Electromagnetic navigation robot for arthroscopic surgery

Abstract

The invention relates to the technical field of medical auxiliary instruments, in particular to an arthroscopic surgery electromagnetic navigation robot which comprises an operating bed, a first robot and a second robot are arranged on one side of the operating bed, an electromagnetic generator assembly is installed on the operating bed, and a guide needle is detachably installed at the movable end of the first robot; an electromagnetic receiver is installed on the guide pin, and an ultrasonic imaging assembly is installed at the movable end of the second robot. According to the invention, the robot is used for replacing people for operation, and a part with a navigation function is arranged, so that the operation can be more accurately implemented and completed.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary equipment, and in particular to an electromagnetic navigation robot for arthroscopic surgery. Background Art

[0002] Human joints are the connecting structures between bones, with primary functions including supporting the body, buffering pressure, and enabling flexible movement. However, due to intense exercise or other unexpected circumstances, joints can become damaged. When joint symptoms develop, minimally invasive surgery is required. During minimally invasive joint surgery, a surgical guide needle is typically inserted into the joint at an appropriate angle. Existing procedures are often performed manually based on the surgeon's experience. However, in practice, the surgeon cannot guarantee precise execution, and the insertion of the guide needle requires considerable force, which is physically demanding. Summary of the Invention

[0003] The purpose of the present invention is to provide an electromagnetic navigation robot for arthroscopic surgery to solve the above problems. By replacing humans with robots to perform operations and providing components with navigation functions, the surgery can be performed more accurately.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] An electromagnetic navigation robot for arthroscopic surgery includes an operating table, with a first robot and a second robot provided on one side of the operating table. An electromagnetic generator assembly is installed on the operating table. A guide needle is detachably installed on the movable end of the first robot, and an electromagnetic receiver is installed on the guide needle. An ultrasonic imaging assembly is installed on the movable end of the second robot.

[0006] Preferably, the electromagnetic generator assembly includes a first electromagnetic generator, a second electromagnetic generator, and a third electromagnetic generator. The first electromagnetic generator is installed on the operating bed through a bracket, the second electromagnetic generator is installed on one side of the operating bed, and the third electromagnetic generator is installed at the end of the bed. The emission direction of the first electromagnetic generator is downward, and the emission directions of the second and third electromagnetic generators are horizontal and perpendicular to each other.

[0007] Preferably, a guide needle fixture is installed at the movable end of the first robot, and the guide needle is detachably installed in the guide needle fixture.

[0008] Preferably, the guide needle clamp includes a sleeve, which is installed at the movable end of the first robot, and at least three clamping blocks are movably provided in the sleeve, and the inner sides of several of the clamping blocks form a clamping hole, and the guide needle is detachably installed in the clamping hole, and the clamping block is radially slidably arranged along the bottom wall of the sleeve, and the outer wall of the clamping block is set as an inclined cone surface, and the outer sides of several of the clamping blocks are provided with the same annular sleeve, and a through hole is provided at one end of the sleeve, and the small ends of several of the clamping blocks extend into the through hole, and a clamping drive component is provided on the outer side of the clamping block.

[0009] Preferably, the clamping drive component includes a first spring fixedly connected to one side of the annular sleeve, the other end of the first spring is fixedly connected to the annular sleeve, the first spring is located on the side close to the through hole, an electromagnetic coil is provided inside the side wall of the annular sleeve, and the annular sleeve is a permanent magnet.

[0010] Preferably, the ultrasonic imaging component includes a mounting base, which is mounted on the movable end of the second robot. A plurality of slide grooves are provided on the mounting base, and a connecting rod is slidably connected in the slide groove. An end of the connecting rod away from the mounting base is fixedly connected to the ultrasonic component. A plurality of the ultrasonic components are arranged in an array, and a second spring is provided between the connecting rod and the bottom wall of the slide groove.

