. The positioning device 1 includes 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 includes multiple rotating joints for adjusting the position of the connecting device and the tracer frame. There are multiple distance sensors 2, which are enveloped and arranged 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 warning mode when it receives a first signal from the distance sensor 2, and exit the collision warning mode when it does not receive the first signal. In the collision warning mode, if the controller receives a second signal from the distance sensor 2, it issues a collision warning. The collision warning is used to indicate that the positioning device 1 will be collided with or interfered with.

[0038] It is easy to understand that, through the logic control of distance sensor 2 and controller 4, the positioning system can detect when the positioning device 1 is about to be interfered with or collided with, and send a signal. Controller 4 determines the state of impending interference or collision based on the received signal and generates a corresponding prompt so as to adjust the position and posture of the positioning device 1 in a timely manner. The multiple rotating joints of the connecting device 13 allow the positioning device 1 to adjust its position and posture. That is, when the doctor receives a collision prompt from the positioning system, they can adjust the position and posture of the positioning device 1 through the connecting device 13 to eliminate the risk of interference or collision. These risks of interference or collision may be caused by one or more of the following: surgical instruments, robotic arms, or the doctor's arm.

[0039] Specifically, such as Figure 1 As shown, the base 11 of the positioning device 1 is plate-shaped, with a fixing hole 111 penetrating the base 11. The fixing hole 111 has threads for fixing the base 11 to the target bone using screws. There are at least two fixing holes 111 to ensure the stability of the positioning device 1. The tracer frame 12 is equipped with a tracer element 121 for identifying position information. In this embodiment, the tracer element 121 is a reflective sheet. However, in some alternative embodiments, the tracer element 121 can be an electromagnetic induction element or an actively emitting LED.

[0040] In this embodiment, the connecting device 13 includes six rotating joints, referred to sequentially as the first rotating joint 131 to the sixth rotating joint 136, starting from the base 11. 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 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 columnar shape, minimizing the volume of the connecting device 13. This allows for flexible adjustment of the orientation of the tracer 12 relative to the base 11, and the orientation of the connecting device 13 can also be set to a shape that minimizes collisions, such as a C-shape, an L-shape, or a 7-shape, as detailed in the reference. Figures 4-7 In a simple example, such as Figure 4 As shown, when the connecting device 13 is vertically arranged in a straight line, it occupies a significant amount of space above the patient. In this case, by adjusting the second rotating joint, for example, by directly adjusting the positioning device 1 with the second rotating joint as the rotation point to the angle of the connecting device 13 relative to the base, space above the patient can be freed up. Of course, furthermore, as... Figure 7 As shown, further folding the connecting device 13 completely can also maximize the space above the patient's bones. Of course, the posture of the positioning device 1 can be determined according to the specific space that needs to be avoided, which can be achieved by simultaneously adjusting other rotating joints.

[0041] In some optional 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 detect objects is lower than the threshold for the first type of sensor 21 to detect objects. The second type of sensor 22 is in a turned-off state before entering the collision warning mode. The first type of sensor 21 and the second type of sensor 22 are alternately arranged in a ring around the edge of the tracer frame 12, the rotating joints, and the connecting arms 137 between the rotating joints.

[0042] Specifically, such as Figure 8 and Figure 9 As shown, the first type of sensor 21 and the second type of sensor 22 can form a circumferentially staggered ring sensor assembly. These ring sensor assemblies are distributed at the edge of the tracer frame 12, at the rotating joints, and at the positions of the connecting arms 137 between the rotating joints. The spacing between these ring sensor assemblies can be determined according to the sensor's field of view, so that the entire perimeter of the positioning device 1 can be monitored. In this embodiment, the three connecting arms 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 sets of ring sensor assemblies, such as two or three sets, can be appropriately arranged on these connecting arms.

[0043] Furthermore, it is easy to understand that the first type of sensor 21 and the second type of sensor 22 have different sensing ranges, enabling them to detect collision trends at different distances. The threshold for sensing objects by the second type of sensor 22 is lower than that by the first type of sensor 21. When an object is about to collide with the positioning device 1, it can first emit a first signal. After receiving the first signal, the controller 4 enters a collision warning mode while continuously receiving the first signal. In this mode, the second type of sensor 22 is activated, allowing it to accurately detect the possibility of further collisions. In actual setup, the monitoring accuracy of the first type of sensor 21 does not need to be too high and can be lower than that of the second type of sensor 22. This setting allows for the scheduling of sensor resources, eliminating the need for excessive use of high-precision sensors and saving costs. Furthermore, the early monitoring and sensing by the first type of sensor 21 also allows for a certain buffer time, during which a certain degree of early warning and alert can be provided. In addition, in some optional embodiments, a sensor with two sensing ranges can be used instead of the two types of sensors.

