Positioning device and method for neurosurgical robot

Abstract

The invention discloses a positioning device and method for a neurosurgical robot. The device comprises two slidable semi-arched positioning modules and an elastic part, wherein the two slidable semi-arched positioning modules are arranged symmetrically about a YOZ plane, and the elastic part is arranged between the two slidable semi-arched positioning modules. The slidable semi-arched positioning module comprises a base, an arc-shaped supporting rail rotatably arranged on the base, an arc-shaped outer gear sliding rail slidably arranged on the arc-shaped supporting rail, a driving device of the arc-shaped outer gear sliding rail, a first driving mechanism arranged at the upper end of the arc-shaped supporting rail and a second driving mechanism arranged on the base. The positioning device provided by the invention can be used for accurate positioning of double-electrode synchronous implantation operation in a neurosurgical robot DBS operation, so that the efficiency is improved; the two slidable semi-arched positioning modules can work independently, so that the two slidable semi-arched positioning modules can respectively carry one implantation module for positioning, and synchronous implantation of double electrodes is realized through the two implantation modules.

Description

Technical Field

[0001] This invention relates to the field of medical robots, and in particular to a positioning device and method for a neurosurgical robot. Background Technology

[0002] 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 electrical stimulator 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 consisting of 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 patient's head, currently usually using a sequential, step-by-step implantation method. The most critical part of the surgery lies in the accurate implantation of the stimulation electrodes into the patient's head, requiring not only deep implantation but also high precision, down to the sub-millimeter level. Therefore, precise positioning of the stimulation electrodes at the implantation site (i.e., the implantation posture and orientation, highly consistent with the planned implantation path) is extremely important, leading to the development of specialized positioning mechanisms for the precise positioning of stimulation electrodes or other surgical instruments at their implantation sites. For example, patent CN218515792U discloses a multi-degree-of-freedom reconfigurable positioning device, and CN115607288A discloses a minimally invasive surgical robot compatible with MRI and CT environments. Both of these solutions provide related positioning mechanisms, but they can only perform single-electrode implantation positioning and cannot achieve the synchronous implantation positioning function of dual electrodes.

[0005] Therefore, it is necessary to improve existing technologies to provide a more reliable solution. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a positioning device and method for neurosurgical robots, addressing the shortcomings of the prior art.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a positioning device for a neurosurgical robot, comprising two slidable semi-arched positioning modules arranged symmetrically about the YOZ plane and an elastic element disposed between the two slidable semi-arched positioning modules.

[0008] The slidable semi-arched positioning module includes a base, an arc-shaped support rail rotatably mounted on the base, an arc-shaped external gear slide rail slidably mounted on the arc-shaped support rail, a driving device for driving the arc-shaped external gear slide rail to slide along the arc-shaped trajectory of the arc-shaped support rail, a first driving mechanism mounted on the upper end of the arc-shaped external gear slide rail, and a second driving mechanism mounted on the base for driving the arc-shaped support rail to rotate around the X-axis; the first driving mechanism is used to drive the implantation module mounted thereon to rotate around the Z-axis, and the two slidable semi-arched positioning modules are used to independently position the two implantation modules mounted thereon, and the implantation modules are used to perform implantation operations.

[0009] Preferably, the outer contour surface of the arc-shaped support rail is provided with an arc-shaped groove, the inner contour surface of the arc-shaped external gear slide rail has an arc-shaped track that can be slidably disposed in the arc-shaped groove, and the outer contour surface of the arc-shaped external gear slide rail has an external tooth portion.

[0010] Preferably, the drive device includes a mounting bracket fixedly connected to the arc-shaped support 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.

[0011] Preferably, the mounting bracket includes two mounting plates fixed to both sides of the arc-shaped support rail, and the drive gear is rotatably disposed between the two mounting plates.

[0012] Preferably, the third drive mechanism drives the arc-shaped external gear slide rail to slide back and forth along the arc-shaped trajectory on the arc-shaped support rail via the drive gear, thereby enabling the first drive mechanism located at the upper end of the arc-shaped external gear slide rail to move back and forth along the arc-shaped trajectory in the space between the two bases. When the first drive mechanism is moved to the farthest end, the implanted module installed on the first drive mechanism can reach or cross the symmetrical plane YOZ of the two slidable semi-arched positioning modules.