[0011] The present invention has the following technical effects:

[0012] Magnetic resonance imaging data is used to obtain the patient's preoperative joint three-dimensional structure information and generate a three-dimensional image. The three-dimensional image is used as a benchmark to provide a reference for the movement of the first robot and the second robot. The ultrasonic imaging component installed on the second robot is responsible for extracting the patient's joint image during the operation. The first robot moves in real time according to the three-dimensional image and the image provided by the ultrasonic imaging component to push the guide needle into the joint. During the insertion process, the electromagnetic generator component of the robot generates a magnetic field, and the electromagnetic receiver receives the magnetic field signal to determine whether the robot's movement trajectory meets the expected path. When it does not meet the requirements, the robot immediately adjusts the running trajectory so that the guide needle is inserted into the joint in a reasonable and accurate path to perform joint surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1 It is a schematic diagram of the structure of the present invention;

[0015] Figure 2 Schematic diagram of the structure of the end portion of the guide needle fixture of the present invention;

[0016] Figure 3 Schematic diagram of the internal structure of the guide needle fixture of the present invention;

[0017] Figure 4 It is a schematic diagram of the cross-sectional structure of the ultrasonic imaging assembly of the present invention.

[0018] Among them, 1. operating table; 2. first electromagnetic generator; 3. second electromagnetic generator; 4. third electromagnetic generator; 5. first robot; 6. guide needle clamp; 601. sleeve; 602. clamping block; 603. clamping hole; 604. through hole; 605. annular sleeve; 606. first spring; 607. electromagnetic coil; 7. second robot; 8. ultrasonic imaging component; 801. mounting base; 802. slide groove; 803. second spring; 804. connecting rod; 805. ultrasonic component; 9. guide needle. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Reference Figures 1 to 3 As shown, this embodiment provides an electromagnetic navigation robot for arthroscopic surgery, including an operating table 1, a first robot 5 and a second robot 7 are provided on one side of the operating table 1, an electromagnetic generator assembly is installed on the operating table 1, a guide needle 9 is detachably installed on the movable end of the first robot 5, an electromagnetic receiver is installed on the guide needle 9, and an ultrasonic imaging assembly 8 is installed on the movable end of the second robot 7.

[0022] Magnetic resonance imaging data is used to obtain the three-dimensional structural information of the patient's joint before surgery, and a three-dimensional image is generated. The three-dimensional image is used as a benchmark to provide a reference for the movement of the first robot 5 and the second robot 7. The ultrasonic imaging component 8 installed on the second robot 7 is responsible for extracting the patient's joint image during the operation. The first robot 5 moves in real time according to the three-dimensional image and the image provided by the ultrasonic imaging component 8 to push the guide needle 9 into the joint. During the insertion process of the robot 5, the electromagnetic generator component provides a magnetic field, and the electromagnetic receiver receives the magnetic field signal to determine whether the movement trajectory of the robot 5 meets the expected path. When it does not meet the requirements, the robot 5 immediately adjusts the running trajectory so that the guide needle 9 is inserted into the joint in a reasonable and accurate path to perform joint surgery.

[0023] To further optimize the solution, the electromagnetic generator assembly includes a first electromagnetic generator 2, a second electromagnetic generator 3, and a third electromagnetic generator 4. The first electromagnetic generator 2 is installed on the operating bed 1 through a bracket, the second electromagnetic generator 3 is installed on one side of the operating bed 1, and the third electromagnetic generator 4 is installed at the end of the bed. The emission direction of the first electromagnetic generator 2 is downward, and the emission directions of the second electromagnetic generator 3 and the third electromagnetic generator 4 are horizontal and perpendicular to each other.

[0024] The first electromagnetic generator 2 cooperates with the electromagnetic receiver to detect the position in the Z direction, the second electromagnetic generator 3 cooperates with the electromagnetic receiver to detect the position in the X direction, and the third electromagnetic generator 4 cooperates with the electromagnetic receiver to detect the position in the Y direction. The three together with the electromagnetic receiver can locate the position of the guide needle 9 in the three-dimensional space, providing precise guidance for the insertion trajectory of the guide needle.

[0025] According to a further optimized solution, a guide needle fixture 6 is installed at the movable end of the first robot 5 , and the guide needle 9 is detachably installed in the guide needle fixture 6 .