[0044] In some alternative implementations, the collision warning includes an image warning, the positioning system also includes a display screen 5, and the controller 4 is configured to build a virtual model based on the positioning device 1 and change the color of the virtual model to issue an image warning on the display screen 5.

[0045] The controller 4 is also used to establish a first envelope space 6 based on the threshold of the first type of sensor 21 and the object it senses, and to establish a second envelope space 7 containing multiple subspaces 71 based on the threshold of the second type of sensor 22 and the object it senses. Each subspace 71 corresponds to a second type of sensor 22. After entering the collision warning mode, the color of the first envelope space 6 changes. When a second signal is received, the color of the subspace 71 corresponding to the second type of sensor that generates the second signal changes.

[0046] Specifically, in the positioning system, the display screen 5 is used to provide visual image cues for the doctor. The controller 4 establishes a virtual model 8 corresponding to the positioning device 1. This virtual model 8 can be a model with the same appearance as the positioning device 1, or it can be a schematic model that only shows the positional relationship of the components. The virtual model can be a two-dimensional or three-dimensional model. Figure 10 This diagram illustrates a two-dimensional model representing the positional relationships of various components. When the first type of sensor 21 detects object information in the surgical space, the system enters a collision warning mode. At this time, the controller 4 establishes a color change in the first envelope space 6 based on the first type of sensor 21 and its perceived object threshold, for example, changing from green to yellow, to indicate 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 second type of sensor 22 detects an object signal, the controller 4 receives the second signal emitted by it, and the color of the corresponding subspace in the virtual model changes, for example, from green to red. In this way, the color change of the first envelope space 6 provides the doctor with an initial warning that the positioning device 1 may be about to interfere or collide. Furthermore, the color change of the corresponding subspace 71 in the second envelope space 7 indicates that a collision or interference is imminent at the corresponding location, and the doctor should adjust the pose of the positioning device 1 in time to avoid collision or interference. It is easy to understand that by changing the colors in the first envelope space 6 and the second envelope space 7 respectively, the doctor is provided with different stages of warning and a certain buffer time for judgment and reaction.

[0047] In some optional implementations, the collision warning includes an audio warning. The positioning device 1 is equipped with an audio module for emitting audio warnings. It is easy to understand that during surgery, the surgeon's gaze is focused on the display screen 5 for only a short period, making it impossible to observe the collision warning status in real time. Although an assistant can help observe, the information exchange between the assistant and the surgeon may still cause a collision with the positioning device 1. Therefore, in addition to the image warning, an audio warning can be added to the collision warning. The audio warning module is thus located on the positioning device 1, and the emitted sound is easily recognized by the surgeon, prompting them to take proactive action to avoid collisions or adjust the position of the positioning device 1 in a timely manner according to the needs of the surgical procedure.

[0048] In some alternative embodiments, a spring-loaded pin mechanism is provided between the tracer 12 and the connecting device 13 for quick assembly and disassembly of the tracer 12. It is readily understood that since the tracer 12 also occupies some space, it can be removed during surgery when a certain positioning device 1 is not needed, freeing up more operating space. For example, in knee replacement surgery, the femoral fixation positioning device 1 is not required for tibial osteotomy; therefore, the tracer 12 of the femoral fixation device 1 can be removed, and the positioning device 1 can be folded into a smaller form by rotating the joint.

[0049] It is easy to understand that the tracer 12 can be quickly assembled and disassembled by setting a spring pin structure between the tracer 12 and the connecting device 13. Specifically, such as Figures 11-15 As shown, the spring pin structure includes a fixing groove 138 located at the end of the connecting device 13, a pin 122 and a spring 123 mounted on the tracer frame 12. The tracer frame 12 has a guide groove 124, within which a guide rod 125 is mounted. Two opposing pins 122 are fitted onto the guide rod 125. A spring 123 is positioned between the two pins 122 and is also fitted onto the guide rod 125. Each pin 122 includes a horizontally sliding body 1221, a plug 1222 located below the sliding body 1221, and a lever 1223 located above the sliding body 1221. The plug 1222 has an L-shaped end, and the horizontal sections of the plug 1222 on the two pins 122 are opposite to each other. The fixing groove 138 is hollow inside and has a space for accommodating the insert 1222. The top opening 139 of the fixing groove 138 is at least greater than the sum of the lengths of the two horizontal segments of the insert 1222, so as to allow the insert 1222 to be pulled out from the fixing groove 138.

