MRI compatible dual-implant neurosurgical robot

Abstract

The invention discloses an MRI (Magnetic Resonance Imaging) compatible double-implantation neurosurgical robot capable of being used for DBS (Diaphragm Breakdown) electrode implantation surgery. The MRI compatible double-implantation neurosurgical robot comprises a platform module, a double-implantation positioning module and two implantation modules, the two semi-arch telescopic positioning sub-modules which form the double-implantation positioning module and work independently carry the implantation modules respectively for mobile positioning, double-electrode synchronous implantation is achieved on the basis of supporting a single-electrode implantation working mode, and the operation efficiency is greatly improved. According to the invention, through structural optimization, the first driving mechanism used for providing a function of rotating around the X axis is arranged on the base part, and the telescopic driving mechanism providing telescopic motion along the arc track is arranged at a position about between the base part and the execution end, so that the weight and the load of the execution end are reduced; and the stability of the semi-arch telescopic positioning sub-module structure is improved. The robot disclosed by the invention not only supports manual implantation, but also supports automatic implantation.

Description

Technical Field

[0001] This invention relates to the field of medical robots, and in particular to an MRI (Magnetic Resonance Imaging) compatible dual-implantation neurosurgical robot. Background Technology

[0002] The global aging population is becoming increasingly serious. Taking China as an example, by 2025, the population aged 60 and above will reach 300 million, making it a super-aged country. Neurological diseases, including Alzheimer's disease and Parkinson's disease, greatly endanger the lives and lifespans of the elderly. For instance, the current prevalence of Parkinson's disease among people aged 65 and above in my country is 1.7%, with more than 3 million cases, and this number is expected to exceed 5 million by 2030. Alzheimer's disease and epilepsy patients have also exceeded 10 million each. The most common and effective treatment for these diseases is deep brain stimulation (DBS) surgery.

[0003] DBS surgery has a wide range of applications. Currently, the U.S. Food and Drug Administration (FDA) has approved three indications, including Parkinson's disease. However, DBS is actually effective for the whole brain's neural network, including 12 diseases such as Alzheimer's disease and epilepsy, and the demand for the surgery is high.

[0004] DBS surgery utilizes neurostimulation technology. An externally controlled neurostimulator is implanted into the body to chronically stimulate abnormal neural tissues (nuclei) deep within the brain, modulating abnormal electrical activity in specific functional neural tissues to treat various motor disorders caused by neural tissue dysfunction. The neurostimulator is typically a sophisticated microelectronic device, including a stimulation pulse generator, two stimulation electrodes, and connecting wires. These components are implanted in the patient's body but do not affect their daily life. The two stimulation electrodes need to be implanted in different locations on both sides of the head, currently usually using a sequential, step-by-step implantation method. The most crucial part of the surgery is the accurate implantation of the stimulation electrodes into the patient's head, requiring not only deep implantation but also sub-millimeter precision.

[0005] Currently, 95% of DBS surgeries (electrode implantation) both domestically and internationally utilize a head stereotactic positioning system for manual electrode implantation. This method suffers from several problems: 1) Significant electrode implantation error: approximately 1.5mm; prolonged surgery time: 4-6 hours; 2) Separation of imaging and surgery, lack of real-time monitoring and intraoperative verification, posing safety risks; 3) Existence of blind spots. To overcome these shortcomings, the use of neurosurgical robots has become the latest development trend. These robots offer smaller errors, shorter surgery times, and avoidance of blind spots. Currently, the ROSA robotic arm-type surgical robot from France is widely used, but it still suffers from incompatibility with MRI, lack of real-time monitoring, prolonged surgery time, and high cost. Many medical professionals and medical robot developers believe that to completely solve these problems, electrode implantation must be performed under MRI image guidance, i.e., simultaneous scanning and surgery. Based on this, a novel solution has been proposed: using an MRI-compatible surgical robot to replace the surgeon. Currently, a number of pioneers have emerged both domestically and internationally. Some products have already begun clinical application abroad, including NeuroBlate and ClearPoint from the United States. However, these products still have some drawbacks, including: 1) they are fixed to the patient's head (which still causes significant discomfort to the patient), have limited freedom of movement, and a small working space; 2) they only support manual implantation, which has a large margin of error; 3) they still take a long time, and in particular, they cannot meet the requirements for simultaneous implantation of dual electrodes.

[0006] Patent CN115607288A discloses a minimally invasive surgical robot compatible with MRI and CT (Computed Tomography) environments. It can adapt to the obturator cavity size of standard MRI and CT scanners and precisely adjust the position and orientation of the puncture needle within the obturator cavity, ensuring the needle punctures the skin at the planned insertion point. This minimally invasive surgical robot allows for real-time synchronization of image scanning and robot movement, eliminating the need to repeatedly move the patient into or out of the MRI or CT obturator cavity during surgery, thus reducing surgical time and improving accuracy. This minimally invasive surgical robot has multiple degrees of freedom and supports automatic insertion, which can solve the above problems to some extent. However, it still cannot achieve simultaneous insertion of two surgical instruments (such as simultaneous implantation of two electrodes) or their collaborative operation. In addition, the main actuators (puncture needle positioning modules) in this scheme are all installed on the arch structure and driven by the arch slider mechanism, which has a large load. Furthermore, the puncture needle positioning module and the puncture needle insertion module, which have a large length, will form a similar cantilever structure on the arch structure, which will pose certain challenges to the support strength of the arch and the stability of the overall structure.

[0007] Therefore, it is necessary to improve existing technologies to provide a more reliable solution. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide an MRI-compatible dual-implant neurosurgical robot that addresses the shortcomings of the prior art.

[0009] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an MRI-compatible dual-implantable neurosurgical robot, comprising:

[0010] Platform module;

[0011] The dual-implant positioning module includes two semi-arched retractable positioning sub-modules symmetrically arranged about the YOZ plane on the platform module. Each semi-arched retractable positioning sub-module includes a semi-arched retractable mechanism capable of retracting along the semi-arched arc trajectory, a first drive mechanism for driving the semi-arched retractable mechanism to rotate around the X-axis, a second drive mechanism disposed at the front end (or end) of the semi-arched retractable mechanism for providing rotation around the Z-axis, a Z-axis linear translation component for providing linear movement of the semi-arched retractable mechanism along the Z-axis, and a U-shaped bracket for supporting the semi-arched retractable mechanism and the first drive mechanism and fixedly connected to a nut on the Z-axis linear translation component.