[0026] A further optimized solution is provided, in which the guide needle fixture 6 includes a sleeve 601, which is mounted on the movable end of the first robot 5. At least three clamping blocks 602 are movably provided in the sleeve 601, and a clamping hole 603 is formed on the inner sides of several clamping blocks 602. The guide needle 9 is detachably installed in the clamping hole 603. The clamping block 602 is radially slidably arranged along the bottom wall of the sleeve 601, and the outer wall of the clamping block 602 is set as an inclined cone surface. The outer sides of several clamping blocks 602 are provided with the same annular sleeve 605. A through hole 604 is provided at one end of the sleeve 601, and the small ends of several clamping blocks 602 extend into the through hole 604. A clamping drive component is provided on the outer side of the clamping block 602.

[0027] A further optimized solution is that the clamping drive component includes a first spring 606 fixedly connected to one side of the annular sleeve 605, the other end of the first spring 606 is fixedly connected to the annular sleeve 605, the first spring 606 is located on the side close to the through hole 604, and an electromagnetic coil 607 is provided inside the side wall of the annular sleeve 605, and the annular sleeve 605 is a permanent magnet.

[0028] The electromagnetic coil 607 is connected to the host computer, and the host computer controls the on and off of the electromagnetic coil 607. When the electromagnetic coil 607 is energized, the annular sleeve 605 moves to the Figure 3 When the guide needle 9 needs to be removed, the electromagnetic coil 607 is powered off, and the annular sleeve 605 is reset under the pulling force of the first spring 606, and then the three clamping blocks 602 can release the guide needle 9, thereby realizing the detachable replacement of the guide needle 9.

[0029] A further optimized solution is that the ultrasonic imaging component 8 includes a mounting base 801, which is mounted on the movable end of the second robot 7. A plurality of slide grooves 802 are provided on the mounting base 801, and a connecting rod 804 is slidably connected in the slide groove 802. An end of the connecting rod 804 away from the mounting base 801 is fixedly connected to an ultrasonic component 805. Several ultrasonic components 805 are arranged in an array, and a second spring 803 is provided between the connecting rod 804 and the bottom wall of the slide groove 802.

[0030] The ultrasonic component 805 can adopt the ultrasonic transmitting and receiving heads in color ultrasound. The ultrasonic component 805 is set in a plurality of array settings, so that it can generate multiple ultrasonic sources after being fitted to the patient's joint. After being reflected by the tissue in the joint, an image can be formed, and in conjunction with the movable setting of the connecting rod 804, multiple ultrasonic components 805 will form a state similar to a coating on the joint, so that the ultrasonic imaging image can form a local three-dimensional image, which can be used to cooperate with the adjustment of the insertion trajectory of the guide needle 9.

[0031] The method of using this embodiment is as follows:

[0032] Data acquisition: using magnetic resonance imaging data to obtain the patient's preoperative three-dimensional joint structure information and generate a three-dimensional data model including the distribution of blood vessels, nerves, and bones;

[0033] Based on the three-dimensional data model, an artificial intelligence path planning algorithm is used to generate the optimal guide needle puncture path. The guide needle puncture path consists of multiple three-dimensional coordinate points; the puncture path includes the path end point, which is the minimally invasive surgery location.

[0034] The angle of the guide needle 9 is determined according to the motion posture of the first robot 5, and the three-dimensional spatial position of the guide needle 9 is determined according to the signals emitted by the electromagnetic receiver on the guide needle 9 in cooperation with the first electromagnetic generator 2, the second electromagnetic generator 3, and the third electromagnetic generator 4;

[0035] The second robot 7 is attached to the patient's surgical joint and uses the ultrasonic component 805 to realize imaging of the joint. The obtained ultrasonic image is combined with the movement posture of the second robot 7 and the three-dimensional data model data to compare and determine the placement angle of the human skeleton, and the ultrasonic image is used to compare the three-dimensional data model to fit the path end position in real time.