[0050] When installing the tracer frame 12, the levers of the two pins 122 can be pinched to compress the spring 123 between the two levers 1223, causing the two inserts 1222 to come together. The inserts 1222 are then inserted into the fixing slot 138 through the top opening of the fixing slot. Releasing the levers 1223 causes the two inserts 1222 to move away from each other under the action of the spring 123 and abut against the top opening 139, completing the installation and fixing of the tracer frame 12 and the connecting device 13. Similarly, the disassembly process is similar to the installation process and will not be described in detail here.

[0051] In some alternative implementations, such as Figure 16 As shown, the rotating joint includes a first rotating part 140 and a second rotating part 141. A positioning module is provided between the first rotating part 140 and the second rotating part 141. The male end 142 and the female end 143 of the positioning module are respectively provided at opposite ends of the rotating joint, i.e. 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 of the male end 142 and the female end 143.

[0052] The controller 4 is also used to receive the signal changes of the positioning module before and after the positioning device 1 adjusts its pose to determine the angle changes of the first rotating part 140 and the second rotating part 141, and update the positional 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 positioning device 1 changes its pose.

[0053] It is easy to understand that if the surgeon detects a collision warning during surgery and is unable to avoid the collision or interference through avoidance maneuvers, the posture of the positioning device 1 needs to be adjusted. Typically, a collision or change in the posture of the positioning device 1 makes it difficult to accurately locate the patient's bones during surgery. Therefore, in this design, the rotating joint of the positioning device 1 is equipped with a mechanism to determine the positional relationship between the tracer 12 and the base 11 after posture adjustment. Based on the updated positional relationship, the patient's bones can be located normally without re-registration.

[0054] Specifically, such as Figure 16 As shown, the female end 142 of the positioning module is a raised spring contact, and the female end is a circumferentially recessed contact. After the spring contact contacts the contact point, it positions the rotating joint and generates an electrical signal to determine the relative angular relationship between the first rotating part 140 and the second rotating part 141. Figure 16As shown, the positioning module can have only one sub-end 142, while the female end 143, used for positioning, has multiple contacts evenly distributed circumferentially to represent different angle points. Both the sub-end 142 contacts and the female end 143 contacts are made of metal and are connected to a circuit board. When the sub-end 142 and female end 143 come into contact, an electrical signal is generated, containing information about the female end 143 contacts—which contact point is being contacted. The relative angle between the first rotating part 140 and the second rotating part 141 can then be determined based on this electrical signal. This allows the subsequent controller 4 to determine the angle changes of the first rotating part 140 and the second rotating part 141 based on the signal changes of each rotating joint in the positioning module, and to update the positional relationship between the tracer 12 and the base 11 based on the angle changes, so that the tracking device 3 can locate the target bone position after the positioning device 1's pose changes. In this way, without interrupting the surgery or re-registration, the repositioning and virtual registration of the positioning device 1's pose can be completed, allowing the tracking and positioning of the patient's bones to continue based on the new pose of the positioning device 1.

[0055] In some optional embodiments, the rotating joints are equipped with motors, and the controller 4 is configured to control the motors to drive the rotating joints to change the pose of the positioning device 1 based on collision warnings. Specifically, after receiving a second signal from the distance sensor, the controller 4 issues a collision warning. Based on the collision warning information, the controller 4 obtains the position where the positioning device will be collided with, and controls the movement of the corresponding rotating joints 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 with or interfered with, the controller can control the second rotating joint 132 and / or the third rotating joint 133 to change the pose of the positioning device. If collision warnings persist in subsequent processes, the pose of the positioning device 1 is further adjusted, i.e., continuous detection and response. This achieves automatic avoidance of collisions or interference during surgery, ensuring smooth operation. Furthermore, it is easy to understand that since a positioning module is provided between the rotating joints, the angle changes of the first rotating part 140 and the second rotating part 141 can be determined based on the signal changes of the positioning module, and the positional relationship between the tracer 12 and the base 11 can be updated based on the angle changes. Therefore, after the controller 4 controls the position of the positioning device 1 to achieve automatic avoidance, since the base is fixed to the bone, the updated positional relationship between the tracer 12 and the base can be used to continue to determine the position of the target bone. During the operation, there is no need to interrupt the operation to re-register and obtain the corresponding positional relationship between the tracer 12 and the bone on the positioning device 1.

