A multi-degree of freedom active respiratory compensation system and method for spinal surgery

Abstract

The present application relates to a kind of multi-degree-of-freedom active respiratory compensation system and method for spinal surgery, system includes the spinal column connecting module for being rigidly connected with the spinous process of the specific segment of the spine of patient and the operation execution module, the trajectory data of the spinous process of the specific segment with periodic respiratory movement is acquired and stored in motion learning and storage module, for gathering the respiratory monitoring module of patient respiratory phase signal, for according to the respiratory monitoring module patient respiratory phase signal gathered, the control module for generating compensation control instruction by calling pre-stored trajectory data, and for according to the compensation control instruction, relevant action is executed, so that the operation execution module is displaced with the spinous process of the specific segment movement synchronization displacement compensation execution module;The compensation degree of freedom of compensation execution module includes translation along Z axis and Y axis and rotation in XZ plane and YZ plane.The present application does not rely on external navigation system, realizes efficient and accurate compensation, and structure is simple, low in cost.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a multi-degree-of-freedom active breathing compensation system and method for spinal surgery. Background Technology

[0002] Spinal surgery, especially precision-guided procedures such as pedicle screw fixation, requires extremely high precision in the positioning of surgical instruments, typically needing to control the error within 2 millimeters. However, even under general anesthesia, the patient's respiratory movements can still cause continuous, periodic displacements in the thoracic and lumbar vertebrae, severely interfering with the precise positioning of surgical instruments and becoming one of the key factors affecting the success rate and safety of the surgery.

[0003] To address the interference caused by respiratory movements, existing technologies mainly employ the following solutions:

[0004] Active compensation systems based on real-time tracking. These systems typically use optical or electromagnetic navigation devices to track markers on the patient's body surface or bones in real time, and control the robotic arm to perform reverse motion compensation by calculating their displacement. Although this approach can achieve a certain compensation effect, it has significant drawbacks: (1) The system is complex and expensive, and heavily relies on high-precision, high-sampling-rate navigation devices; (2) It introduces a series of new error sources, including optical obstruction, electromagnetic interference, and calibration errors between the camera and the robotic arm; (3) Real-time calculation and communication delays affect the system's response speed and compensation accuracy.

[0005] Furthermore, existing designs are typically based on compensating for all six degrees of freedom in a theoretical manner. However, from a biomechanical perspective, the displacement of spinal movements induced by respiration in certain degrees of freedom is extremely small, far below the safety margin required for clinical surgery. Compensating for such minute displacements not only fails to improve surgical outcomes but also increases the system's complexity, control difficulty, and manufacturing costs, constituting an unnecessary over-design.

[0006] In summary, there is an urgent need to provide a respiratory motion active compensation device and method for spinal surgery that does not rely on expensive and complex external navigation systems, can achieve efficient and accurate compensation, and is simple in structure and low in cost. Summary of the Invention

[0007] The purpose of this invention is to provide a respiratory motion active compensation device and method for spinal surgery that is urgently needed, does not rely on expensive and complex external navigation systems, can achieve efficient and accurate compensation, and has a simple structure and low cost.

[0008] The above objective is achieved through the following technical solution: a multi-degree-of-freedom active breathing compensation system for spinal surgery, comprising:

[0009] A spinal connection module is used for rigid connection with the spinous process of a specific segment of the patient's spine and rigid connection with the surgical execution module;

[0010] The motion learning and storage module is used to acquire and store trajectory data of the spinous process of a specific segment during periodic breathing, provided that the patient's breathing is regulated and the spinal movement with breathing is periodic and repeatable.

[0011] The respiratory monitoring module is used to collect the patient's respiratory phase signals;

[0012] The control module is communicatively connected to the respiratory monitoring module and the motion learning and storage module, respectively, and is used to generate compensation control commands by calling pre-stored trajectory data based on the patient's respiratory phase signal collected by the respiratory monitoring module.

[0013] The compensation execution module is fixedly connected to the spinal connection module and communicatively connected to the control module. It is used to execute relevant actions according to the compensation control command, so that the surgical execution module moves synchronously with the spinous process of the specific segment.

[0014] The Z-axis, Y-axis, and X-axis are defined along the vertical, anterior-posterior, and left-right directions of the spine, respectively. The compensation degrees of freedom of the compensation execution module include translation along the Z-axis and Y-axis and rotation in the XZ and YZ planes.

[0015] The technical solution described herein ensures that the surgical execution module moves synchronously with the spinous process of the specific segment while keeping the tip of the puncture needle relatively stationary with respect to the surgical target point.

[0016] This invention regulates the patient's breathing, making the respiratory movements highly regular and repeatable, thereby enabling the spinal movement to exhibit stable periodicity. By using breathing as a reference signal and compensating only key degrees of freedom, the system achieves dynamic stability effects that only complex navigation systems can achieve with a relatively simple structure, significantly improving surgical precision while greatly reducing the complexity and cost of the system.

[0017] A further technical solution is that the compensation execution module includes a translational compensation mechanism and a rotational compensation mechanism. The translational compensation module is configured to receive instructions from the control module and drive the spinal connection module to perform translational movements along the Z-axis and Y-axis to compensate for the corresponding translational displacement caused by breathing. The rotational compensation module is configured to receive instructions from the control module and drive the spinal connection module to perform rotational movements in the XZ-plane and YZ-plane to compensate for the corresponding angular displacement caused by breathing. The rotational compensation module is fixedly mounted on the motion output end of the translational compensation module via a connecting plate. The rotational compensation module is connected to the spinal connection module via a mounting base plate. The surgical execution module is fixed on the mounting base plate. The translational compensation module can drive the rotational compensation module and the surgical execution module to perform translational movements along the Z-axis and Y-axis together. At the same time, the rotational compensation module can independently rotate the surgical execution module in the XZ-plane and YZ-plane.

[0018] Throughout the respiratory cycle, although the spine is constantly moving, the position and orientation of the end point of the surgical execution module (i.e., the working point of the surgical instrument) in three-dimensional space remain constant through the real-time, coordinated drive of the four degrees of freedom of the compensation execution module, thus maintaining the optimal surgical path and providing the doctor with an absolutely stable operating window.