[0013] Preferably, the arc-shaped groove on the arc-shaped support rail and the arc-shaped track of the arc-shaped external gear slide rail are both part of a circle, and the arc-shaped track matches the arc-shaped groove.

[0014] Preferably, the elastic element is a spring, and the two ends of the spring are respectively connected to the first drive mechanism on the two slidable semi-arched positioning modules.

[0015] Preferably, the base is a U-shaped bracket with a shaft hole, and the bottom end of the arc-shaped support rail is connected to a rotating shaft. The rotating shaft is rotatably disposed in the shaft hole and drivenly connected to the second driving mechanism disposed on the U-shaped bracket.

[0016] Preferably, this positioning device can be used for the positioning and implantation of single or double implantation of robotic electrodes in neurosurgery. Taking DBS electrode implantation surgery as an example, the positioning and implantation method is as follows:

[0017] S1. When performing single implantation positioning, the sliding semi-arched positioning module that needs to be implanted is designated as the first sliding semi-arched positioning module, and the other is designated as the second sliding semi-arched positioning module.

[0018] The first sliding semi-arched positioning module is controlled to move the implanted module to the target position for positioning.

[0019] Then, control the second sliding semi-arched positioning module to operate. Control the rotation angle of the second sliding semi-arched positioning module around the X-axis through the second drive mechanism so that the second sliding semi-arched positioning module and the first sliding semi-arched positioning module are in the same XOY plane and parallel to each other. Then, control the third drive mechanism to operate so that the arc-shaped external gear slide rail of the second sliding semi-arched positioning module moves toward the first sliding semi-arched positioning module and supports the first sliding semi-arched positioning module through the elastic element.

[0020] Then the implantation operation is performed through the implantation module on the first slidable semi-arched positioning module;

[0021] S2. When performing dual implantation positioning:

[0022] S2-1. If the offset of the two implantation points along the Z direction is not greater than the preset allowable value, the synchronous dual implantation working mode is adopted. The steps are as follows: control the two sliding semi-arched positioning modules to work independently, and move the two implantation modules to their respective target positions for positioning by controlling the first drive mechanism, the second drive mechanism and the third drive mechanism, and then perform the implantation operation by the two implantation modules respectively.

[0023] S2-2. If the offset between the two implantation points along the Z direction is greater than the preset allowable value, the asynchronous dual implantation working mode is adopted. The steps are as follows: first, perform the positioning and implantation operation on one implantation point according to the method of step S1, and then repeat step S1 to perform the positioning and implantation operation on the other implantation point.

[0024] The beneficial effects of this invention are:

[0025] The positioning device provided by this invention can be used for precise positioning of dual-electrode synchronous implantation in DBS surgery using a neurosurgical robot, thereby improving efficiency. The two slidable semi-arched positioning modules in this invention can work independently of each other, so that each can carry an implantation module for positioning, and then the synchronous implantation of dual electrodes can be achieved through the two implantation modules.

[0026] In the positioning device of the present invention, the cooperative design of the arc-shaped support rail and the arc-shaped external gear slide rail structure allows the arc-shaped external gear slide rail to slide relative to the arc-shaped support rail to achieve extension and retraction. On the one hand, it can increase the working range of the implanted module installed on the first drive mechanism at the upper end of the arc-shaped external gear slide rail. On the other hand, when the arc-shaped external gear slide rail retracts into the arc-shaped support rail, it can reduce the instability caused by the excessive length of the cantilever structure formed by the load at the upper end of the arc-shaped external gear slide rail. Furthermore, since the drive device is located in the middle of the cantilever structure, it can also reduce the weight at the upper end of the cantilever structure and improve the stability of the structure.