[0012] And two implantation modules, which are used to perform electrode implantation operations, are respectively connected to the second drive mechanism of two semi-arched retractable positioning sub-modules.

[0013] The two semi-arched retractable positioning sub-modules can each carry an implantation module for positioning independently, thereby enabling the two implantation modules to perform dual implantation operations simultaneously.

[0014] Preferably, the platform module includes a mounting base plate and a head frame disposed in the middle of the mounting base plate.

[0015] Preferably, the implantation module is a manual implantation module or an automatic implantation module.

[0016] Preferably, the semi-arched telescopic mechanism includes an arc-shaped slide rail, an arc-shaped slide rail slidably disposed on the arc-shaped slide rail, and a telescopic drive mechanism; the telescopic drive mechanism is used to drive the arc-shaped slide rail to slide back and forth along the arc-shaped trajectory of the arc-shaped slide rail, so as to realize the extension or shortening of the semi-arched telescopic mechanism.

[0017] Preferably, the arc trajectories of the arc-shaped slide rail and the arc-shaped slide track are both part of a circle, and when the semi-arched telescopic mechanism is extended to its longest length, the front end of the arc-shaped slide rail can reach or cross the YOZ symmetrical plane of the two semi-arched telescopic positioning sub-modules.

[0018] Preferably, the outer contour surface of the arc-shaped slide rail is provided with an arc-shaped groove, the inner contour surface of the arc-shaped slide rail is provided with a slide rail portion that mates with the arc-shaped groove, and the outer contour surface of the arc-shaped slide rail is provided with an external tooth portion.

[0019] The telescopic drive mechanism includes a mounting bracket fixedly connected to the arc-shaped slide rail, a drive gear rotatably mounted on the mounting bracket and meshing with the external teeth, and a third drive mechanism for driving the drive gear to rotate; the third drive mechanism drives the drive gear to rotate and, through the meshing transmission between the drive gear and the external teeth, drives the arc-shaped slide rail to slide relative to the arc-shaped slide rail.

[0020] Preferably, the semi-arched telescopic positioning submodule further includes a U-shaped bracket disposed at the bottom end of the arc-shaped slide. The side of the U-shaped bracket is provided with a shaft hole, and a rotating shaft is fixedly connected to the bottom end of the arc-shaped slide. The rotating shaft is rotatably disposed in the shaft hole and is drivenly connected to the first driving mechanism disposed on the U-shaped bracket.

[0021] Preferably, the Z-axis linear translation component includes a mounting base on the mounting plate, a Z-axis translation motor, a screw shaft driven and connected to the Z-axis translation motor and arranged along the Z-axis direction, a nut sleeved on the screw shaft, and at least one guide rod parallel to the screw shaft on the mounting base. The nut has a guide hole for the guide rod to pass through.

[0022] The mounting base includes a base and two mounting vertical plates spaced apart on the base along the Z-axis direction. The screw shaft and the guide rod are both connected between the two mounting vertical plates.

[0023] The semi-arched telescopic mechanism is connected to the nut via a U-shaped bracket located at the bottom.

[0024] Preferably, the upper end of the nut is provided with a connecting shaft, and the bottom of the U-shaped bracket is provided with a connecting hole for the connecting shaft to be inserted and fixedly connected to the nut.

[0025] Preferably, each of the two semi-arched telescopic positioning sub-modules is provided with a spring balancing system, the spring balancing system including a spring fixing block connected to the output shaft of the first drive mechanism, a spring fixing plate connected to the mounting block of the second drive mechanism, and an arc-shaped spring connected between the spring fixing block and the spring fixing plate and spaced apart on the outside of the semi-arched telescopic mechanism.

[0026] Preferably, a fourth driving mechanism is further provided between the second driving mechanism and the implantation module. The fourth driving mechanism is rotatably connected to the output shaft of the second driving mechanism, and the implantation module is connected to the output shaft of the fourth driving mechanism so as to directly drive the implantation module to rotate around the X-axis through the fourth driving mechanism.

[0027] Preferably, the implantation module is a manual implantation module or an automatic implantation module.

[0028] The beneficial effects of this invention are:

[0029] This invention provides an MRI-compatible dual-electrode neurosurgical robot for DBS electrode implantation surgery. The robot utilizes two independently operating semi-arched, retractable positioning sub-modules to carry the implantation module for movement and positioning. This not only supports single-electrode implantation but also enables simultaneous dual-electrode implantation, significantly improving surgical efficiency.

[0030] In this invention, through structural optimization design, the first drive mechanism for providing the rotation function of the semi-arched telescopic mechanism around the X-axis is set at the base (i.e., the bottom), and the telescopic drive mechanism for providing the arc-shaped slide rail to achieve telescopic movement along the arc trajectory is fixedly set on the arc-shaped slide rail at a position approximately between the base and the execution end (i.e., the implanted module end), so as to reduce the weight of the execution end, reduce the load on the execution end, and improve the stability of the semi-arched structure.

[0031] The dual-implantable neurosurgical robot of the present invention not only allows MRI image scanning and robot control to be performed synchronously in real time, but also eliminates the need to repeatedly move the patient into or remove the MRI obturator during surgery, thereby reducing surgical time and improving surgical precision.

[0032] The robot of the present invention can support both manual and automatic implantation, and can be used in combination with conventional rigid surgical tool manual insertion mechanism, rigid surgical tool automatic insertion mechanism, or flexible surgical tool automatic insertion mechanism, respectively.

[0033] In the semi-arched telescopic positioning submodule of the present invention, the design of the arc-shaped slide rail and the arc-shaped slide rail structure allows the arc-shaped slide rail to slide back and forth relative to the arc-shaped slide rail to realize the extension and retraction of the semi-arched telescopic mechanism. On the one hand, it can increase the working range of the implanted module installed on the arc-shaped slide rail. On the other hand, when the arc-shaped slide rail retracts into the arc-shaped slide rail, it can reduce the instability caused by the excessive length of the cantilever structure formed at the front end of the arc-shaped slide rail. Furthermore, since the telescopic drive mechanism is located in the middle of the cantilever structure, it can also reduce the weight of the front end of the cantilever structure and improve the stability of the structure.