[0019] A further technical solution is that the compensation execution module includes a mounting frame, and the translation compensation mechanism includes a first driving component, a second driving component, a first gear, a second gear, a Z-axis rack, and a Y-axis rack, as well as a first mounting shaft and a second mounting shaft connected by bearings. The first gear and the second gear are respectively mounted on the first mounting shaft and the second mounting shaft by bearings. The Z-axis rack extends in the same direction as the Z-axis and meshes with the first gear. The Y-axis rack extends in the same direction as the Y-axis and meshes with the second gear. The first driving component and the second driving component are respectively driven connected to the first gear and the second gear. The Y-axis rack is fixedly connected to the mounting frame, and the Z-axis rack is fixedly connected to the connecting plate.

[0020] This translation compensation process uses two independent and decoupled transmission chains to precisely convert the rotational motion of the drive component (motor) into linear motion in two orthogonal directions. It has a fast response speed, high control precision, and no motion interference, which effectively ensures the spatial position stability of the surgical instruments under respiratory motion interference, and ultimately makes the puncture needle relatively stationary with respect to the surgical target point.

[0021] A further technical solution is that the rotation compensation mechanism includes a fixing component and a rotation adjustment component. The rotation adjustment component is connected to the connecting plate through the fixing component. The rotation adjustment component includes a central sphere, a third gear, a third driving component, and a fourth driving component. The surface of the central sphere is provided with ring teeth. The third gear meshes with the ring teeth of the central sphere. The third driving component is drivenly connected to the third gear. The third gear is rotatably connected to the mounting frame. The fourth driving component is drivenly connected to the mounting frame. The central sphere is fixedly connected to the mounting base plate. The third driving component is used to drive the third gear to rotate, thereby driving the central sphere to rotate in the XZ plane. The fourth driving component is used to drive the third gear and the central sphere as a whole to rotate in the YZ plane.

[0022] The rotational compensation process of this invention achieves independent and combined control of two rotational degrees of freedom through a highly integrated ball-gear mechanism, utilizing two different drive modes (gear rotation and revolution). This design is compact, highly rigid, and has a fast response speed, effectively compensating for spinal pitch and yaw movements caused by breathing, ensuring high stability of the surgical instrument's end-effector posture.

[0023] A further technical solution is that the multi-degree-of-freedom active breathing compensation system for spinal surgery also includes a breathing regulation module, which is used to regulate the patient's breathing during spinal surgery so that the movement of the patient's spine with breathing is periodic and repeatable.

[0024] The core purpose of the respiratory regulation module is to transform the patient's respiratory movements from random disturbances into regular, predictable periodic reference signals, laying the foundation for subsequent motor learning and compensation. Through the intervention of the respiratory regulation module, this invention revolutionizes the traditional "passive sensing-real-time tracking-lag compensation" model into an advanced "active regulation-learning prediction-synchronous compensation" model. It fundamentally solves the compensation problem caused by irregular breathing, reduces reliance on high-frequency, high-precision real-time tracking systems, simplifies system structure, reduces costs, and improves reliability. The respiratory regulation module can be used with inhalation anesthesia equipment.

[0025] A further technical solution is that the multi-degree-of-freedom active breathing compensation system for spinal surgery also includes an interface connected to the breathing regulation module. The control module is further configured to send instructions to the breathing regulation module to regulate the patient's breathing rhythm and amplitude, making their breathing movements more regular.

[0026] This setup adds the functional limitation of actively regulating respiration, transforming disturbances into controllable inputs. It achieves a leap from "passively utilizing regular breathing" to "actively creating regular breathing," forming a complete negative feedback control system. This eliminates the passive reliance on anesthesiologists to manually set and maintain perfect respiratory parameters, instead actively participating in respiratory management. Through real-time data monitoring and algorithmic decision-making, it provides anesthesiologists with scientific and quantitative control suggestions, jointly ensuring a high degree of regularity in respiratory movements. This improves the reliability, adaptability, and ultimate surgical precision of the entire active compensation system.

[0027] To achieve the above objectives, the present invention also provides a multi-degree-of-freedom active breathing compensation method for spinal surgery, which is executed using any of the multi-degree-of-freedom active breathing compensation systems for spinal surgery described above, and includes the following steps:

[0028] S1 precisely controls the patient's breathing, making the spinal movement periodic and repeatable with breathing.

[0029] S2, under the respiratory control state of step S1, collect displacement data of the spinous process of a specific segment of the spine within at least one respiratory cycle, generate, learn, and store the trajectory data of the spinous process of the spine with periodic respiratory movement;

[0030] S3 connects the multi-degree-of-freedom active breathing compensation system for spinal surgery to the spinal spinal process of the patient through a rigid connection and completes the registration with the surgical execution module;

[0031] S4, the respiratory monitoring module monitors the patient's respiratory phase in real time, calls the pre-stored trajectory data based on the respiratory phase, generates a compensation command to drive the compensation execution module to move, compensate for the respiratory displacement of the spinous process of a specific segment, and keep the tip of the puncture needle of the surgical execution module relatively stationary with respect to the surgical target point.

[0032] The method of this invention, through the technical path of "regulation-learning-prediction-synchronous motion", replaces the complex and expensive real-time navigation and tracking system with software algorithms and relatively simple hardware, and achieves high-precision, low-cost and high-reliability respiratory motion compensation, effectively improving the safety and accuracy of spinal surgery.

[0033] A further technical solution is that, in step 1, under general anesthesia, the patient's respiratory movements exhibit highly regular and repeatable periodic movements through mechanical ventilation equipment or precise management of anesthesia depth. This invention breaks away from the traditional mindset of "interference occurs - interference is resolved," implementing a technical path of "eliminating the randomness caused by interference - utilizing the regularity of the interference itself," transforming respiratory movements, originally considered an interfering factor, into a predictable and controllable periodic reference signal. Whether intubation controls breathing or spontaneous breathing is maintained without intubation, as long as the state of "regular breathing" is ultimately achieved, the system can function normally.

[0034] A further technical solution is that, in step 4, the compensation execution module only compensates for translations along the Z and Y axes and rotations in the XZ and YZ planes. Translations along the X axis and rotations around the Z axis are not compensated because their displacements are less than the safety margin of clinical surgery.