[0027] In this invention, during simultaneous dual-electrode implantation, the two slidable semi-arched positioning modules can also provide mutual support through the connection of springs, and the more the springs are compressed, the stronger the support. When the arc-shaped external gear slide rail extends, making the cantilever structure longer, the springs are compressed more, thus providing stronger support for the two positioning modules. This can compensate for the increased instability caused by the extension of the cantilever structure. That is, through the connection of the springs, the supporting force of the springs can adaptively increase as the cantilever structure lengthens. When the arc-shaped external gear slide rail retracts into the arc-shaped support rail, the supporting effect of the springs weakens. At this time, since the cantilever structure becomes shorter, the instability risk is reduced, and there is no need or a reduction in the support for the positioning modules. In addition, even if the springs have a certain lateral offset (for example, not more than 2% of the free length of the support spring), the connection of the springs will not affect the movement between the two slidable semi-arched positioning modules.

[0028] In this invention, springs are used to provide flexible support, which can avoid the potential damage to equipment caused by rigid support.

[0029] The positioning device of the present invention can also be used for single electrode implantation. In some cases, two slidable semi-arched positioning modules can work together. One slidable semi-arched positioning module (called the implantation positioning module) is used to carry the implantation module, and the other slidable semi-arched positioning module (called the support positioning module) is held against the former by a connecting spring and provides flexible support to the former, thereby better ensuring the stability of the implantation positioning module.

[0030] The positioning device of the present invention has at least three degrees of freedom: rotation about the X-axis, rotation about the Z-axis, and sliding along the arc-shaped trajectory of the arc-shaped support rail. Furthermore, by adding a translation mechanism, the base of the slidable semi-arched positioning module can be provided with linear movement along the Z-axis, which increases the flexibility of the positioning device and can well meet the implantation positioning requirements under normal circumstances.

[0031] The sliding semi-arched positioning module in the positioning device of the present invention supports both manual implantation and automatic implantation modules. It is highly flexible as long as the appropriate implantation module is selected for installation.

[0032] The positioning device of this invention can be used for DBS electrode implantation surgery in neurosurgical robots, as well as other surgical procedures requiring the insertion of 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 coordinated operation of two surgical instruments expands the application range of the positioning device. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of the positioning device for a neurosurgical robot according to the present invention.

[0034] Figure 2 This is an exploded structural diagram of the positioning device for a neurosurgical robot according to the present invention;

[0035] Figure 3 A schematic diagram of the overall structure of the positioning device of the present invention, which includes an implantation module;

[0036] Figure 4 An exploded view of the positioning device of the present invention, which includes an implantation module.

[0037] Figure 5 This is a schematic diagram of the overall structure of the sliding semi-arched positioning module of the present invention;

[0038] Figure 6 This is an exploded structural diagram of the sliding semi-arched positioning module of the present invention;

[0039] Figure 7 This is a schematic diagram of the overall structure of the first driving mechanism of the present invention;

[0040] Figure 8 This is an exploded structural diagram of the first driving mechanism of the present invention;

[0041] Figure 9 This is a schematic diagram of the positioning device of the present invention configured with dual implantation modules in a neurosurgical robot.

[0042] Figure 10This is a schematic diagram of the translation mechanism;

[0043] Figure 11 A front view of the positioning device of the present invention configured with a single implantable module in a neurosurgical robot;

[0044] Figures 12(A) and 12(B) are Figure 9 The front view of the neurosurgical robot equipped with dual implantation modules when the dual implantation modules are moved to different positions.

[0045] Explanation of reference numerals in the attached figures:

[0046] 1—Sliding semi-arched positioning module; 1(A)—First sliding semi-arched positioning module (i.e., implanted positioning module); 1(B)—Second sliding semi-arched positioning module (i.e., support positioning module);

[0047] 2—Spring; 21—Washer;

[0048] 3—Base; 31—Shaft hole;

[0049] 4—Arc-shaped support rail; 41—Arc-shaped groove; 42—Rotating shaft;

[0050] 5—Arc-shaped external gear slide rail; 51—Arc-shaped track; 52—External gear section;

[0051] 6—Drive unit; 61—Mounting bracket; 62—Drive gear; 63—Third drive mechanism; 611—Mounting plate;

[0052] 7—First drive mechanism; 71—Mounting block; 72—Turbine; 73—Worm gear; 74—Rotary motor; 75—First output shaft;

[0053] 8—Second drive mechanism;

[0054] 9—Implanted module;

[0055] 100—Base plate; 101—Head frame; 102—Translation mechanism; 103—Mounting base; 104—Motor; 105—Screw shaft; 106—Nut; 107—Guide rod;

[0056] 200—A positioning device for neurosurgical robots;

[0057] 300—Neurosurgical robot. Detailed Implementation

[0058] 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.