[0034] In this invention, during a single implantation operation, one semi-arched retractable positioning submodule supports another semi-arched retractable positioning submodule, which can also effectively help eliminate the instability risks associated with cantilever structures.

[0035] In a further preferred embodiment of the present invention, a spring balancing system is provided on each of the two semi-arched retractable positioning sub-modules. During single / double implantation operations, as the arc-shaped slide rail slides back and forth along the arc-shaped trajectory of the arc-shaped slide, the semi-arched retractable mechanism extends or shortens. At this time, the arc-shaped spring of the spring balancing system also extends or shortens along with the semi-arched retractable mechanism. During this process, the arc-shaped spring generates a pulling force on the front end of the semi-arched retractable mechanism, which can balance the load on the front end of the semi-arched retractable mechanism and reduce the instability caused by the cantilever structure. Moreover, this pulling force has an adaptive adjustment feature: as the front end of the semi-arched retractable mechanism extends more, the cantilever structure becomes longer, increasing the instability caused by it. At this time, the pulling force generated by the spring in the opposite direction of the cantilever structure due to the extension adaptively increases, which can just meet the increased balancing force required by the lengthening of the cantilever structure.

[0036] The MRI-compatible neurosurgical robot of this invention can be used for DBS electrode implantation surgery, as well as for surgical procedures requiring the insertion of other surgical instruments, such as puncture needles or ablation needles. Only the surgical instruments need to be changed according to the surgical requirements. In this case, the collaborative operation of two surgical instruments expands the robot's application range and improves surgical efficiency.

[0037] The MRI-compatible dual-implantable neurosurgical robot of the present invention can also be used for minimally invasive surgery on other organs or sites after the head frame is removed.

[0038] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall structure of the MRI-compatible dual-implantable neurosurgical robot of Example 1;

[0040] Figure 2 This is an exploded structural diagram of the MRI-compatible dual-implantable neurosurgical robot of Example 1;

[0041] Figure 3 This is a schematic diagram of the overall structure of the platform module in Example 1;

[0042] Figure 4 This is a schematic diagram of the overall structure of the semi-arched retractable positioning submodule in Example 1.

[0043] Figure 5 This is an exploded structural diagram of the semi-arched retractable positioning submodule of Example 1;

[0044] Figure 6 This is a schematic diagram of the overall structure of the semi-arched telescopic mechanism in Example 1.

[0045] Figure 7 This is an exploded structural diagram of the semi-arched telescopic mechanism of Example 1;

[0046] Figure 8 This is a schematic diagram of the U-shaped bracket in Example 1;

[0047] Figure 9 This is a schematic diagram of the overall structure of the second drive mechanism in Embodiment 1;

[0048] Figure 10 This is an exploded structural diagram of the second drive mechanism in Embodiment 1;

[0049] Figure 11 This is a schematic diagram of the Z-axis linear translation component of Example 1;

[0050] Figure 12 This is a schematic diagram of the MRI-compatible dual-implantable neurosurgical robot of Example 1 mounted on an MRI scanning table in preparation for or during neurosurgical procedures.

[0051] Figure 13 A front view of the MRI-compatible dual-implantable neurosurgical robot of Example 1 equipped with the dual-implantable module. At this time, the two semi-arched, retractable positioning sub-modules are in an independent operating state;

[0052] Figure 14 A front view of the MRI-compatible dual-implantable neurosurgical robot of Example 1 equipped with a single implantable module. At this point, the two semi-arched, retractable positioning sub-modules are in contact at their front ends and are mutually supporting each other.

[0053] Figure 15 A schematic diagram of the structure of the MRI-compatible dual-implantable neurosurgical robot of Example 1 equipped with an automated implantation module;

[0054] Figure 16 This is a schematic diagram of the MRI-compatible dual-implanted neurosurgical robot after the head frame has been removed, as shown in Example 1.

[0055] Figure 17 This is a schematic diagram of the arc-shaped slide rail in Example 2;

[0056] Figure 18 This is a schematic diagram of the structure of the arc-shaped slide rail and the arc-shaped slide track in Example 2;

[0057] Figure 19 This is a schematic diagram of the MRI-compatible dual-implantation neurosurgical robot in Example 2;

[0058] Figure 20 This is a schematic diagram of the overall structure of the MRI-compatible dual-implantation neurosurgical robot in Example 4;

[0059] Figure 21 This is an exploded structural diagram of the MRI-compatible dual-implantable neurosurgical robot of Example 4;

[0060] Figure 22 The front view of the MRI-compatible dual-implant neurosurgical robot of Example 4 equipped with a single implant module; at this point, the front ends of the two semi-arched retractable mechanisms are in contact with each other and are in a mutually supporting state.

[0061] Explanation of reference numerals in the attached figures:

[0062] 10—MRI-compatible dual-implant neurosurgical robot;

[0063] 1—Platform module; 11—Mounting base plate; 12—Head frame;

[0064] 2—Semi-arched retractable positioning submodule; 2(A)—First semi-arched retractable positioning submodule; 2(B)—Second semi-arched retractable positioning submodule;

[0065] 21—Semi-arched telescopic mechanism; 211—Arc-shaped slide rail; 212—Arc-shaped slide rail; 213—Telescopic drive mechanism; 214—Arc-shaped slide groove; 215—Slide rail section; 216—External gear section; 217—Rotating shaft; 2131—Mounting bracket; 2132—Drive gear; 2133—Third drive mechanism; 2134—Triangular plate; 2151—Roller groove; 2152—Roller;

[0066] 22—First drive mechanism;

[0067] 23—Second drive mechanism; 231—Mounting block; 232—Turbine; 233—Worm gear; 234—Rotary motor; 235—Output shaft;

[0068] 24—Z-axis linear translation component; 241—Mounting base; 242—Z-axis translation motor; 243—Screw shaft; 244—Nut; 245—Guide rod; 246—Connecting shaft; 2411—Base; 2412—Mounting vertical plate;

[0069] 25—U-shaped bracket; 251—shaft hole; 252—connecting hole;

[0070] 26—Fourth drive mechanism;

[0071] 3—Implantation module;

[0072] 4—Spring balancing system; 41—Spring fixing block; 42—Arc spring; 43—Spring fixing plate; 5—MRI scanning bed. Detailed Implementation

[0073] The present invention will be further described in detail below with reference to embodiments, so that those skilled in the art can implement it based on the description.

