An arthroscopic surgical electromagnetic navigation robot

Abstract

The application relates to the technical field of medical auxiliary devices, in particular to an arthroscopic surgery electromagnetic navigation robot, which comprises a surgery bed, one side of the surgery bed is provided with a first robot and a second robot, an electromagnetic generator assembly is installed on the surgery bed, a guide needle is detachably installed at the movable end of the first robot, an electromagnetic receiver is installed on the guide needle, and an ultrasonic imaging assembly is installed at the movable end of the second robot. The robot is used to replace people to work, and the component with the navigation function is arranged, so that the surgery can be more accurately implemented and completed.

Description

Technical Field

[0001] This invention relates to the field of medical assistive device technology, specifically to an electromagnetic navigation robot for arthroscopic surgery. Background Technology

[0002] Human joints are the connecting structures between bones, and their main functions include supporting the body, cushioning pressure, and enabling flexible movement. However, due to strenuous exercise or other accidents, human joints can be damaged. When joint problems occur, minimally invasive surgery is required. In minimally invasive joint surgery, a surgical guide is usually inserted into the joint at an appropriate angle. Current surgical procedures are mostly performed manually by doctors based on their experience. However, in actual operation, surgeons cannot guarantee precise execution, and the insertion of the guide requires considerable force, which is also a test of the surgeon's physical strength. Summary of the Invention

[0003] The purpose of this invention is to provide an electromagnetic navigation robot for arthroscopic surgery to solve the above-mentioned problems. By replacing humans in performing the operation, and equipped with navigation components, the surgery can be performed more accurately.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] An electromagnetic navigation robot for arthroscopic surgery includes an operating table. A first robot and a second robot are 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 ultrasound 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 mounted on the operating table via a bracket, the second electromagnetic generator is mounted on one side of the operating table, and the third electromagnetic generator is mounted at the foot of the table. The first electromagnetic generator emits downwards, while the second and third electromagnetic generators emit horizontally and are perpendicular to each other.

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

[0008] Preferably, the guide pin clamp includes a sleeve, which is installed on the movable end of the first robot. At least three clamping blocks are movably disposed inside the sleeve. The inner sides of several clamping blocks form a clamping hole. The guide pin is detachably installed in the clamping hole. The clamping blocks are radially slidable along the bottom wall of the sleeve. The outer wall of the clamping blocks is a tapered surface. The same annular sleeve is fitted on the outer side of several clamping blocks. A through hole is opened at one end of the sleeve. The small ends of several clamping blocks extend into the through hole. A clamping drive component is provided on the outer side of the clamping blocks.

[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 being fixedly connected to the annular sleeve, the first spring being located on the side near the through hole, an electromagnetic coil being provided inside the side wall of the annular sleeve, and the annular sleeve being a permanent magnet.

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

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

[0012] The procedure utilizes MRI imaging data to obtain the patient's preoperative three-dimensional joint structure information and generate a three-dimensional image. This three-dimensional image serves as a reference for the movement of the first and second robots. The ultrasound imaging component installed on the second robot is responsible for extracting images of the patient's joint during the operation. The first robot moves in real time based on the three-dimensional image and the image provided by the ultrasound imaging component, pushing the guide needle to insert into the joint. During the insertion process, the electromagnetic generator component generates a magnetic field, and the electromagnetic receiver receives the magnetic field signal to determine whether the robot's movement trajectory conforms to the expected path. If it does not meet the requirements, the robot adjusts its trajectory in real time so that the guide needle is inserted into the joint along a reasonable and precise path to perform the joint surgery. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0015] Figure 2 This is a schematic diagram of the end structure of the guide needle clamp of the present invention;

[0016] Figure 3 This is a schematic diagram of the internal structure of the guide pin clamp of the present invention;

[0017] Figure 4 This is a schematic diagram of the cross-sectional structure of the ultrasound imaging component of the present invention.

[0018] The components include: 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 assembly; 801. Mounting base; 802. Slide groove; 803. Second spring; 804. Connecting rod; 805. Ultrasonic assembly; 9. Guide needle. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Reference Figures 1 to 3 As shown in the figure, 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. An ultrasound imaging assembly 8 is installed on the movable end of the second robot 7.

[0022] The three-dimensional structural information of the patient's joints before surgery is obtained using MRI imaging data, and a three-dimensional image is generated. This three-dimensional image serves as a reference for the movement of the first robot 5 and the second robot 7. The ultrasound imaging component 8 installed on the second robot 7 is responsible for extracting images of the patient's joints during the operation. The first robot 5 moves in real time according to the three-dimensional image and the image provided by the ultrasound imaging component 8 to push the guide needle 9 into the joint. During the insertion process, the electromagnetic generator component of the robot 5 generates a magnetic field, and the electromagnetic receiver receives the magnetic field signal to determine whether the movement trajectory of the robot 5 conforms to the expected path. When it does not meet the requirements, the robot 5 adjusts its running trajectory in real time so that the guide needle 9 is inserted into the joint in a reasonable and precise path to perform joint surgery.