[0059] 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.

[0060] Example 1

[0061] Reference Figures 1-6 A positioning device 200 for a neurosurgical robot includes two slidable semi-arched positioning modules 1 arranged symmetrically about the YOZ plane (i.e., the sagittal plane) and an elastic element disposed between the two slidable semi-arched positioning modules 1.

[0062] The slidable semi-arched positioning module 1 includes a base 3, an arc-shaped support rail 4 rotatably mounted on the base 3, an arc-shaped external gear slide rail 5 slidably mounted on the arc-shaped support rail 4, a drive device 6 for driving the arc-shaped external gear slide rail 5 to slide along the arc-shaped trajectory of the arc-shaped support rail 4, a first drive mechanism 7 mounted on the upper end of the arc-shaped external gear slide rail 5, and a second drive mechanism 8 mounted on the base 3 for driving the arc-shaped support rail 4 to rotate around the X-axis; the first drive mechanism 7 is used to drive the implantation module 9 mounted thereon to rotate around the Z-axis, and the two slidable semi-arched positioning modules 1 are used to independently position the two implantation modules 9 mounted thereon, and the implantation modules 9 are used to perform the implantation operation.

[0063] In this embodiment, the elastic element is a spring 2, and the two ends of the spring 2 are respectively connected to the first drive mechanism 7 on the two slidable semi-arched positioning modules 1 through two washers 21.

[0064] Among them, the outer contour surface of the arc-shaped support rail 4 is provided with an arc-shaped groove 41, the inner contour surface of the arc-shaped external gear slide rail 5 has an arc-shaped track 51 that can be slidably disposed in the arc-shaped groove 41, the arc-shaped track 51 contacts the arc-shaped groove 41 and forms a sliding pair; the outer contour surface of the arc-shaped external gear slide rail 5 has an external tooth 52.

[0065] In this embodiment, the driving device 6 includes a mounting frame 61 fixedly connected to the arc-shaped support rail 4, a driving gear 62 rotatably mounted on the mounting frame 61 and meshing with the external gear 52, and a third driving mechanism 63 for driving the driving gear 62 to rotate. The mounting frame 61 includes two triangular mounting plates 611 fixedly connected to both sides of the arc-shaped support rail 4, and the driving gear 62 is rotatably mounted between the two mounting plates 611.

[0066] The arcuate trajectory of the arcuate groove 41 on the arcuate support rail 4 is part of a circle or other curve, and the arcuate trajectory of the arcuate track 51 matches the arcuate trajectory of the arcuate groove 41. In this embodiment, both the arcuate groove 41 and the arcuate trajectory of the arcuate track 51 are part of a circle, for example, 1 / 10 to 1 / 5 of a circle. In an optional embodiment, both are approximately 1 / 8 of a circle.