[0074] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0075] Example 1

[0076] Reference Figure 1-5 This embodiment provides an MRI-compatible dual-implantable neurosurgical robot 10, comprising:

[0077] Platform Module 1;

[0078] The dual-implant positioning module includes two semi-arched retractable positioning sub-modules 2 symmetrically arranged about the YOZ plane on the platform module 1. Each semi-arched retractable positioning sub-module 2 includes: a semi-arched retractable mechanism 21 capable of retracting along a semi-arched arc trajectory; a first drive mechanism 22 for driving the semi-arched retractable mechanism 21 to rotate about the X-axis; a second drive mechanism 23 located at the front end of the semi-arched retractable mechanism 21 for providing rotation about the Z-axis; a Z-axis linear translation component 24 for providing linear movement of the semi-arched retractable mechanism 21 along the Z-axis; and a U-shaped bracket 25 supporting the semi-arched retractable mechanism 21 and the first drive mechanism 22 and fixedly connected to the Z-axis linear translation component 24.

[0079] And two implantation modules 3, which are used to perform electrode implantation operations, and the two implantation modules 3 are respectively connected to the output shaft 235 of the second drive mechanism 23 of the two semi-arched telescopic positioning sub-modules 2;

[0080] The two semi-arched retractable positioning sub-modules 2 can each carry an implantation module 3 for positioning independently, thereby enabling the two implantation modules 3 to perform implantation operations simultaneously.

[0081] In this embodiment, the platform module 1 includes a mounting base plate 11 and a head frame 12 disposed in the middle of the mounting base plate 11. The head frame 12 is used to clamp and fix the patient's head and can be adjusted according to the size of the patient's head.

[0082] Reference Figure 6-7 In this embodiment, the semi-arched telescopic mechanism 21 includes an arc-shaped slide 211, an arc-shaped slide rail 212 slidably disposed on the arc-shaped slide 211, and a telescopic drive mechanism 213; the telescopic drive mechanism 213 is used to drive the arc-shaped slide rail 212 to slide back and forth along the arc-shaped trajectory of the arc-shaped slide 211, so as to realize the extension or shortening of the semi-arched telescopic mechanism 21.

[0083] In this embodiment, the arcuate trajectories of the arcuate slide 211 and the arcuate slide rail 212 are both part of a circle. When the semi-arched telescopic mechanism 21 is extended to its maximum length, the front end of the arcuate slide rail 212 can reach or cross the YOZ symmetrical plane of the two semi-arched telescopic positioning sub-modules 2. For example, the arcuate trajectories of the arcuate slide 211 and the arcuate slide rail 212 are both approximately 1 / 8 of a circle, and when the semi-arched telescopic mechanism 21 is extended to its maximum length, its trajectory is approximately 1 / 4 of a circle. This ensures that the implanted modules 3 on the two semi-arched telescopic positioning sub-modules 2 can be moved to at least or beyond the YOZ symmetrical plane of the two semi-arched telescopic positioning sub-modules 2, so as to ensure that the implanted modules 3 on the two semi-arched telescopic positioning sub-modules 2 have sufficient working space and, in some cases, can support each other through the top contact of their front ends.

[0084] In this embodiment, the outer contour surface of the arc-shaped slide rail 211 is provided with an arc-shaped slide groove 214, and the inner contour surface of the arc-shaped slide rail 212 is provided with a slide rail portion 215 that cooperates with the arc-shaped slide groove 214. The slide rail portion 215 and the arc-shaped slide groove 214 form a sliding pair; the outer contour surface of the arc-shaped slide rail 212 is provided with an external tooth portion 216.

[0085] The telescopic drive mechanism 213 includes a mounting bracket 2131 fixedly connected to the arc-shaped slide rail 211, a drive gear 2132 rotatably mounted on the mounting bracket 2131 and meshing with the external toothed part 216, and a third drive mechanism 2133 for driving the drive gear 2132 to rotate. The third drive mechanism 2133 drives the drive gear 2132 to rotate and drives the arc-shaped slide rail 212 to slide relative to the arc-shaped slide rail 211 through the meshing of the drive gear 2132 with the external toothed part 216.

[0086] In this embodiment, the mounting frame 2131 includes two triangular plates 2134 fixedly connected to both sides of the arc-shaped slide 211, and the drive gear 2132 is rotatably connected between the two triangular plates 2134.

[0087] Continue to refer to Figure 4-8In this embodiment, the semi-arched telescopic positioning submodule 2 also includes a U-shaped bracket 25 disposed at the bottom end of the arc-shaped slide 211. The side of the U-shaped bracket 25 is provided with a shaft hole 251. The bottom end of the arc-shaped slide 211 is fixedly connected to a rotating shaft 217. The rotating shaft 217 is rotatably disposed in the shaft hole 251 and is drivenly connected to the first driving mechanism 22 disposed on the U-shaped bracket 25.

[0088] In this embodiment, both the first drive mechanism 22 and the second drive mechanism 23 are conventional worm gear mechanisms. (Refer to...) Figure 9-10 Taking the second drive mechanism 23 as an example, its main structure includes: a mounting block 231, a turbine 232 rotatably mounted on the mounting block 231, an output shaft 235 rotatably mounted on the mounting block 231 and fixedly connected to the turbine 232, a worm 233 rotatably mounted on the mounting block 231 and meshing with the turbine 232, and a rotary motor 234 mounted on the mounting block 231 for driving the worm 233 to rotate. The mounting block 231 is connected to the front end of the arc-shaped slide rail 212; the implanted module 3 is driven and connected to the output shaft 235 of the turbine 232. The working principle is as follows: the rotary motor 234 drives the turbine 232 to rotate through the worm 233, and then drives the implanted module 3 to rotate around the Z-axis through the output shaft 235 on the turbine 232. The working principle of the first drive mechanism 22 is the same as that of the second drive mechanism 23, and will not be described again. The third drive mechanism 2133 can be a worm gear mechanism or a single drive motor, etc.