[0023] Further optimization of the scheme: 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 mounted on the operating table 1 via a bracket, the second electromagnetic generator 3 is mounted on one side of the operating table 1, and the third electromagnetic generator 4 is mounted at the foot of the table. The first electromagnetic generator 2 emits downwards, while the second electromagnetic generator 3 and the third electromagnetic generator 4 emit horizontally and are perpendicular to each other.

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

[0025] In a further optimized design, the movable end of the first robot 5 is equipped with a guide needle clamp 6, and the guide needle 9 is detachably installed in the guide needle clamp 6.

[0026] Further optimizing the design, the guide pin clamp 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 arranged inside the sleeve 601. The inner sides of several clamping blocks 602 form a clamping hole 603. The guide pin 9 is detachably installed in the clamping hole 603. The clamping blocks 602 are radially slidable along the bottom wall of the sleeve 601. The outer side wall of the clamping blocks 602 is set as an inclined conical surface. The same annular sleeve 605 is sleeved on the outer side of several clamping blocks 602. A through hole 604 is opened at one end of the sleeve 601. 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 blocks 602.

[0027] The scheme is further optimized. 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 near the through hole 604. An electromagnetic coil 607 is provided inside the side wall of the annular sleeve 605. The annular sleeve 605 is a permanent magnet.

[0028] The electromagnetic coil 607 is connected to a host computer, which controls the on / off state of the electromagnetic coil 607. When the electromagnetic coil 607 is energized, the annular sleeve 605... Figure 3 When the guide pin 9 is moved to the right, the annular sleeve 605 will lock the three clamping blocks 602, thus clamping the guide pin 9. When the guide pin 9 needs to be removed, the electromagnetic coil 607 is de-energized, and the annular sleeve 605 is reset under the pulling force of the first spring 606. Then the three clamping blocks 602 can release the guide pin 9, thus realizing the detachable replacement of the guide pin 9.

[0029] Further optimizing the scheme, the ultrasound imaging component 8 includes a mounting base 801, which is mounted on the movable end of the second robot 7. The mounting base 801 has several sliding grooves 802, and a connecting rod 804 is slidably connected in the sliding grooves 802. An ultrasound component 805 is fixedly connected to the end of the connecting rod 804 away from the mounting base 801. Several ultrasound 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 sliding groove 802.

[0030] The ultrasound component 805 can use the ultrasound transmitter and receiver heads in color Doppler ultrasound. The ultrasound component 805 is set up in multiple arrays, which can generate multiple ultrasound sources after being attached to the patient's joint. After being reflected by the intra-articular tissue, an image can be formed. With the movable setting of the connecting rod 804, the multiple ultrasound components 805 will form a state similar to covering the joint. In this way, the ultrasound image can form a local three-dimensional image, which can be used to adjust the insertion trajectory of the guide needle 9.

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

[0032] Data acquisition utilizes MRI imaging data to obtain the patient's preoperative three-dimensional joint structure information, generating a three-dimensional data model that includes 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, which consists of multiple three-dimensional coordinate points. The puncture path includes the path endpoint, which is the location for minimally invasive surgery.

[0034] The angle of the guide needle 9 is determined based on the motion posture of the first robot 5. The three-dimensional spatial position of the guide needle 9 is determined based on the signals emitted by the electromagnetic receiver on the guide needle 9 in conjunction 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 joint of the patient and the ultrasound component 805 realizes the image imaging of the joint. The obtained ultrasound image is compared with the motion posture of the second robot 7 and the three-dimensional data model data to determine the placement angle of the human skeleton. The ultrasound image is also used to compare the three-dimensional data model with the path endpoint position in real time.

[0036] The first robot 5 drives the guide needle 9 to move along the optimal guide needle puncture path generated in real time by an artificial intelligence path planning algorithm. The three-dimensional coordinate data of the first robot 5 driving the guide needle 9 during the movement is compared with the three-dimensional coordinate points in the optimal guide needle puncture path in real time. When the threshold is exceeded, the host computer adjusts the movement posture of the first robot 5 in real time according to the optimal guide needle puncture path to ensure that the guide needle 9 punctures at the correct angle and path.

[0037] Specific data processing steps:

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

[0039] The raw MRI image data is preprocessed, including denoising, standardization, and registration.

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

[0041] Model Training: The model needs to be trained on MRI image data containing precise annotations (by professional radiologists or anatomists). The training objective is to minimize the segmentation loss for each tissue category.

[0042] Optimal puncture path planning:

[0043] The starting point is selected by the surgeon on the surface of the three-dimensional model according to the requirements of the surgical approach.