[0067] In this embodiment, the third drive mechanism 63 of the drive device 6 drives the drive gear 62 to rotate, and then the drive gear 62 drives the arc-shaped external gear slide rail 5 to slide back and forth along the arc-shaped trajectory on the arc-shaped support rail 4. This allows the first drive mechanism 7 located at the upper end of the arc-shaped external gear slide rail 5 to move along the arc-shaped trajectory in the space between the two bases 3. When the first drive mechanism 7 is moved to its farthest end, the implantation module 9 installed on the first drive mechanism 7 can reach or cross the YOZ symmetrical plane of the two slidable semi-arched positioning modules 1. That is, the two implantation modules 9 installed on the two slidable semi-arched positioning modules 1 can be moved to at least the middle position of the two slidable semi-arched positioning modules 1 to ensure that the implantation modules 9 on the two slidable semi-arched positioning modules 1 have a large working space and can be supported by each other by the spring 2 in some cases. To meet this requirement, when the arc-shaped external gear slide rail 5 is extended to its longest length, the arc-shaped trajectory formed by the arc-shaped support rail 4 and the arc-shaped external gear slide rail 5 should reach about 1 / 4 of a circle. For example, the arc-shaped support rail 4 is about 1 / 8 of a circle, and the arc-shaped external gear slide rail 5 is also about 1 / 8 of a circle. The longest arc trajectory formed by the two together is about 1 / 4 of a circle. Referring to Figure 12(B), in the slidable semi-arched positioning module 1 on the left, the arc-shaped external gear slide rail 5 is extended to its longest length. At this time, the implanted electrode on the implantation module 9 on it reaches the position of the YOZ symmetrical plane of the two slidable semi-arched positioning modules 1.

[0068] Reference Figure 7 and Figure 8 In this embodiment, both the first drive mechanism 7 and the second drive mechanism 8 are conventional worm gear mechanisms. Taking the first drive mechanism 7 as an example, its main structure includes: a mounting block 71, a turbine 72 rotatably mounted on the mounting block 71, a worm 73 rotatably mounted on the mounting block 71 and meshing with the turbine 72, a rotary motor 74 mounted on the mounting block 71 for driving the worm 73 to rotate, and a first output shaft 75 fixedly mounted on the turbine 72. The mounting block 71 is connected to the upper end of the arc-shaped external gear slide rail 5; the implantation module 9 is driven and connected to the first output shaft 75. The working principle is as follows: the rotary motor 74 drives the worm 73 to rotate, and the worm 73 drives the turbine 72 to rotate, and then the first output shaft 75 on the turbine 72 drives the implantation module 9 to rotate around the Z-axis. The second drive mechanism 8 works on the same principle as the first drive mechanism 7, and will not be described again. The third drive mechanism 63 can be a worm gear mechanism or a single drive motor, etc.

[0069] Continue to refer to Figure 5 and Figure 6In this embodiment, the base 3 is a U-shaped bracket with a shaft hole 31. The bottom end of the arc-shaped support rail 4 is fixedly connected to a rotating shaft 42. The rotating shaft 42 is rotatably disposed in the shaft hole 31 and is drivenly connected to the second output shaft of the second drive mechanism 8 disposed on the U-shaped bracket.

[0070] The positioning device of the present invention has two slidable semi-arched positioning modules 1, each with three degrees of freedom: rotation about the X-axis, rotation about the Z-axis, and sliding along the arcuate trajectory of the arcuate support rail 4, providing high flexibility. When applied to neurosurgical robots, a translational mechanism 102 can be further added (e.g., Figure 9 and Figure 10 As shown, the base 3 of the sliding semi-arched positioning module 1 provides linear movement along the Z-axis, which increases the flexibility of the robot system and can well meet the implantation positioning requirements under normal circumstances.

[0071] Reference Figure 9 In one embodiment, the positioning device 200 of the present invention is used in a neurosurgical robot 300, which also includes a base plate 100, two translational mechanisms 102 symmetrically arranged on the base plate 100, and a head frame 101 disposed on the base plate 100. The two slidable semi-arched positioning modules 1 in the positioning device 200 are respectively disposed on the two translational mechanisms 102, and the two translational mechanisms 102 provide linear movement of the positioning device 200 in the Z-axis direction.

[0072] The translation mechanism 102 can be a conventional screw mechanism. For example, in an optional embodiment, refer to... Figure 10 The translation mechanism 102 includes a mounting base 103, a motor 104, a screw shaft 105 driven by the motor 104 and arranged along the Z-axis, a nut 106 sleeved on the screw shaft 105, and at least one guide rod 107 arranged on the mounting base 103 parallel to the screw shaft 105. The nut 106 has a guide hole for the guide rod 107 to pass through. The base 3 of the slidable semi-arched positioning module 1 is connected to the nut 106. The motor 104 drives the screw shaft 105 to rotate. Under the restriction of the guide rod 107, the nut 106 cannot rotate but can only move linearly along the length direction of the screw shaft 105 and the guide rod 107, thereby driving the slidable semi-arched positioning module 1 to move linearly along the Z-axis. It should be understood that the translation mechanism 102 can be any product that can provide the above-mentioned linear drive function, such as a screw motor drive mechanism, a belt and pulley drive mechanism, an electric push rod mechanism, a cylinder mechanism, etc. The above is only an illustration of an optional solution for the translation mechanism 102.