[0089] Continue to refer to Figure 4-5 and Figure 11 In this embodiment, the Z-axis linear translation component 24 includes a mounting base 241 mounted on the mounting base plate 11, a Z-axis translation motor 242, a screw shaft 243 driven and connected to the Z-axis translation motor 242 and arranged along the Z-axis direction, a nut 244 sleeved on the screw shaft 243, and at least one guide rod 245 parallel to the screw shaft 243 mounted on the mounting base 241. The nut 244 has a guide hole for the guide rod 245 to pass through. The mounting base 241 includes a base 2411 and two mounting vertical plates 2412 spaced apart along the Z-axis direction on the base 2411. The screw shaft 243 and the guide rod 245 are both connected between the two mounting vertical plates 2412. The semi-arched telescopic mechanism 21 is rotatably connected to the U-shaped bracket 25 through its pivot 217, while the U-shaped bracket 25 is fixedly connected to the nut 244.

[0090] Working principle: The Z-axis translation motor 242 drives the screw shaft 243 to rotate. Under the restriction of the guide rod 245, the nut 244 cannot rotate but can only move linearly along the length direction of the screw shaft 243 and the guide rod 245, thereby driving the semi-arched telescopic mechanism 21 to move linearly back and forth along the Z-axis.

[0091] It should be understood that the Z-axis linear translation component 24 can also be other products that can provide the above-mentioned linear drive function, such as a lead screw motor drive mechanism, a belt and pulley drive mechanism, an electric push rod mechanism, a cylinder mechanism, etc.

[0092] In this embodiment, each semi-arched retractable positioning submodule 2 includes at least four degrees of freedom: a linear movement V1 along the Z-axis, used to drive the semi-arched retractable mechanism 21, the implantation module 3, etc., to move linearly along the Z-axis; a rotation R1 around the X-axis, used to drive the semi-arched retractable mechanism 21, the implantation module 3, etc., to rotate around the X-axis; and two rotations R2 and R3 around the Z-axis. R2 is driven by the meshing of the drive gear 2132 with the external teeth 216 provided on the outer contour surface of the arc-shaped slide rail 212, which drives the arc-shaped slide rail 212 to slide back and forth along the arc-shaped track 211, thereby realizing the position adjustment in the X-axis and Y-axis directions; while R3 drives the implantation module 3 to rotate around the Z-axis.

[0093] Reference Figure 12 This is a schematic diagram of the MRI-compatible neurosurgical robot 10 of this embodiment being mounted on the MRI scanning table 5 in preparation for or during neurosurgical procedures.

[0094] All power units (motors, etc.) used in this invention employ MRI-compatible equipment, and other electrical components and mechanical parts are also made of MRI-compatible materials to ensure the robot's compatibility with MRI environments. For example, the power unit used in this invention is a magnetically compatible ultrasonic motor; and the materials used for the robot's mechanical parts are primarily high-strength, magnetically compatible, and biocompatible non-metallic materials, such as ULTEM and PEEK, which are well-known to those skilled in the art and can be selected using conventional methods.

[0095] In this invention, to enable the two implantable modules 3 to perform independent motion positioning (especially independent rotation around the X-axis without interference) and surgical implantation, two semi-arched retractable positioning sub-modules 2 are used, each independently carrying one implantable module 3. Since the front ends of the two semi-arched retractable positioning sub-modules 2 are not connected or in contact, their movement and rotation will not interfere with or restrict each other. However, this inevitably results in a cantilever structure at the front end of the semi-arched retractable positioning sub-modules 2. To reduce the impact of the cantilever structure on stability, this invention effectively solves this problem through the following improvements:

[0096] 1. The semi-arched retractable positioning submodule 2 is designed as a retractable structure, and the impact is reduced by shortening the cantilever when there is no need for use;

[0097] 2. In some cases, the mutual contact support between the two semi-arched retractable positioning sub-modules 2 can also help eliminate the instability risks associated with cantilever structures.

[0098] The MRI-compatible dual-implantation neurosurgical robot 10 of this embodiment is suitable for simultaneous dual-implantation operations, as well as asynchronous dual-implantation operations or single-implantation operations. Furthermore, when used for single-implantation operations, one of the semi-arched retractable positioning sub-modules 2 can be used to support the other semi-arched retractable positioning sub-module 2 to better ensure structural stability. Taking DBS surgical electrode implantation as an example, its working method is as follows:

[0099] S1. During DBS surgery, the two implantation points are generally located on both sides of the head. When performing dual implantation, the two implantation modules 3 need to move to their respective implantation points and rotate to the required angle (i.e., the angle consistent with the planned implantation path). Then, the electrodes are implanted manually or automatically using the implantation tools on the implantation modules 3. In this embodiment, the semi-arched retractable positioning submodule 2 supports both manual and automatic implantation modules; only the corresponding implantation module 3 needs to be selected for installation, offering high flexibility. The robot's working steps are as follows:

[0100] Continue to refer to Figure 12-13 The system controls two semi-arched retractable positioning sub-modules 2 and their respective implantation modules 3 to move to the target position and rotate to the required implantation angle. Specifically, the Z-axis linear translation component 24 enables linear movement in the Z-axis direction (i.e., Z-axis position adjustment), and the semi-arched retractable mechanism 21 provides movement along a circular arc trajectory within a certain range (i.e., X-axis and Y-axis position adjustment), thereby moving the implantation module 3 to the target position. Then, the first drive mechanism 22 provides rotational freedom around the X-axis, and the second drive mechanism 23 provides rotational freedom around the Z-axis, thereby adjusting the implantation angle of the implantation module 3 and aligning the implantation electrode with the planned implantation path. Finally, the two implantation modules 3 each perform the implantation operation.

[0101] S2. In certain situations, such as when the implanted module 3 is heavy, to improve the stability of the robotic system, the MRI-compatible dual-implantation neurosurgical robot 10 can also be operated asynchronously with either dual or single implantation to ensure the necessary surgical precision. Taking single implantation as an example, refer to... Figure 14 Let the two semi-arched retractable positioning sub-modules 2 be: the one that needs to be implanted is the first semi-arched retractable positioning sub-module 2 (A) (also called the implantation positioning module), and the other is the second semi-arched retractable positioning sub-module 2 (B) (also called the support positioning module).