[0056] A second aspect of this 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 surgical tools and perform surgical operations with the assistance of the positioning system.

[0057] Specifically, such as Figure 17 As shown, during surgery, the positioning system 200 assists in acquiring the positional information of the bones within the surgical space and can provide corresponding prompts for potential interference or collisions with the positioning device, allowing for timely adjustment of the device's posture to prevent loosening or positional changes that could hinder the surgery. The robotic arm system 300, carrying surgical tools (such as a oscillating saw, file, drill, etc.), performs the surgery according to the predetermined surgical plan. Of course, in some optional embodiments, the robotic arm system 300 may not be used, and the surgeon can perform the surgery by holding the surgical tools with the assistance of the positioning system 200. The structure and operating principle of the positioning system 200 have been described in the preceding embodiments and will not be repeated here.

[0058] Although this disclosure has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, such modifications or improvements made without departing from the spirit of this disclosure are all within the scope of protection claimed by this disclosure.

Claims

1. A positioning system, characterized in that, include: A positioning device includes a base, a tracer frame, and a connecting device. The base is used to fix the positioning device to a target skeleton. The connecting device includes multiple rotating joints for adjusting the position and orientation of the connecting device and the tracer frame. The tracer frame and the connecting device are detachably connected. Multiple distance sensors are enveloped within the positioning device; A tracking device for locating the position of the positioning device within the surgical space; The controller is configured to enter a collision warning mode when it receives a first signal from the distance sensor, and exit the collision warning mode when it does not receive the first signal. In the collision warning mode, if the controller receives a second signal from the distance sensor, it issues a collision warning to indicate that the positioning device will be collided or interfered with. The distance sensor includes a first type of sensor and a second type of sensor, which are staggered and arranged around the edge of the tracer frame, the rotating joint, and the connecting arm 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 detect objects is lower than the threshold for the first type of sensor to detect objects. The second type of sensor is in a closed state before entering the collision warning mode. The rotating joint is equipped with a motor, and the controller is configured to control the motor to drive the rotating joint to change the position of the positioning device according to the collision warning.

2. The positioning system according to claim 1, characterized in that, The collision warning includes an image warning, the positioning system also includes a display screen, and the controller is configured to build a virtual model based on the positioning device and change the color of the virtual model to display the image warning on the display screen.

3. The positioning system according to claim 2, characterized in that, The controller is further configured to establish a first envelope space based on the threshold of the first type of sensor and the object it senses, and to establish a second envelope space containing multiple subspaces based on the threshold of the second type of sensor and the object it senses, wherein each subspace corresponds to a second type of sensor. After entering the collision warning mode, the color of the first envelope space changes, and when the second signal is received, the color of the subspace corresponding to the second type of sensor that generates the second signal changes.

4. The positioning system according to claim 1, characterized in that, A spring pin mechanism is provided between the tracer frame and the connecting device, and the spring pin mechanism is used to quickly assemble and disassemble the tracer frame.

5. The positioning system according to claim 1, characterized in that, 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 male end and the female end of the positioning module are respectively provided at opposite ends of the rotating joint, which are used to position the rotating joint at a predetermined angle and determine the relative contact state of the male end and the female end.

6. The positioning system according to claim 5, characterized in that, The positioning module has a raised spring contact at the male end and a recessed contact at the female end. After the spring contact contacts the contact, it positions the rotating joint and generates an electrical signal to determine the relative angular relationship between the first rotating part and the second rotating part.

7. The positioning system according to claim 5, characterized in that, The controller is also used to receive signal changes of the positioning module before and after the positioning device pose adjustment to determine the angle changes of the first rotating part and the second rotating part, and update the positional relationship between the tracer and the base according to the angle changes, so that the tracking device can locate the position of the target bone after the positioning device pose changes.

8. A surgical system, characterized in that, include: A positioning system, wherein the positioning system is the positioning system as described in any one of claims 1-7; A robotic arm system is used to carry surgical tools and perform surgical procedures with the assistance of the positioning system.

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