[0036] The moving path of the guide needle 9 driven by the first robot 5 is the optimal guide needle puncture path generated in real time by the artificial intelligence path planning algorithm. The three-dimensional coordinate data of the guide needle 9 in the process of being moved by the first robot 5 is compared in real time with the three-dimensional coordinate points in the optimal guide needle puncture path. When the threshold is exceeded, the upper computer immediately adjusts the movement posture of the first robot 5 according to the optimal guide needle puncture path to ensure that the guide needle 9 is punctured at the correct angle and path.

[0037] Specific data processing process:

[0038] Before surgery, the target joint area is examined, and magnetic resonance imaging data is used to obtain the patient's preoperative joint three-dimensional structure information, generating a three-dimensional data model including the distribution of blood vessels, nerves, and bones.

[0039] The raw MRI image data were preprocessed, including denoising, normalization, and registration.

[0040] The preprocessed MRI image data is input into a 3D U-Net deep learning model, which classifies each voxel in the input data and outputs a corresponding multi-label segmentation mask. The main label categories include bone, blood vessels, nerves, and soft tissue.

[0041] Model training: The model needs to be trained on MRI data with accurate annotations (labeled by professional radiologists or anatomists). The training goal is to minimize the segmentation loss of each tissue class.

[0042] Optimal puncture path planning:

[0043] The starting point is selected by the surgeon on the surface of the 3D model according to the surgical approach requirements;

[0044] The endpoint, the target position within the joint that the surgery needs to achieve, is specified by the surgeon on the 3D model.

[0045] Path planning algorithm:

[0046] The genetic algorithm was used with the following parameter settings: population size: 50, iteration number: 100, mutation rate: 0.1;

[0047] The three-dimensional data model generated before surgery is discretized into a three-dimensional grid space, and each grid unit contains its spatial position information and the tissue type (bone, blood vessel, nerve, safe area) information contained.

[0048] Path encoding: A path is usually encoded as a series of consecutive spatial points connecting the starting point and the end point.

[0049] Objective function: used to evaluate the quality of a path. The smaller the objective function value, the better the path. The objective function takes into account:

[0050] Path length: the total Euclidean distance of the path, weight: 1;

[0051] Safety: The minimum distance between the path and critical dangerous structures such as blood vessels and nerves, or the penalty for the path crossing the dangerous area (for example, a high penalty is imposed if the path point falls into a voxel marked as a blood vessel / nerve). Weight: 10 (emphasis on safety first).

[0052] Smoothness: Penalizes changes in path direction, helping to generate smoother paths that are easier to follow.

[0053] Algorithm execution: Iteratively evolves a population of paths within a defined search space. Through selection, crossover, and mutation operations, the paths are continuously optimized, ultimately converging to an optimal or suboptimal puncture path that meets the objective function requirements (optimal overall length, safety, and feasibility). This path is visualized in a 3D model.

[0054] Real-time 3D scene construction during surgery:

[0055] Data Acquisition: Using ultrasound imaging, during surgery, the target joint area is scanned in real time using ultrasound components 805. Based on the information transmitted and received, multiple ultrasound components 805 provide dynamic images of soft tissue, blood vessels (blood flow), and even parts of the bone surface.

[0056] The first electromagnetic generator 2, the second electromagnetic generator 3, and the third electromagnetic generator 4 cooperate with the electromagnetic receiver on the guide needle 9 to detect the real-time position of the guide needle 9;

[0057] The host computer receives in real time the ultrasonic image from the ultrasonic component 805 and the real-time position data of the guide needle 9 detected by the first electromagnetic generator 2, the second electromagnetic generator 3, and the third electromagnetic generator 4 in cooperation with the electromagnetic receiver on the guide needle 9. The multiple sets of ultrasonic components 805 cooperate with the posture position of the second robot 7 to accurately position each frame of the ultrasonic image in the spatial coordinate system.