[0035] Thus, by eliminating compensation for X-axis translation and Z-axis rotation, the number of drive components, transmission mechanisms, and control axes required by the system can be reduced, resulting in a more compact, lightweight, and reliable overall structure. The control module does not need to calculate and generate control commands for these two degrees of freedom, simplifying the control loop, reducing software development complexity, and improving system real-time performance and stability. This invention reduces a complex six-degree-of-freedom compensation problem to a more easily solvable four-degree-of-freedom compensation problem that fully meets clinical requirements, thereby bringing comprehensive benefits in terms of system structure, performance, and cost.

[0036] A further technical solution is that, in step S1, a control command is sent to the respiratory control module through the communication interface between the control module and the respiratory control module; the respiratory control module adjusts its ventilation parameters according to the control command, the ventilation parameters including at least one or more of volume, respiratory rate, and inspiratory-expiratory ratio; by adjusting the ventilation parameters, the patient's respiratory movements and the resulting spinal movements exhibit the highly regular and repeatable periodic movements. Thus, precise respiratory control is achieved through active communication and automatic control between the system and the respiratory control module.

[0037] The implementation of the technical solution of this invention abandons the complex mode of traditional "real-time tracking-instant compensation". By converting the precisely controllable respiratory movements under general anesthesia into regular and predictable periodic reference signals, the system does not need to rely on expensive optical / electromagnetic navigation equipment for real-time pose calculation. It only needs to learn and reproduce a fixed trajectory to achieve feedforward compensation. In principle, this greatly simplifies the system architecture, significantly reduces manufacturing costs, and avoids the inherent risks of traditional navigation such as intraoperative occlusion and marker displacement.

[0038] Secondly, through precise biomechanical research and clinical validation, this invention creatively distinguishes between degrees of freedom that require compensation and those that are negligible. It compensates only for critical degrees of freedom (Z and Y translations and XZ and YZ rotations) that affect surgical safety, while ignoring degrees of freedom with minor displacements (X translation and Z rotation). This decision allows for a highly simplified mechanical structure, reducing kinematic pairs and potential error sources, thereby significantly improving the system's rigidity, response speed, and final compensation accuracy. Simultaneously, it achieves miniaturization and lightweight design, making it more suitable for deployment in confined surgical spaces.

[0039] Furthermore, this invention provides doctors with a "dynamically stable" absolute operating space, allowing the end of the surgical instrument to maintain a constant position and posture relative to the target vertebra that moves due to breathing, greatly improving the safety, accuracy, and efficiency of delicate operations such as pedicle screw placement. Attached Figure Description

[0040] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0041] Figure 1 This is a structural block diagram of a multi-degree-of-freedom active breathing compensation system for spinal surgery according to one embodiment of the present invention.

[0042] Figure 2 This is a schematic diagram illustrating an application scenario of a multi-degree-of-freedom active breathing compensation system for spinal surgery according to one embodiment of the present invention.

[0043] Figure 3 This is a schematic diagram of the internal structure of a multi-degree-of-freedom active breathing compensation system for spinal surgery according to one embodiment of the present invention.

[0044] Figure 4 and Figure 5 These are schematic diagrams of the translation compensation mechanism from different perspectives according to one embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the structure of a rotational compensation mechanism according to one embodiment of the present invention.

[0046] Figure 7 and Figure 8 These are three-dimensional structural schematic diagrams of the rotation compensation mechanism according to one embodiment of the present invention from different perspectives.

[0047] Figure 9 This is a flowchart illustrating a multi-degree-of-freedom active breathing compensation method for spinal surgery according to one embodiment of the present invention.

[0048] In the picture:

[0049] 1. Spinal connection module; 2. Surgical execution module; 3. Compensation execution module; 4. Translational compensation mechanism.

[0050] 5 Rotation compensation mechanism; 6 Connecting plate; 7 Mounting base plate; 8 Mounting frame.

[0051] 9 First mounting shaft 10 Second mounting shaft 11 First gear 12 Second gear

[0052] 13 Z-axis rack 14 Y-axis rack 15 First drive component 16 Second drive component

[0053] 17 Bearing 18 Fixing component 19 Central ball 20 Third gear

[0054] 21 Third drive component 22 Fourth drive component 23 Ring gear Detailed Implementation

[0055] The present invention will now be described in detail with reference to the accompanying drawings. This description is merely illustrative and explanatory, and should not be construed as limiting the scope of protection of the present invention. Furthermore, those skilled in the art can combine the features in the embodiments described herein and in different embodiments accordingly based on the description in this document.

[0056] The embodiments of the present invention are as follows, with reference to Figures 1-3 A multi-degree-of-freedom active breathing compensation system for spinal surgery, comprising:

[0057] The spinal connection module 1 (spinous process clip) is used to rigidly connect to the spinous process of a specific segment of the patient's spine and to the surgical execution module 2; the spinous process of the specific segment of the spine here refers to the spinous process that requires surgery.

[0058] The motion learning and storage module is used to acquire and store trajectory data of the spinous process of a specific segment during periodic breathing, provided that the patient's breathing is regulated and the spinal movement with breathing is periodic and repeatable.

[0059] The respiratory monitoring module is used to collect the patient's respiratory phase signals;

[0060] The control module is communicatively connected to the respiratory monitoring module and the motion learning and storage module, respectively, and is used to generate compensation control commands by calling pre-stored trajectory data based on the patient's respiratory phase signal collected by the respiratory monitoring module.

[0061] The compensation execution module 3 is fixedly connected to the spinal connection module 1 and communicatively connected to the control module. It is used to execute relevant actions according to the compensation control command, so that the surgical execution module 2 moves synchronously with the spinous process of the specific segment.

[0062] The Z-axis, Y-axis, and X-axis are defined along the vertical, anterior-posterior, and left-right directions of the spine, respectively. The compensation degrees of freedom of the compensation execution module 3 include translation along the Z-axis and Y-axis and rotation in the XZ and YZ planes.