[0102] First, control the first semi-arched retractable positioning submodule 2(A) to move the implantation module 3 to the implantation target position and adjust it to the required posture for positioning;

[0103] Secondly, the operation of the second semi-arched retractable positioning submodule 2(B) is controlled. The Z-axis linear translation component 24 of the second semi-arched retractable positioning submodule 2(B) realizes the position adjustment in the Z-axis direction, and the rotation angle of the semi-arched retractable mechanism 21 around the X-axis is controlled by the first drive mechanism 22, so that the semi-arched retractable mechanism 21 of the second semi-arched retractable positioning submodule 2(B) and the semi-arched retractable mechanism 21 of the first semi-arched retractable positioning submodule 2(A) are in the same XOY plane and parallel to each other;

[0104] Then, the telescopic drive mechanism 213 of the second semi-arched telescopic positioning submodule 2(B) is activated, causing the front end of the arc-shaped slide rail 212 of the second semi-arched telescopic positioning submodule 2(B) to move towards the first semi-arched telescopic positioning submodule 2(A), slowly contacting and pressing against the front end of the arc-shaped slide rail 212 of the first semi-arched telescopic positioning submodule 2(A), thereby supporting the first semi-arched telescopic positioning submodule 2(A) through the second semi-arched telescopic positioning submodule 2(B); Figure 14 As shown, the right side is the implanted positioning module, and the left side is the supporting positioning module (the implanted module 3 on the left side has been removed at this time).

[0105] Then, control the two semi-arched retractable positioning sub-modules 2(A) and 2(B) to work synchronously, and perform precise attitude adjustment and positioning on the implanted module 3 set in the first semi-arched retractable positioning sub-module 2(A);

[0106] Finally, the electrode implantation operation is performed via the implantation module 3 on the first semi-arched retractable positioning submodule 2(A).

[0107] At this time, the first semi-arched retractable positioning submodule 2(A) is supported by the second semi-arched retractable positioning submodule 2(B), which effectively helps to eliminate the instability risks brought about by the cantilever structure.

[0108] In this embodiment, implantation module 3 is a conventional manual implantation module; it can also be... Figure 15 The examples shown are conventional automated implantation modules (such as the puncture needle insertion module in patent CN115607288A) or flexible automated implantation modules (such as the flexible needle puncture device in patent CN114259282 B).

[0109] Reference Figure 16This is a schematic diagram of the structure of the dual-implanted neurosurgical robot in this embodiment when the head frame 12 is removed. After the head frame 12 is removed, the robot can also be used for minimally invasive surgery on other organs or sites, and it has wide applicability.

[0110] Example 2

[0111] Reference Figure 17-19 As a further improvement based on Embodiment 1, a roller groove 2151 is provided at the bottom of the slide rail 215. Several rollers 2152 are rotatably connected in the roller groove 2151 so that the rollers 2152 can form rolling contact with the arc-shaped slide groove 214, thereby achieving smoother and more stable sliding between the slide rail 215 and the arc-shaped slide groove 214.

[0112] Example 3

[0113] As a further improvement based on Embodiment 1, in this embodiment, a flexible pad (not shown in the figure) is provided on the outer end face of the second drive mechanism 23 of at least one semi-arched retractable positioning submodule 2. This flexible pad can be made of flexible materials such as rubber or sponge, and is used to provide a flexible contact surface when the outer ends of the second drive mechanisms 23 of the two semi-arched retractable positioning submodules 2 are in contact with each other for support, thus better protecting the mechanism. The working method for single and double implantation in this embodiment is the same as in Embodiment 1; the only difference is that by providing a flexible pad, flexible contact between the two semi-arched retractable positioning submodules 2 can be achieved when they are supported.

[0114] Example 4

[0115] To better address the cantilever structure problem, a spring balancing system 4 can also be implemented. The reverse tension generated by the spring balancing system 4 can balance the front end of the semi-arched telescopic mechanism 21, eliminating the potential structural instability caused by a large load on the front end of the cantilever structure. Furthermore, this balancing effect has the characteristic of adaptive adjustment.

[0116] As a further improvement based on Example 1, referring to Figure 20-22 In this embodiment, each of the two semi-arched telescopic positioning sub-modules 2 is provided with a spring balancing system 4. The spring balancing system 4 includes a spring fixing block 41 connected to the output shaft of the first drive mechanism 22, a spring fixing plate 43 connected to the mounting block 231 of the second drive mechanism 23, and an arc-shaped spring 42 connected between the spring fixing block 41 and the spring fixing plate 43 and spaced apart on the outside of the semi-arched telescopic mechanism 21.

[0117] Since the lower end of the spring balancing system 4 is connected to the output shaft of the first drive mechanism 22, when the first drive mechanism 22 drives the semi-arched telescopic mechanism 21 to rotate around the X-axis, the spring balancing system 4 will also rotate accordingly. Therefore, the spring balancing system 4 will not interfere with the movement of the semi-arched telescopic mechanism 21.

[0118] When the arc-shaped slide rail 212 slides back and forth along the arc-shaped track 211 to extend or shorten the semi-arched telescopic mechanism 21, the arc-shaped spring 42 will also extend or shorten along with the semi-arched telescopic mechanism 21. During this process, the arc-shaped spring 42 will exert a counter-direction (towards the first drive mechanism) pulling force on the front end of the semi-arched telescopic mechanism 21. The longer the semi-arched telescopic mechanism 21 extends, the greater the counter-direction pulling force generated by the arc-shaped spring 42, which can autonomously balance the load on the front end of the semi-arched telescopic mechanism 21, reducing the instability caused by the cantilever structure. Furthermore, this balancing action has adaptive adjustment characteristics, as detailed below:

[0119] When the implantation site is in a region close to the YOZ symmetrical plane of the two semi-arched telescopic positioning sub-modules 2, the more the front end of the semi-arched telescopic mechanism 21 needs to extend, the longer the cantilever structure becomes, which increases the potential instability. At this time, the tension generated by the arc spring 42 in the opposite direction of the cantilever structure due to the extension increases adaptively, which can just meet the increased demand for the balance force required by the lengthening of the cantilever structure.