[0058] The three-dimensional model constructed based on MRI before surgery is registered with the ultrasound image located in the spatial coordinate system acquired in real time during surgery, that is, the current actual patient joint model data;

[0059] Extract common anatomical feature points from the preoperative model and intraoperative ultrasound images, such as bony landmarks and vascular bifurcation points, and use an iterative closest point algorithm for matching;

[0060] Using neural networks, we learn the mapping from preoperative MRI 3D model data and intraoperative ultrasound image data to spatial transformation parameters. The preoperative planned 3D model, planned path, real-time ultrasound image, and all guide needle positions and robotic arm postures are unified in the same real-time updated electromagnetic navigation coordinate system.

[0061] The optimal path planned before the operation is used as the expected trajectory. The upper computer calculates the deviation (position deviation, direction deviation) between the current position of the guide needle tip and the expected path. The upper computer generates a control instruction based on the calculated deviation, and the control instruction is sent to the second robot 7. The second robot 7 accurately adjusts the position and posture of the guide needle 9, and automatically guides the guide needle 9 to advance steadily along the planned path toward the target end point.

[0062] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0063] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. An electromagnetic navigation robot for arthroscopic surgery, characterized in that: The invention comprises an operating table (1), wherein a first robot (5) and a second robot (7) are provided on one side of the operating table (1), an electromagnetic generator assembly is installed on the operating table (1), a guide needle (9) is detachably installed on the movable end of the first robot (5), an electromagnetic receiver is installed on the guide needle (9), and an ultrasonic imaging assembly (8) is installed on the movable end of the second robot (7).

2. The electromagnetic navigation robot for arthroscopic surgery according to claim 1, characterized in that: The electromagnetic generator assembly comprises a first electromagnetic generator (2), a second electromagnetic generator (3), and a third electromagnetic generator (4); the first electromagnetic generator (2) is mounted on the operating bed (1) via a bracket; the second electromagnetic generator (3) is mounted on one side of the operating bed (1); and the third electromagnetic generator (4) is mounted at the end of the bed; the emission direction of the first electromagnetic generator (2) is downward, and the emission directions of the second electromagnetic generator (3) and the third electromagnetic generator (4) are horizontal and perpendicular to each other.

3. The electromagnetic navigation robot for arthroscopic surgery according to claim 1, characterized in that: A guide needle fixture (6) is installed at the movable end of the first robot (5), and the guide needle (9) is detachably installed in the guide needle fixture (6).

4. The electromagnetic navigation robot for arthroscopic surgery according to claim 3, characterized in that: The guide needle fixture (6) includes a sleeve (601), which is installed on the movable end of the first robot (5). At least three clamping blocks (602) are movably provided in the sleeve (601), and a clamping hole (603) is formed on the inner side of several of the clamping blocks (602). The guide needle (9) is detachably installed in the clamping hole (603). The clamping block (602) is radially slidably arranged along the bottom wall of the sleeve (601). The outer wall of the clamping block (602) is set as an oblique cone surface. The outer side of several of the clamping blocks (602) is provided with the same annular sleeve (605). A through hole (604) is provided at one end of the sleeve (601), and the small ends of several of the clamping blocks (602) extend into the through hole (604). A clamping drive component is provided on the outer side of the clamping block (602).

5. The electromagnetic navigation robot for arthroscopic surgery according to claim 4, characterized in that: The clamping drive component includes a first spring (606) fixedly connected to one side of the annular sleeve (605), the other end of the first spring (606) is fixedly connected to the annular sleeve (605), the first spring (606) is located on a side close to the through hole (604), an electromagnetic coil (607) is provided inside the side wall of the annular sleeve (605), and the annular sleeve (605) is a permanent magnet.

6. The electromagnetic navigation robot for arthroscopic surgery according to claim 1, characterized in that: The ultrasonic imaging assembly (8) includes a mounting base (801), which is mounted on the movable end of the second robot (7). A plurality of slide grooves (802) are provided on the mounting base (801), a connecting rod (804) is slidably connected in the slide groove (802), and an ultrasonic assembly (805) is fixedly connected to one end of the connecting rod (804) away from the mounting base (801). The plurality of ultrasonic assemblies (805) are arranged in an array, and a second spring (803) is provided between the connecting rod (804) and the bottom wall of the slide groove (802).

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