[0073] The head frame 101 is installed in the middle of the base plate 100 to hold and fix the patient's head, and can be adjusted according to the size of the patient's head.

[0074] All power devices (motors) used in this invention are magnetically compatible, and other electrical components and mechanical parts are also made of magnetically compatible materials to ensure that the positioning device is compatible with the MRI environment.

[0075] This positioning device is used for the positioning and implantation of single or double electrodes in DBS surgery using a neurosurgical robot. The method is as follows:

[0076] S1. Reference Figure 11 When performing single implantation positioning, the sliding semi-arched positioning module 1 that requires implantation is designated as the first sliding semi-arched positioning module 1 (A) (also known as the implantation positioning module), and the other is designated as the second sliding semi-arched positioning module 1 (B) (also known as the support positioning module). The specific method is as follows:

[0077] 1) Operate the second sliding semi-arched positioning module 1(B). Linear movement in the Z-axis direction is achieved through the translation mechanism 102, and rotation around the X-axis is provided by the second drive mechanism 8, so that the second sliding semi-arched positioning mechanism 1(B) and the first sliding semi-arched positioning module 1(A) are in the same XOY plane and parallel to each other;

[0078] 2) Operate the two sliding semi-arched positioning modules 1(A) and 1(B) to move synchronously. Through the translation mechanism 102, the second drive mechanism 8 and the third drive mechanism 63, the implanted module 9 on the first sliding semi-arched positioning module 1(A) is moved to the target position and adjusted to the required posture (i.e., the posture consistent with the implantation path).

[0079] 3) Operate the third drive mechanism 63 of the second sliding semi-arched positioning module 1(B) to move the arc-shaped external gear slide rail 5 of the second sliding semi-arched positioning module 1(B) toward the first sliding semi-arched positioning module 1(A), compressing the spring 2 until the upper load of the first sliding semi-arched positioning module 1(A) is completely balanced or at its limit. The spring 2 acts to hold the first sliding semi-arched positioning module 1(A) in place (due to the flexible contact via the spring, rigid contact can prevent damage to the equipment), thus enabling the second sliding semi-arched positioning module 1(B) to support the first sliding semi-arched positioning module 1(A); Figure 11 On the right is the implanted positioning module 1 (A), and on the left is the support positioning module 1 (B);

[0080] 4) Simultaneously operate the two sliding semi-arched positioning modules 1(A) and 1(B) again to achieve precise positioning of the implanted module 9 on the first sliding semi-arched positioning module 1(A);

[0081] 5) Finally, the implantation operation is performed through the implantation module 9 on the first slidable semi-arched positioning module 1 (A).

[0082] S2. When performing dual implantation positioning:

[0083] S2-1. If the two implantation points are at the same position along the Z direction or the offset is not greater than the preset allowable value, a synchronous dual implantation mode is adopted. The steps are as follows:

[0084] The two sliding semi-arched positioning modules 1 are controlled to work independently. By controlling the first drive mechanism 7, the second drive mechanism 8, the third drive mechanism 63 and the translation mechanism 102, the two implantation modules 9 are moved to their respective target positions for positioning, and the electrode posture on the implantation module 9 is adjusted to be consistent with the planned implantation path. Then, the two implantation modules 9 each perform the implantation operation.