[0120] When the implantation site is located on the outer side (i.e., in the area far from the plane of symmetry YOZ), the arc-shaped slide rail 212 will be relatively retracted into the arc-shaped slide channel 211, the semi-arched telescopic mechanism 21 will be shortened, the cantilever structure will be shortened, and the potential instability will be reduced. Therefore, the required balancing force of the arc-shaped spring 42 will also be relatively reduced, which is just right to deal with this situation.

[0121] The selection of the maximum elongation of the arc spring 42 must meet the following condition: when both semi-arched telescopic mechanisms 21 of the two semi-arched telescopic positioning sub-modules 2 are extended to their longest length, the arc spring 42 either reaches its maximum elongation or has not yet reached its maximum elongation.

[0122] Furthermore, in this embodiment, a fourth drive mechanism 26 is also provided between the second drive mechanism 23 and the implantation module 3. The fourth drive mechanism 26 is connected to the output shaft 235 of the second drive mechanism 23, and the implantation module 3 is connected to the output shaft of the fourth drive mechanism 26, so that the implantation module 3 can be directly driven to rotate around the X-axis through the fourth drive mechanism 26. The fourth drive mechanism 26 is a conventional worm gear mechanism, with the same structure as the second drive mechanism 23.

[0123] The robot system of this invention supports dual oblique insertion, meaning that the implantation module 3 can be inserted in the sagittal plane (i.e., the YOZ plane) or a plane parallel to it, and in the transverse plane (i.e., the XOY plane) or a plane parallel to it. In other words, the implantation module 3 can achieve rotational movements around the X-axis and Z-axis respectively. For example, in Embodiment 1, the second drive mechanism 23 drives the implantation module 3 mounted thereon to rotate around the Z-axis, while the first drive mechanism 22 directly drives the semi-arched telescopic mechanism 21 and the implantation module 3 to rotate around the X-axis.

[0124] In certain situations, such as when the robotic system moves below the human head and surgical instruments need to be inserted into areas like the abdomen, the rotation angle range of the semi-arched retractable mechanism 21 around the X-axis, driven by the first drive mechanism 22, is limited by the human body. To ensure the movement requirements of the surgical space, this embodiment adds a fourth drive mechanism 26 to directly drive and adjust the rotation angle of the implantation module 3 around the X-axis. The fourth drive mechanism 26 can independently control the rotation of the implantation module 3 around the X-axis, better ensuring the movement requirements of the surgical space. Compared to the first drive mechanism 22, which drives both the entire semi-arched retractable mechanism 21 and the implantation module 3 around the X-axis, the fourth drive mechanism 26 directly drives the implantation module 3 to rotate around the X-axis at a larger angle with less load, making it easier to achieve higher precision positioning. Therefore, in this embodiment, the first drive mechanism 22 can drive the entire semi-arched retractable mechanism 21 to rotate around the X-axis for coarse positioning, and then the fourth drive mechanism 26 can independently drive the implantation module 3 to rotate around the X-axis for precise positioning.

[0125] The following description, in conjunction with the specific working method of this embodiment, provides further explanation.

[0126] Taking DBS electrode implantation surgery as an example, the MRI-compatible dual-electrode neurosurgical robot 10 in this embodiment can perform both dual-electrode implantation and single-electrode implantation. Its working method is as follows:

[0127] S1. When performing dual implantation, the two implantation points are generally located on both sides of the head. In this case, the two implantation modules 3 need to reach their respective implantation points and rotate to the required angle. Then, the implantation operation is performed manually or automatically using the implantation tools on the implantation modules 3. In this embodiment, the semi-arched retractable positioning submodule 2 supports both manual and automatic implantation modules; simply select the appropriate implantation module 3 for installation, offering high flexibility. The robot's working steps are as follows:

[0128] The two semi-arched retractable positioning sub-modules 2 operate independently, each carrying an implantation module 3 to the target position and adjusting it to the required implantation angle. Specifically, linear movement in the Z-axis direction is achieved through the Z-axis linear translation component 24 (i.e., Z-axis position adjustment), and movement along a circular arc trajectory within a certain range is provided through the semi-arched retractable mechanism 21 (i.e., X-axis and Y-axis position adjustment), thereby moving the implantation module 3 to the target position. Then, rotational freedom around the X-axis is provided through the first drive mechanism 22 and the fourth drive mechanism 26, and rotational freedom around the Z-axis is provided through the second drive mechanism 23, thereby adjusting the implantation angle of the implantation module 3 and aligning the implantation electrode with the planned implantation path, such as... Figure 20 Finally, the implantation operation is performed by each of the two implantation modules 3.

[0129] S2. When performing a single implantation, continue to refer to... Figure 22 Let the two semi-arched retractable positioning sub-modules 2 be: the one that needs to be implanted is the first semi-arched retractable positioning sub-module 2 (A) (also called the implantation positioning module), and the other is the second semi-arched retractable positioning sub-module 2 (B) (also called the support positioning module).

[0130] First, control the first semi-arched retractable positioning submodule 2(A) to move the implantation module 3 to the implantation target position and adjust it to the required posture for positioning;

[0131] Next, the operation of the second semi-arched retractable positioning submodule 2(B) is controlled. The Z-axis linear translation component 24 of the second semi-arched retractable positioning submodule 2(B) realizes the position adjustment in the Z-axis direction, and the rotation angle of the semi-arched retractable mechanism 21 around the X-axis is controlled by the first drive mechanism 22, so that the semi-arched retractable mechanism 21 of the second semi-arched retractable positioning submodule 2(B) and the semi-arched retractable mechanism 21 of the first semi-arched retractable positioning submodule 2(A) are in the same XOY plane and parallel to each other;

[0132] Then, the telescopic drive mechanism 213 of the second semi-arched telescopic positioning submodule 2(B) is activated, causing the front end of the arc-shaped slide rail 212 of the second semi-arched telescopic positioning submodule 2(B) to move towards the first semi-arched telescopic positioning submodule 2(A), slowly contacting and pressing against the front end of the arc-shaped slide rail 212 of the first semi-arched telescopic positioning submodule 2(A), thereby supporting the first semi-arched telescopic positioning submodule 2(A) through the second semi-arched telescopic positioning submodule 2(B); Figure 22 As shown, the right side is the implanted positioning module, and the left side is the supporting positioning module (the implanted module 3 on the left side has been removed at this time).