[0063] Under general anesthesia, a patient's breathing is not spontaneous but precisely controlled by mechanical ventilation. By setting the ventilator's volume, respiratory rate, and inspiratory-to-expiratory ratio, doctors can induce highly regular and repeatable periodic movements in the patient's chest (and consequently, spinal movement). Tubeless anesthesia techniques (preserving spontaneous breathing), mature in fields such as thoracic surgery, also demonstrate that even without intubation, precise management of anesthetic depth and nerve blocks can stabilize and regularize spontaneous breathing, creating a stable operating environment for surgery. This means that, whether under controlled ventilation or with preserved spontaneous breathing, the rhythm and amplitude of respiratory displacement of the spine are stable and predictable in the short term under the precise control of the anesthesiologist.

[0064] Based on the above principle (within a short surgical window, spinal movements induced by controlled breathing are highly repetitive), the system only needs to learn and reproduce this fixed movement trajectory to achieve precise compensation, greatly simplifying system complexity and cost. This solution eliminates the need for a complex and expensive real-time optical / electromagnetic navigation system to track the movement of each vertebra. Instead, the puncture surgical arm (surgical execution module 2) is rigidly connected to a specific spinal segment (spinous process) via a spinous process clamp (spinal connection module 1), and the movement of that segment is used as the input reference for the entire system.

[0065] Studies have shown that a screw placement deviation of ≤2mm is acceptable. Therefore, directions with displacement >2mm need to be considered. Research indicates that the maximum translational displacement caused by respiration is 2.36mm anterior-posterior, 2.03mm vertically, and 1.04mm lateral. The spinal translational displacement in the coronal plane (lateral direction) is approximately 1mm, which is below the safety margin for spinal screw placement surgery and can therefore be ignored. Regarding rotational freedom compensation, XZ and YZ plane rotations need to be compensated because the rise and fall of the rib cage directly causes pitching and yaw movements of the spine. These two rotational degrees of freedom significantly affect the accuracy of the puncture path. The rotational amplitude around the spine's long axis (Z-axis) is very small; this minute roll has a negligible impact on the puncture path and is within the clinically acceptable error range.

[0066] Therefore, during the operation, not all theoretical degrees of freedom need to be compensated for in respiratory compensation. Translation only needs to consider the vertical and anteroposterior directions of the spine, and rotation only needs to consider the XZ and YZ planes. The decision is based on the biomechanical study of the actual physiological movement of the spine during respiratory motion.

[0067] The technical solution described herein ensures that the surgical execution module 2 moves synchronously with the spinous process of the specific segment while keeping the tip of the puncture needle relatively stationary with respect to the surgical target point.

[0068] In practical application, the spinal connection module 1 (such as a spinous process clamping mechanism) is rigidly connected to the spinous process of the patient's target surgical segment. Surgical instruments (such as puncture arms) are then mounted onto the surgical execution module 2. The anesthesiologist regulates the patient's breathing to make the respiratory movements highly regular and repeatable, thereby causing the spinal movements to exhibit a stable periodicity.

[0069] The respiratory monitoring module begins operation, acquiring the patient's respiratory signals in real time and converting them into respiratory phase signals. Once respiration stabilizes, the motion learning and storage module activates. It continuously monitors and records the real-time motion data of the rigidly connected spinous process in space using high-precision sensors (such as the encoder integrated into the spinal connection module 1). An algorithm averages and smooths all these cyclical motion trajectories, eliminating random noise, and ultimately generates a highly accurate standard cyclical motion trajectory representing the patient's respiratory parameters, which is then stored in the module. This trajectory precisely describes the changes in the spinous process's translation in the vertical (Z) and anterior-posterior (Y) directions and its rotation in the XZ and YZ planes over time (or with the respiratory phase).

[0070] Intraoperative and Compensation Phase: The surgery begins and progresses to stages requiring high precision and stability (such as pedicle screw placement). The respiratory monitoring module continuously sends real-time respiratory phase signals to the control module. Upon receiving the current phase signal, the control module immediately retrieves a pre-stored standard trajectory from the motion learning and storage module and queries the theoretical position and orientation of the spinous process at that phase point (including Z, Y coordinates and XZ, YZ rotation angles). Based on this theoretical value, the control module calculates the compensation amount required to maintain the absolute static spatial pose of the surgical execution module 2 and generates corresponding compensation control commands. These commands include the direction and number of steps required to drive the motors of each degree of freedom.

[0071] The compensation execution module 3 receives control commands, and its internal drive system begins to operate: it controls the surgical execution module 2 to perform precise linear motion along the Z-axis (up and down) and Y-axis (back and forth), as well as precise rotational motion in the XZ and YZ planes. These four degrees of freedom are synchronously and in real time synthesized, ultimately manifesting as a complex composite motion of the surgical execution module 2.

[0072] Because the motion generated by the compensation execution module 3 is equal in magnitude and direction to the motion of the spinal connection module 1 (which moves with the spine), the two move synchronously. Although the patient's spine is moving rhythmically with breathing, the actual position and posture of the surgical execution module 2, which is rigidly connected to the compensation execution module 3, and the surgical instruments on it remain unchanged in space through the active compensation of the system, providing the doctor with an absolutely stable operating environment.

[0073] This invention achieves dynamic stability that only complex navigation systems can achieve with a relatively simple structure by using respiration as a reference signal and compensating only the key degrees of freedom. This significantly improves surgical accuracy while greatly reducing the complexity and cost of the system.

[0074] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 3 The compensation execution module 3 includes a translation compensation mechanism 4 and a rotation compensation mechanism 5. The translation compensation module is configured to receive instructions from the control module and drive the spinal connection module 1 to perform translational movements along the Z-axis and Y-axis to compensate for the corresponding translational displacement caused by breathing. The rotation compensation module is configured to receive instructions from the control module and drive the spinal connection module 1 to perform rotational movements in the XZ plane and YZ plane to compensate for the corresponding angular displacement caused by breathing. The rotation compensation module is fixedly mounted on the motion output end of the translation compensation module via a connecting plate 6. The rotation compensation module is connected to the spinal connection module 1 via a mounting base plate 7. The surgical execution module 2 is fixed on the mounting base plate 7. The translation compensation module can drive the rotation compensation module and the surgical execution module 2 to perform translational movements along the Z-axis and Z-axis and Y-axis together. At the same time, the rotation compensation module can independently rotate the surgical execution module 2 in the XZ plane and YZ plane.