[0085] Reference Figure 9 As shown in Figures 12(A) and 12(B), taking DBS surgery dual-electrode implantation as an example, the two implantation points are generally located on both sides of the head, and the offset of the two implantation points along the Z direction can meet the requirement that it is not greater than the preset allowable value. At this time, the control makes the two implantation modules 9 reach their respective implantation points, and then the implantation operation is performed by the implantation modules 9 in a manual or automatic manner. In this embodiment, the slidable semi-arched positioning module 1 supports both manual implantation module and automatic implantation module. It is only necessary to select the corresponding implantation module for installation, which is highly flexible.

[0086] S2-2. If the offset between the two implantation points along the Z direction is greater than the preset allowable value, the asynchronous dual implantation working mode is adopted. The steps are as follows: first, perform the positioning and implantation operation on one implantation point according to the method of step S1, and then repeat step S1 to perform the positioning and implantation operation on the other implantation point.

[0087] When dual implantation is required and can be performed asynchronously, step S2-2 can be adopted. In this case, implantation is performed in two stages. During each implantation, one of the sliding semi-arched positioning modules 1 supports the other, and then the roles are switched. For example, continuing to refer to Figure 12(B), during the first implantation, the right sliding semi-arched positioning module 1 acts as the support positioning module, and the left sliding semi-arched positioning module 1 acts as the implantation positioning module; during the second implantation, the support and implantation roles are switched, thereby ensuring better system stability. It is evident that the positioning device and method of the present invention offer high flexibility during implantation.

[0088] The allowable value for the aforementioned offset can be conventionally selected based on actual conditions and requirements. For example, in this embodiment, the allowable value for the offset is selected based on the free length of the support spring. Specifically, the allowable value for the offset is 2% of the free length of the support spring. That is, if the two implantation points are at the same position along the Z direction or the offset is not greater than 2% of the free length of the support spring, a synchronous dual-implantation mode is adopted. The selection of the maximum compression of spring 2 must satisfy the following condition: before spring 2 reaches its maximum compression, both slidable semi-arched positioning modules 1 can reach or pass their respective implantation points, ensuring that spring 2 does not affect the two slidable semi-arched positioning modules 1 from reaching their respective implantation points.

[0089] Spring 2 can be an arc spring or a linear spring, but an arc spring is preferred.

[0090] It is important to understand that the two positions for dual-electrode implantation are usually only slightly different in the Z-axis direction. In other words, when performing simultaneous dual-electrode implantation, the angles of the two implantation modules 9 around the X-axis and the displacements in the Z-axis direction may be slightly different, but the difference is small. Therefore, although the two sliding semi-arched positioning modules 1 may not be completely in the same XOY plane and parallel, the spring 2 between them can still provide relatively stable support because the deviation is small (i.e., the offset along the Z-axis is no more than 2% of the free length of the support spring).

[0091] It should be understood that in the above embodiments, the positioning device can work normally even without supporting the end of the sliding semi-arched positioning module 1. The significance of supporting it is that it can better ensure the stability of the structure, especially when the surgical tools are heavy or during long-term use of the positioning device. It will also have significant benefits in improving the positioning accuracy of the positioning device and extending its service life.

[0092] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details.

Claims

1. A positioning device for a neurosurgical robot, characterized in that, It includes two slidable semi-arched positioning modules arranged symmetrically to the YOZ plane and an elastic element disposed between the two slidable semi-arched positioning modules; The slidable semi-arched positioning module includes a base, an arc-shaped support rail rotatably mounted on the base, an arc-shaped external gear slide rail slidably mounted on the arc-shaped support rail, a driving device for driving the arc-shaped external gear slide rail to slide along the arc-shaped trajectory of the arc-shaped support rail, a first driving mechanism mounted on the upper end of the arc-shaped external gear slide rail, and a second driving mechanism mounted on the base for driving the arc-shaped support rail to rotate around the X-axis. The first drive mechanism is used to drive the implanted module mounted thereon to rotate around the Z-axis. Two slidable semi-arched positioning modules are used to independently position the two implanted modules mounted thereon. The implanted modules are used to perform the implantation operation.

2. The positioning device for a neurosurgical robot according to claim 1, characterized in that, The drive device includes a mounting bracket fixedly connected to the arc-shaped support rail, a drive gear rotatably mounted on the mounting bracket and meshing with the external teeth of the arc-shaped external gear slide rail, and a third drive mechanism for driving the drive gear to rotate.