[0044] The endpoint, the target intra-articular location to be achieved during surgery, is specified by the surgeon on the 3D model.

[0045] Path planning algorithm:

[0046] A genetic algorithm was used with the following parameters: population size: 50, number of iterations: 100, mutation rate: 0.1.

[0047] The three-dimensional data model generated before surgery is discretized into a three-dimensional grid space. Each grid cell contains its spatial location information and the information of the tissue type (bone, blood vessels, nerves, safe area).

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

[0049] Objective function: Used to evaluate the quality of a path. A smaller objective function value indicates a better path. The objective function should be considered comprehensively:

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

[0051] Safety: Minimum distance between the path and critical hazardous structures such as blood vessels and nerves, or penalty for the path crossing a hazardous area (e.g., a high penalty is imposed if a path point falls into a voxel marked as a blood vessel / nerve). Weight: 10 (emphasizing safety first).

[0052] Smoothness: Penalty for changes in path direction, which helps generate smoother paths that are easier to execute.

[0053] Algorithm execution: The algorithm iteratively evolves the path population within a defined search space. Through selection, crossover, and mutation operations, the path is continuously optimized until it converges to an optimal or near-optimal puncture path that satisfies the objective function requirements (optimal in terms of length, safety, and feasibility). This path is visualized in a 3D model.

[0054] Intraoperative real-time 3D scene construction:

[0055] Data Acquisition: Utilizing ultrasound imaging, during the surgical procedure, ultrasound components 805 perform real-time scanning of the target joint area. Based on the information from ultrasound transmission and reception, 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 work together with the electromagnetic receiver on the guide pin 9 to detect the real-time position of the guide pin 9.

[0057] The host computer receives ultrasound images from the ultrasound component 805 in real time and detects the real-time position data of the guide needle 9 from the electromagnetic receivers on the guide needle 9, which are in conjunction with the first electromagnetic generator 2, the second electromagnetic generator 3, and the third electromagnetic generator 4. Multiple ultrasound components 805, in conjunction with the posture and position of the second robot 7, accurately position each frame of ultrasound 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 obtained in real time during surgery, which is the current actual patient joint model data.

[0059] Common anatomical feature points, such as bony landmarks and vascular bifurcation points, are extracted from the preoperative model and intraoperative ultrasound images and matched using the iterative nearest point algorithm.

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

[0061] The optimal path planned before the operation is taken as the expected trajectory. The host computer calculates the deviation (position deviation and direction deviation) between the current position of the guide needle tip and the expected path. Based on the calculated deviation, the host computer generates control commands and sends the control commands to the second robot 7. The second robot 7 precisely adjusts the position and attitude of the guide needle 9 and automatically guides the guide needle 9 to advance stably towards the target endpoint along the planned path.

[0062] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

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

Claims

1. An electromagnetic navigation robot for arthroscopic surgery, characterized in that, The system includes an operating table (1), on one side of which are a first robot (5) and a second robot (7). 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). An ultrasound imaging assembly (8) is installed on the movable end of the second robot (7). The first robot (5) is equipped with a guide needle clamp (6) at its movable end, and the guide needle (9) is detachably installed in the guide needle clamp (6); The guide pin clamp (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 arranged inside the sleeve (601). The inner sides of several clamping blocks (602) form a clamping hole (603). The guide pin (9) is detachably installed in the clamping hole (603). The clamping blocks (602) are radially slidable along the bottom wall of the sleeve (601). The outer side wall of the clamping blocks (602) is set as an inclined conical surface. The same annular sleeve (605) is sleeved on the outer side of several clamping blocks (602). A through hole (604) is opened at one end of the sleeve (601). 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 blocks (602). 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) being fixedly connected to the annular sleeve (605), the first spring (606) being located on the side near the through hole (604), an electromagnetic coil (607) being provided inside the side wall of the annular sleeve (605), and the annular sleeve (605) being a permanent magnet.

2. The electromagnetic navigation robot for arthroscopic surgery according to claim 1, characterized in that, 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 mounted on the operating table (1) via a bracket. The second electromagnetic generator (3) is mounted on one side of the operating table (1). The third electromagnetic generator (4) is mounted at the foot of the table. The first electromagnetic generator (2) emits downwards, while the second electromagnetic generator (3) and the third electromagnetic generator (4) emit horizontally and are perpendicular to each other.

3. The electromagnetic navigation robot for arthroscopic surgery according to claim 1, characterized in that, The ultrasound imaging component (8) includes a mounting base (801), which is mounted on the movable end of the second robot (7). The mounting base (801) has several grooves (802) on it. A connecting rod (804) is slidably connected in the groove (802). An ultrasound component (805) is fixedly connected to one end of the connecting rod (804) away from the mounting base (801). Several ultrasound components (805) are arranged in an array. A second spring (803) is provided between the connecting rod (804) and the bottom wall of the groove (802).

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