[0075] Throughout the respiratory cycle, although the spine is constantly moving, the position and orientation of the end effector of the surgical execution module 2 (i.e. the working point of the surgical instrument) in three-dimensional space remain constant through the real-time, coordinated drive of the four degrees of freedom of the compensation execution module 3, providing the doctor with an absolutely stable operating window.

[0076] Based on the above embodiments, in another embodiment of the present invention, such as... Figures 3-5The compensation execution module 3 includes a mounting frame 8, and the translation compensation mechanism 4 includes a first driving member 15, a second driving member 16, a first gear 11, a second gear 12, a Z-axis rack 13, and a Y-axis rack 14, as well as a first mounting shaft 9 and a second mounting shaft 10 connected by bearings 17. The first gear 11 and the second gear 12 are respectively mounted on the first mounting shaft 9 and the second mounting shaft 10 through bearings 17. The Z-axis rack 13 extends in the same direction as the Z-axis and meshes with the first gear 11. The Y-axis rack 14 extends in the same direction as the Y-axis and meshes with the second gear 12. The first driving member 15 and the second driving member 16 are respectively driven connected to the first gear 11 and the second gear 12. The Y-axis rack 14 is fixedly connected to the mounting frame 8, and the Z-axis rack 13 is fixedly connected to the connecting plate 6.

[0077] During application, the entire translation compensation module (driving components, gears, mounting shafts, etc.) is connected as a whole to the mounting frame 8 via the Y-axis rack 14 and to the connecting plate 6 (connecting the rotation compensation module) via the Z-axis rack 13.

[0078] In terms of translational degree of freedom compensation, after the control module learns the motion trajectory, it calculates the compensation amount with the same phase required to maintain the spatial position stability of the surgical instrument. The control module decomposes this compensation amount into two independent components, the Y-axis and the Z-axis, and generates corresponding drive commands to send to the first drive unit 15 (motor) and the second drive unit 16 (motor).

[0079] Y-axis (forward and backward) translation compensation process: The control module drives the second drive component 16 to work, which drives the second gear 12 to rotate. Since the second gear 12 meshes with the fixed Y-axis rack 14, the rotation of the gear will be converted into linear motion of the gear itself and its associated components along the Y-axis rack 14. Because the second gear 12 is mounted on the second mounting shaft 10 through the bearing 17, and the second mounting shaft 10 is connected to the base of the entire mechanism, the rotation of the second drive component 16 will drive the entire translation compensation module (including the Z-axis compensation mechanism, rotation compensation module and surgical instruments on it) to move forward and backward along the fixed Y-axis rack 14, thereby achieving synchronous forward and backward displacement with the spinous process of the spine.

[0080] Z-axis (vertical) translation compensation process: The control module drives the first drive unit 15 (motor 1) to work, which drives the first gear 11 to rotate. Since the first gear 11 meshes with the fixed Z-axis rack 13, the position of the first gear 11 remains unchanged, and its rotation is converted into linear motion of the first rack itself and its associated components along the Z-axis rack 13. In this way, the first drive unit 15 drives the first rack and the connecting plate 6 connected to it, including all components fixed on it (including the rotation compensation module and surgical instruments), to move up and down, thereby achieving displacement in the vertical direction synchronously with the spinous process of the spine.

[0081] When simultaneous compensation for displacements in the Y and Z directions is required, the two drive components operate simultaneously upon receiving instructions. Since the first gear 11 and the second gear 12 are independently mounted on different mounting shafts via bearings 17, their rotational movements do not interfere with each other, achieving complete mechanical decoupling. This ensures that the Y-axis movement (movement of the entire module) driven by the second drive component 16 will not interfere with the Z-axis movement (movement of the internal module) driven by the first drive component 15, and vice versa. Translational compensation in both directions can be performed independently, synchronously, and precisely, ultimately synthesizing the desired planar motion trajectory to accurately track and compensate for spinal planar displacement caused by respiration.

[0082] This translation compensation process uses two independent and decoupled transmission chains to precisely convert the rotational motion of the drive component (motor) into linear motion in two orthogonal directions. It has a fast response speed, high control precision, and no motion interference, which effectively ensures the spatial position stability of the surgical instruments under respiratory motion interference, and ultimately makes the puncture needle relatively stationary with respect to the surgical target point.

[0083] Based on the above embodiments, in another embodiment of the present invention, such as... Figures 6-8 The rotation compensation mechanism 5 includes a fixing member 18 and a rotation adjustment member. The rotation adjustment member is connected to the connecting plate 6 through the fixing member 18. The rotation adjustment member includes a central sphere 19, a third gear 20, a third driving member 21, and a fourth driving member 22. The surface of the central sphere 19 is provided with ring teeth 23. The third gear 20 meshes with the ring teeth 23 of the central sphere 19. The third driving member 21 is drivenly connected to the third gear 20. The third gear 20 is rotatably connected to the mounting frame. The fourth driving member 22 is drivenly connected to the mounting frame. The central sphere 19 is fixedly connected to the mounting base plate 7. The third driving member 21 is used to drive the third gear 20 to rotate, thereby driving the central sphere 19 to rotate in the XZ plane. The fourth driving member 22 is used to drive the third gear 20 and the central sphere 19 as a whole to rotate in the YZ plane.

[0084] The rotary compensation mechanism 5 operates based on a central sphere 19 and a gear drive system meshing with it. Two drive chains independently control the rotational motion around the X-axis (pitch, in the YZ plane) and around the Y-axis (yaw, in the XZ plane). The specific compensation process is as follows:

[0085] First, the fixing member 18 of the rotation compensation mechanism 5 is fixedly connected to the connecting plate 6 of the translation compensation module, inheriting the position after compensation by the translation module. The mounting base plate 7 is rigidly connected to the surgical instrument (such as a puncture arm). The central sphere 19 is fixedly connected to the mounting base plate 7. Therefore, the posture of the central sphere 19 directly determines the posture of the surgical instrument.

[0086] Based on the learned spinal breathing trajectory, the control module calculates the rotation angle required to stabilize the device's end-effector posture. This compensation is decomposed into two independent rotational components in the XZ plane (yaw around the Y-axis) and the YZ plane (pitch around the X-axis), and corresponding drive commands are generated and sent to the third drive unit 21 and the fourth drive unit 22, respectively.