3. The positioning device for a neurosurgical robot according to claim 2, characterized in that, The outer contour surface of the arc-shaped support rail is provided with an arc-shaped groove, the inner contour surface of the arc-shaped external gear slide rail has an arc-shaped track that can be slidably disposed in the arc-shaped groove, and the outer contour surface of the arc-shaped external gear slide rail has an external tooth portion.

4. The positioning device for a neurosurgical robot according to claim 3, characterized in that, The mounting bracket includes two mounting plates fixed to both sides of the arc-shaped support rail. The drive gear is rotatably connected between the two mounting plates and meshes with the external teeth to form a gear pair.

5. The positioning device for a neurosurgical robot according to claim 3, characterized in that, The third driving mechanism drives the arc-shaped external gear slide rail to slide back and forth along the arc-shaped trajectory on the arc-shaped support rail through the driving gear, so that the first driving mechanism located at the upper end of the arc-shaped external gear slide rail can move back and forth along the arc-shaped trajectory in the space between the two bases. When the first driving mechanism is moved to the farthest end, the implanted module installed on the first driving mechanism can reach or cross the symmetrical plane YOZ of the two sliding semi-arched positioning modules.

6. The positioning device for a neurosurgical robot according to claim 3, characterized in that, The arc-shaped groove on the arc-shaped support rail has an arc-shaped trajectory that is part of a circle or other curve, and the arc-shaped track of the arc-shaped external gear slide rail matches the arc-shaped groove of the arc-shaped support rail.

7. The positioning device for a neurosurgical robot according to claim 6, characterized in that, The arc-shaped groove on the arc-shaped support rail and the arc-shaped track of the arc-shaped external gear slide rail are both part of a circle.

8. The positioning device for a neurosurgical robot according to claim 2, characterized in that, The elastic element is a spring, and the two ends of the spring are respectively connected to the first drive mechanism on the two sliding semi-arched positioning modules.

9. The positioning device for a neurosurgical robot according to claim 2, characterized in that, The base is a U-shaped bracket with a shaft hole. The bottom end of the arc-shaped support rail is connected to a rotating shaft, which is rotatably disposed in the shaft hole and driven by the second driving mechanism.

10. The positioning device for a neurosurgical robot according to any one of claims 2-9, characterized in that, This positioning device is used for the positioning and implantation of single or double electrodes in neurosurgical robotic surgery. The positioning and implantation method is as follows: S1. When performing single implantation positioning, the sliding semi-arched positioning module that needs to be implanted is designated as the first sliding semi-arched positioning module, and the other is designated as the second sliding semi-arched positioning module. The first sliding semi-arched positioning module is controlled to move the implanted module to the target position for positioning. Then, control the second sliding semi-arched positioning module to operate. Control the rotation angle of the second sliding semi-arched positioning module around the X-axis through the second drive mechanism so that the second sliding semi-arched positioning module and the first sliding semi-arched positioning module are in the same XOY plane and parallel to each other. Then, control the third drive mechanism to operate so that the arc-shaped external gear slide rail of the second sliding semi-arched positioning module moves toward the first sliding semi-arched positioning module and supports the first sliding semi-arched positioning module through the elastic element. Then the implantation operation is performed through the implantation module on the first slidable semi-arched positioning module; S2. When performing dual implantation positioning: S2-1. If the offset of the two implantation points along the Z direction is not greater than the preset allowable value, the synchronous dual implantation working mode is adopted. The steps are as follows: control the two sliding semi-arched positioning modules to work independently, and move the two implantation modules to their respective target positions for positioning by controlling the first drive mechanism, the second drive mechanism and the third drive mechanism, and then perform the implantation operation by the two implantation modules respectively. S2-2. If the offset between the two implantation points along the Z direction is greater than the preset allowable value, the asynchronous dual implantation working mode is adopted. The steps are as follows: first, perform the positioning and implantation operation on one implantation point according to the method of step S1, and then repeat step S1 to perform the positioning and implantation operation on the other implantation point.

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