[0133] Then, control the two semi-arched retractable positioning sub-modules 2(A) and 2(B) to work synchronously, and perform precise attitude adjustment and positioning on the implanted module 3 set in the first semi-arched retractable positioning sub-module 2(A);

[0134] Finally, the implantation operation is performed via the implantation module 3 on the first semi-arched retractable positioning submodule 2(A).

[0135] It should be understood that in the above embodiments 1-4, even without auxiliary support at the front end of the semi-arched retractable positioning submodule 2, the design has already ensured that the MRI-compatible dual implantable neurosurgical robot 10 can work normally. The significance of providing auxiliary support is that it can further ensure the stability of the structure when needed. Especially when the structural stability of the robot weakens during long-term use or when the front end load is large, it will have significant benefits in improving the positioning accuracy of the semi-arched retractable positioning submodule 2 and extending its service life.

[0136] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Those skilled in the art can readily implement the present invention based on the accompanying drawings and the description above. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the present invention, utilizing the disclosed technical content, are equivalent embodiments of the present invention. Furthermore, any equivalent changes, alterations, or variations made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the present invention.

Claims

1. An MRI-compatible dual-implantable neurosurgical robot, characterized in that, include: Platform module; The dual-implant positioning module includes two semi-arched retractable positioning sub-modules symmetrically arranged about the YOZ plane on the platform module. Each semi-arched retractable positioning sub-module includes a semi-arched retractable mechanism capable of retracting along the semi-arched arc trajectory, a first drive mechanism for driving the semi-arched retractable mechanism to rotate around the X-axis, a second drive mechanism disposed at the front end of the semi-arched retractable mechanism for providing rotation around the Z-axis, and a Z-axis linear translation component for providing linear movement of the semi-arched retractable mechanism along the Z-axis. And two implantation modules, which are used to perform electrode implantation operations, are respectively mounted on the second drive mechanism of two semi-arched telescopic positioning sub-modules. The two semi-arched retractable positioning sub-modules can each independently drive an implantation module for positioning, thus enabling simultaneous dual implantation operations through the two implantation modules.

2. The MRI-compatible dual-implantable neurosurgical robot according to claim 1, characterized in that, The platform module includes a mounting base plate and a head frame located in the middle of the mounting base plate; the implantation module is a manual implantation module or an automatic implantation module.

3. The MRI-compatible dual-implantable neurosurgical robot according to claim 1, characterized in that, The semi-arched telescopic mechanism includes an arc-shaped slide rail, an arc-shaped slide rail slidably disposed on the arc-shaped slide rail, and a telescopic drive mechanism; the telescopic drive mechanism is used to drive the arc-shaped slide rail to slide back and forth along the arc-shaped trajectory of the arc-shaped slide rail, so as to realize the extension or shortening of the semi-arched telescopic mechanism.

4. The MRI-compatible dual-implantable neurosurgical robot according to claim 3, characterized in that, The arc-shaped slide and the arc-shaped slide rail are both part of a circle. When the semi-arched telescopic mechanism is extended to its longest length, the front end of the arc-shaped slide rail can reach or cross the YOZ symmetrical plane of the two semi-arched telescopic positioning sub-modules.

5. The MRI-compatible dual-implantable neurosurgical robot according to claim 4, characterized in that, The outer contour surface of the arc-shaped slide rail is provided with an arc-shaped groove, the inner contour surface of the arc-shaped slide rail is provided with a slide rail part that mates with the arc-shaped groove, and the outer arc contour surface of the arc-shaped slide rail is provided with an external tooth part. The telescopic drive mechanism includes a mounting bracket fixedly connected to the arc-shaped slide rail, a drive gear rotatably mounted on the mounting bracket and meshing with the external teeth, and a third drive mechanism for driving the drive gear to rotate; the third drive mechanism drives the drive gear to rotate, causing the arc-shaped slide rail to slide relative to the arc-shaped slide rail.

6. The MRI-compatible dual-implantable neurosurgical robot according to claim 5, characterized in that, The semi-arched retractable positioning submodule also includes a U-shaped bracket disposed at the bottom end of the arc-shaped slide. The side of the U-shaped bracket has a shaft hole, and the bottom end of the arc-shaped slide is connected to a rotating shaft. The rotating shaft is rotatably disposed in the shaft hole and is drivenly connected to the first driving mechanism disposed on the U-shaped bracket.

7. The MRI-compatible dual-implantable neurosurgical robot according to claim 2, characterized in that, The Z-axis linear translation component includes a mounting base on the mounting base plate, a Z-axis translation motor, a screw shaft driven and connected to the Z-axis translation motor and arranged along the Z-axis direction, a nut sleeved on the screw shaft, and at least one guide rod parallel to the screw shaft. The nut has a guide hole for the guide rod to pass through. The mounting base includes a base and two mounting vertical plates spaced apart on the base along the Z-axis direction. The screw shaft and the guide rod are both connected between the two mounting vertical plates. The semi-arched telescopic mechanism is connected to the nut via a U-shaped bracket located at the bottom.

8. The MRI-compatible dual-implantable neurosurgical robot according to claim 7, characterized in that, The upper end of the nut is provided with a connecting shaft, and the bottom of the U-shaped bracket is provided with a connecting hole for the connecting shaft to be inserted.

9. The MRI-compatible dual-implantable neurosurgical robot according to claim 1, characterized in that, Each of the two semi-arched telescopic positioning sub-modules is equipped with a spring balancing system. The spring balancing system includes a spring fixing block connected to the output shaft of the first drive mechanism, a spring fixing plate connected to the mounting block of the second drive mechanism, and an arc-shaped spring connected between the spring fixing block and the spring fixing plate and spaced apart on the outside of the semi-arched telescopic mechanism.

10. The MRI-compatible dual-implantation neurosurgical robot according to claim 1, characterized in that, A fourth drive mechanism is also provided between the second drive mechanism and the implantation module. The fourth drive mechanism is connected to the output shaft of the second drive mechanism, and the implantation module is connected to the output shaft of the fourth drive mechanism so as to directly drive the implantation module to rotate around the X-axis through the fourth drive mechanism.

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