[0087] XZ-plane rotation (yaw rate) compensation process: The fourth drive unit 22 starts working after receiving the command. Its output shaft directly drives the mounting bracket, causing the third gear 20, which is rotatably connected to the mounting bracket, to rotate around an axis parallel to the X-axis. Since the third gear 20 continuously meshes with the ring teeth 23 on the surface of the central sphere 19, the rotation of the mounting bracket forces the third gear 20 to drive the central sphere 19 (and its fixed mounting base 7 and surgical instruments) to rotate around the Y-axis, that is, to yaw rate in the XZ-plane, thereby offsetting the angular displacement of the spine in this plane.

[0088] YZ-plane rotation (pitch around the X-axis) compensation process: The third drive unit 21 starts working after receiving the command. Its output shaft drives the third gear 20 to rotate around its own axis. Since the third gear 20 meshes with the ring tooth 23 on the surface of the fixed central sphere 19, the rotation of the gear directly drives the central sphere 19 (and its fixed mounting base 7 and surgical instruments) to rotate around the X-axis, that is, to pitch in the YZ-plane, thereby offsetting the angular displacement of the spine in this plane.

[0089] When it is necessary to compensate for the rotation of two planes simultaneously, the third and fourth drive components 22 receive instructions to work together. The motion of the two degrees of freedom is synthesized at the central sphere 19.

[0090] Because the motion is transmitted through the meshing relationship between the same third gear 20 and the central sphere 19, but the driving methods are completely different, the two are naturally decoupled in mechanical principle. The control module can coordinate the motion of the two motors through algorithms, so that the central sphere 19 can generate a composite rotational motion around any axis in space (in the XZ / YZ plane), accurately reproducing the required compensation posture. Specifically, the third and fourth drive motors are controlled to drive the central sphere 19 and its connected surgical instruments to achieve rotational motion around the X-axis and Y-axis with different combinations of speed and direction.

[0091] The rotational compensation process of this invention achieves independent and combined control of two rotational degrees of freedom through a highly integrated ball-gear mechanism, utilizing two different drive modes (gear rotation and revolution). This design is compact, highly rigid, and has a fast response speed, effectively compensating for spinal pitch and yaw movements caused by breathing, ensuring high stability of the surgical instrument's end-effector posture.

[0092] To improve control, such as Figure 6 The third gear 20, the third drive component 21 and the fourth drive component 22 can be set up symmetrically in another set.

[0093] Based on the above embodiments, in another embodiment of the present invention, the multi-degree-of-freedom active breathing compensation system for spinal surgery further includes a breathing regulation module, which is used to regulate the patient's breathing during spinal surgery so that the movement of the patient's spine with breathing is periodic and repeatable.

[0094] The core purpose of the respiratory regulation module is to transform the patient's respiratory movements from random disturbances into regular, predictable periodic reference signals, laying the foundation for subsequent motor learning and compensation. Its specific application process can be as follows:

[0095] Active ventilation mode: After the patient is under general anesthesia, the anesthesiologist performs endotracheal intubation and connects the patient to a mechanical ventilation system. The respiratory control module establishes a data connection with the mechanical ventilation system through its communication interface. Based on the patient's physiological parameters (such as weight and blood oxygen saturation) and surgical requirements, the anesthesiologist sets the tidal volume, respiratory rate, and inspiratory-to-expiratory ratio (I:E ratio) on the ventilator. These parameters are set to fixed values ​​to ensure a high degree of regularity in respiratory movements. The respiratory control module obtains these preset parameters from the ventilator and uses them as initial model parameters for predicting the patient's spinal motion cycle.

[0096] Preserving Spontaneous Breathing: The anesthesiologist uses a precise combination of intravenous anesthetics and nerve blocks to regulate the patient's spontaneous breathing to be smooth and regular. At this time, the breathing regulation module receives the patient's sedation depth data through a connection with anesthesia depth monitoring device (such as bispectral index BIS monitoring) and works with the anesthesiologist to maintain the sedation depth within an ideal range that allows for very stable spontaneous breathing.

[0097] By incorporating a respiratory regulation module, this invention revolutionizes the traditional "passive sensing-real-time tracking-lag compensation" model into an advanced "active regulation-learning prediction-synchronous compensation" model. It fundamentally solves the compensation problem caused by irregular breathing, reduces reliance on high-frequency, high-precision real-time tracking systems, simplifies system structure, reduces costs, and improves reliability.

[0098] Based on the above embodiments, in another embodiment of the present invention, the multi-degree-of-freedom active breathing compensation system for spinal surgery further includes an interface for communication connection with the breathing regulation module (inhalation anesthesia device), and the control module is further configured to send instructions to the breathing regulation module (inhalation anesthesia device) to regulate the patient's breathing rhythm and amplitude, so that its breathing movements become more regular.

[0099] This setup adds the functional limitation of actively regulating respiration, transforming disturbances into controllable inputs. It achieves a leap from "passively utilizing regular breathing" to "actively creating regular breathing," forming a complete negative feedback control system. This eliminates the passive reliance on anesthesiologists to manually set and maintain perfect respiratory parameters, instead actively participating in respiratory management. Through real-time data monitoring and algorithmic decision-making, it provides anesthesiologists with scientific and quantitative control suggestions, jointly ensuring a high degree of regularity in respiratory movements. This improves the reliability, adaptability, and ultimate surgical precision of the entire active compensation system.

[0100] In practical application, before surgery, a CT scan is performed to plan the surgical procedure, determining the optimal path for the robotic arm of the surgical execution module to move, and then the puncture needle is installed. A two-way communication connection is established between the system control module and the respiratory regulation module (inhalation anesthesia device) via wired or wireless means. The control module sends a handshake signal to the respiratory regulation module (inhalation anesthesia device) to verify the successful connection and obtain the device's status information and controllable parameter range. At the start of surgery, after the patient is anesthetized, the control module performs time-domain alignment and correlation analysis between the spinal motion data and the ventilator's airflow / pressure waveforms, establishing a mathematical model between ventilator settings, patient physiological response, and spinal motion displacement. The control module's built-in algorithm continuously analyzes the periodicity and repetitiveness of the spinal motion trajectory and calculates its deviation from a preset template. If the system determines that the current respiratory-induced spinal motion lacks regularity and cannot meet the learning requirements for high-precision compensation, the control module initiates an adjustment program. Based on the previously established mathematical model, the control module calculates optimized ventilator parameter recommendations to make spinal motion more regular. The control module sends adjustment commands to the respiratory regulation module (inhalation anesthesia device) via a communication interface. These commands are confirmed by the clinician and anesthesiologist after assessing the patient's vital signs. Only after confirmation will the new parameter settings take effect on the ventilator. After the ventilator parameters are adjusted, the control module continues to monitor changes in spinal motion. The system continuously compares the motion regularity before and after adjustment to verify the regulation effect, forming a closed-loop optimization circuit until spinal motion reaches the ideal repeatability state required for system learning. Throughout critical surgical phases (such as screw placement), the system can maintain this optimized breathing pattern, providing an extremely stable periodic reference input for the compensation system.

[0101] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 9 Performed using any of the aforementioned multi-degree-of-freedom active breathing compensation systems for spinal surgery, the procedure includes the following steps:

[0102] S1 precisely controls the patient's breathing, making the spinal movement periodic and repeatable with breathing.

[0103] S2, under the respiratory control state of step S1, collect displacement data of the spinous process of a specific segment of the spine within at least one respiratory cycle, generate, learn, and store the trajectory data of the spinous process of the spine with periodic respiratory movement;

[0104] S3 connects the multi-degree-of-freedom active breathing compensation system for spinal surgery to the spinal spinal process of the patient through a rigid connection, and completes the registration with the surgical execution module 2.

[0105] S4, the respiratory monitoring module monitors the patient's respiratory phase in real time, and calls the pre-stored trajectory data according to the respiratory phase to generate a compensation command to drive the compensation execution module 3 to move, compensate for the respiratory displacement of the spinous process of a specific segment, so that the end of the puncture needle of the surgical execution module 2 remains relatively stationary with respect to the surgical target point.

[0106] like Figure 9 This invention first acquires the patient's preoperative medical imaging data, obtaining a three-dimensional model of the spine and a respiratory motion model. The robotic arm of the surgical execution module moves to the optimal path direction, installs the puncture needle, and securely connects the spinal connection module 1 of the active compensation system to the spinous process of the target surgical segment of the patient through rigid connection components such as a spinous process holder. Simultaneously, the surgical execution module 2 (such as the puncture needle guide arm) is installed at the end of the system. Then, active respiratory regulation is performed. Active respiratory regulation is a key preliminary step. Under general anesthesia, the anesthesiologist uses controlled ventilation or precise anesthesia that preserves spontaneous breathing to regularize the patient's respiratory movements, transforming unpredictable respiratory disturbances into a predictable reference signal with a fixed period and stable amplitude.

[0107] Upon system initialization, the motion learning and storage module begins operation, continuously acquiring real-time spatial displacement data of the spinous process over at least one complete respiratory cycle, typically 5-10 cycles. This data includes translation in the vertical (Z) and longitudinal (Y) directions, as well as rotation angles around the X and Y axes. The algorithm in the control module processes the acquired data from multiple cycles, generating a smooth and precise "standard motion trajectory," which is stored in the system's motion learning and storage module (represented as a function of displacement / angle relative to the respiratory phase). At this point, the system has "learned" the motion patterns of the target spinal segment under the current respiratory parameters.

[0108] The respiratory monitoring module monitors the patient's breathing in real time (e.g., by acquiring signals from the anesthesia machine or through a chest motion sensor) and converts it into a high-precision real-time respiratory phase signal.

[0109] During the surgery, the respiratory monitoring module continuously operates, acquiring the patient's respiratory signals in real time (e.g., through the ventilator's airflow sensor or the chest wall surface motion sensor) and converting them into real-time respiratory phase values. The control module receives these real-time phase values ​​and immediately retrieves the "standard motion trajectory" learned in phase S2 from the storage module. It then queries the theoretically expected position and orientation of the spinous process of the spine under that specific phase (including Z and Y coordinates and XZ and YZ plane rotation angles). The control module then performs reverse calculations: to keep the tip of the puncture needle on the surgical execution module stationary in space, the compensation mechanism needs to be driven to perform a motion equal in magnitude and direction to the theoretical value, achieving synchronized movement between the two.

[0110] After receiving the instruction, the translational compensation mechanism is driven by two motors to drive the gear-rack mechanism, which in turn drives the entire system (including the rotating mechanism and working instruments on it) to perform linear motion in the up-down (Z) and forward-backward (Y) directions. The rotational compensation mechanism is driven by two other motors to drive the ball gear mechanism, which in turn drives the surgical execution module to perform rotational motion in the XZ and YZ planes.

[0111] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 1 In step 1, under general anesthesia, the patient's respiratory movements are made to exhibit highly regular and repeatable periodic movements through mechanical ventilation equipment or precise management of the depth of anesthesia.

[0112] Controlled ventilation (intubation): Using mechanical ventilation equipment, the volume, respiratory rate, and inspiratory-expiratory ratio are precisely set to force the patient's chest wall movements (which in turn drive spinal movements) into a highly regular, repeatable periodic movement. Preservation of spontaneous breathing: Through precise intravenous anesthetics and nerve block techniques, the randomness of breathing is suppressed, making the patient's spontaneous breathing stable, deep, slow, and regular.

[0113] This invention breaks away from the traditional mindset of "interference occurs - interference is resolved," implementing a technical path of "eliminating the randomness of interference - utilizing the inherent regularity of the interference itself." It transforms respiratory movements, originally considered a disruptive factor, into a predictable and controllable periodic reference signal. Whether intubation controls breathing or spontaneous breathing is maintained without intubation, as long as a "regular breathing pattern" is ultimately achieved, the system functions normally. This flexibility allows it to adapt to more types of surgeries and patients, resulting in greater robustness.

[0114] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 1 In step 4, the compensation execution module 3 only compensates for translations along the Z and Y axes and rotations in the XZ and YZ planes. Translations along the X-axis and rotations around the Z-axis are not compensated because their displacements are less than the safety margin required for clinical surgery. Thus, by eliminating compensation for X-axis translations and Z-axis rotations, the number of drive components, transmission mechanisms, and control axes required by the system is reduced, resulting in a more compact, lightweight, and reliable overall structure. The control module does not need to calculate and generate control commands for these two degrees of freedom, simplifying the control loop, reducing software development complexity, and improving the system's real-time performance and stability. This invention reduces a complex six-degree-of-freedom compensation problem to a more easily solvable four-degree-of-freedom compensation problem that fully meets clinical requirements, thereby bringing comprehensive benefits in terms of system structure, performance, and cost.

[0115] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 1 In step S1, a control command is sent to the respiratory control module (inhalation anesthesia device) through the communication interface between the control module and the respiratory control module (inhalation anesthesia device). The respiratory control module (inhalation anesthesia device) adjusts its ventilation parameters according to the control command. The ventilation parameters include at least one or more of volume, respiratory rate, and inspiratory-to-expiratory ratio. By adjusting the ventilation parameters, the patient's respiratory movements and the resulting spinal movements exhibit highly regular and repeatable periodic movements. Thus, precise control of respiration is achieved through active communication and automatic control between the system and the respiratory control module (inhalation anesthesia device).

[0116] This invention provides doctors with a "dynamically stable" absolute operating space, which keeps the position and posture of the surgical instrument tip constant relative to the target vertebra that moves due to breathing, greatly improving the safety, accuracy and efficiency of delicate operations such as pedicle screw placement.

[0117] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom active breathing compensation system for spinal surgery, characterized in that, include: A spinal connection module is used for rigid connection with the spinous process of a specific segment of the patient's spine and rigid connection with the surgical execution module; The motion learning and storage module is used to continuously monitor and record the real-time motion data of the spinous process in space after the patient's breathing is regulated and the spinal movement with breathing is periodic and repeatable. It acquires and stores the trajectory data of the spinous process of the specific segment with periodic breathing and generates standard trajectory data. The respiratory monitoring module is used to collect the patient's respiratory phase signals; The control module is communicatively connected to the respiratory monitoring module and the motion learning and storage module, respectively. It is used to call up pre-stored standard trajectory data based on the patient's respiratory phase signal collected by the respiratory monitoring module, and query the theoretical position and posture of the spinous process at the corresponding phase point, including Z and Y coordinates and XZ and YZ rotation angles. Based on this theoretical value, the control module calculates the compensation amount required to keep the spatial pose of the surgical execution module absolutely stationary, and generates compensation control commands. The compensation execution module is fixedly connected to the spinal connection module and communicatively connected to the control module. It is used to execute relevant actions according to the compensation control command, so that the surgical execution module moves synchronously with the spinous process of the specific segment. The Z-axis, Y-axis, and X-axis are defined along the vertical, anterior-posterior, and left-right directions of the spine, respectively. The compensation degrees of freedom of the compensation execution module include translation along the Z-axis and Y-axis and rotation in the XZ and YZ planes.

2. The multi-degree-of-freedom active breathing compensation system for spinal surgery according to claim 1, characterized in that, The compensation execution module includes a translational compensation mechanism and a rotational compensation mechanism. The translational compensation mechanism is configured to receive instructions from the control module and drive the spinal connection module to perform translational movements along the Z-axis and Y-axis to compensate for the corresponding translational displacement caused by breathing. The rotational compensation mechanism is configured to receive instructions from the control module and drive the spinal connection module to perform rotational movements in the XZ-plane and YZ-plane to compensate for the corresponding angular displacement caused by breathing. The rotational compensation mechanism is fixedly mounted on the motion output end of the translational compensation mechanism via a connecting plate. The rotational compensation mechanism is connected to the spinal connection module via a mounting base plate. The surgical execution module is fixed on the mounting base plate. The translational compensation mechanism can drive the rotational compensation mechanism and the surgical execution module to perform translational movements along the Z-axis and Y-axis together. At the same time, the rotational compensation mechanism can independently rotate the surgical execution module in the XZ-plane and YZ-plane.

3. The multi-degree-of-freedom active breathing compensation system for spinal surgery according to claim 2, characterized in that, The compensation execution module includes a mounting frame. The translation compensation mechanism includes a first drive component, a second drive component, a first gear, a second gear, a Z-axis rack, and a Y-axis rack, as well as a first mounting shaft and a second mounting shaft connected by bearings. The first gear and the second gear are respectively mounted on the first mounting shaft and the second mounting shaft by bearings. The Z-axis rack extends in the same direction as the Z-axis and meshes with the first gear. The Y-axis rack extends in the same direction as the Y-axis and meshes with the second gear. The first drive component and the second drive component are respectively driven by the first gear and the second gear. The Y-axis rack is fixedly connected to the mounting frame, and the Z-axis rack is fixedly connected to the connecting plate.

4. The multi-degree-of-freedom active breathing compensation system for spinal surgery according to claim 3, characterized in that, The rotational compensation mechanism includes a fixing component and a rotational adjustment component. The rotational adjustment component is connected to the connecting plate through the fixing component. The rotational adjustment component includes a central sphere, a third gear, a third driving component, and a fourth driving component. The surface of the central sphere is provided with ring teeth. The third gear meshes with the ring teeth of the central sphere. The third driving component is driven by the third gear. The third gear is rotatably connected to the mounting bracket. The fourth driving component is driven by the mounting bracket. The central sphere is fixedly connected to the mounting base plate. The third driving component is used to drive the third gear to rotate, thereby driving the central sphere to rotate in the XZ plane. The fourth driving component is used to drive the rotation of the third gear and the central sphere as a whole in the YZ plane.

5. The multi-degree-of-freedom active breathing compensation system for spinal surgery according to any one of claims 1 to 4, characterized in that, The multi-degree-of-freedom active breathing compensation system for spinal surgery also includes a breathing regulation module, which is used to regulate the patient's breathing during spinal surgery so that the movement of the patient's spine with breathing is periodic and repeatable.

6. The multi-degree-of-freedom active breathing compensation system for spinal surgery according to claim 5, characterized in that, The multi-degree-of-freedom active breathing compensation system for spinal surgery also includes an interface for communication with the breathing regulation module. The control module is further configured to send instructions to the breathing regulation module to regulate the patient's breathing rhythm and amplitude, making their breathing movements more regular.

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