A system and method for stabilizing a patient's spine during spinal surgery

Abstract

The present application relates to a kind of system and method for stabilizing the spine of patient for spinal surgery, system includes: the dynamic compensation support device of patient trunk is configured as independently controllable displacement provides dynamic compensation support method to trunk, sensing component for real-time monitoring and acquisition the respiratory motion signal, body pressure distribution and spinal posture data of patient, head adjustment component and control module for synchronously adjusting the posture of patient head and neck, to coordinate the dynamic deformation of cervical vertebra and thoracic vertebra, maintain the overall alignment of spine, control module controls the collaborative motion of the multiple support body unit and head adjustment component, to dynamically compensate the spinal displacement caused by breathing, so that the target segment of spine is kept spatially stable during operation;Method is executed using the system.The implementation of the technical scheme of the present application can realize dynamic, adaptive, high-precision spinal stabilization without interfering with the normal breathing of patient, while having low cost and high versatility.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a system and method for stabilizing the spine of patients undergoing spinal surgery. Background Technology

[0002] In various spinal surgeries (including minimally invasive and open surgeries such as pedicle screw placement, interbody fusion, spinal decompression, laminectomy, scoliosis correction, spinal / spinal cord tumor resection, and percutaneous puncture), patients need to maintain a prone position for extended periods. Respiratory movements cause vertical and horizontal displacement of the thoracic cavity and abdomen, resulting in minute movements of the target spinal segment. Studies have shown that patient respiration can cause approximately 1–2 mm displacement of the vertebral body. This vertebral movement induced by respiration may lead to inaccurate surgical navigation or positioning, thereby increasing the difficulty and risk of delicate procedures such as pedicle screw placement. Existing methods typically rely on anesthesia machines to reduce the amplitude of respiratory movements or use complex robotic arms for real-time compensation. However, these methods are costly, bulky, have poor compatibility, and cannot guarantee absolute spinal stability during surgery.

[0003] In the existing technology, some medical mattresses or surgical frames attempt to distribute pressure through fixed support, but most of them are static structures that cannot dynamically compensate for breathing movements and are difficult to adapt to the precise needs of different patient body shapes and different surgical sites.

[0004] In summary, there is an urgent need for a system and method that can achieve dynamic, adaptive, and high-precision spinal stabilization without interfering with the patient's normal breathing, while also being low-cost and highly versatile for stabilizing the spine in patients undergoing spinal surgery. Summary of the Invention

[0005] The purpose of this invention is to provide a system and method for stabilizing the spine of patients undergoing spinal surgery that can achieve dynamic, adaptive, and high-precision spinal stabilization without interfering with the patient's normal breathing, while also being low-cost and highly versatile.

[0006] The above objective is achieved through the following technical solution: a system for stabilizing the spine of a patient undergoing spinal surgery, comprising:

[0007] A dynamic compensating support device for the trunk includes a support array for supporting the patient's trunk, the support array comprising a plurality of side-by-side support units, each of the support units being configured to independently and controllably displace to provide dynamic compensating support to the patient's trunk;

[0008] Sensing components: used to monitor and collect patients' respiratory motion signals, body pressure distribution, and spinal posture data in real time;

[0009] Head adjustment assembly: includes a head dynamic compensation support device, which is configured to work in conjunction with the trunk dynamic compensation support device to synchronously adjust the patient's head and neck posture in order to coordinate the dynamic deformation of the cervical and thoracic vertebrae and maintain the overall alignment of the spine.

[0010] Control module: Communicatively connected to the support array, sensing components and head adjustment components, and configured to control the multiple support units and head adjustment components to perform coordinated movements based on signals monitored by the sensing components, so as to dynamically compensate for spinal displacement caused by breathing, thereby keeping the target spinal segment spatially stable during surgery.

[0011] The technical solution of this invention achieves dynamic active stabilization of the spine while providing support to the patient's body under the premise of normal breathing, keeping the spinal segments relatively still. This fundamentally solves the technical problem of surgical navigation errors and instrument deviation caused by respiratory movements, and significantly improves surgical accuracy and safety.

[0012] A further technical solution is that the control module is equipped with a storage unit, which stores an individualized spinal biomechanical model based on the patient's preoperative medical images; the control module is further configured to: establish a respiratory-spinal motion relationship model between the patient's respiratory phase and spinal displacement based on the data monitored by the sensing components and the individualized spinal biomechanical model in the preoperative stage, and generate feedforward control commands based on the respiratory-spinal motion relationship model at least in the initial stage of surgery.

[0013] This invention utilizes patient-specific biomechanical and respiratory drive models, enabling the system to make personalized, adaptive, and precise predictions, rather than coarse estimates based on population averages. This allows the initial compensation amount to closely approximate actual needs, minimizing residual errors in spinal displacement and providing a stable platform for surgical navigation and precision manipulation.

[0014] A further technical solution is that the support unit includes a double-layer drive structure, which includes a dynamic compensation mechanism and a body position adaptation mechanism arranged in series. The body position adaptation mechanism is configured to adjust the spatial position of the support unit during the surgical preparation stage to form an initial support contour that adapts to the individual body shape of the patient. The dynamic compensation mechanism is configured to perform high-frequency micro-motion based on the instructions of the control module during the operation to dynamically counteract the spinal displacement caused by respiratory movements.

[0015] This invention assigns two tasks with drastically different requirements for drive performance—large-scale static positioning and small-scale dynamic tracking—to two independent dedicated mechanisms, resolving the contradiction that a single driver cannot simultaneously meet the demands of large stroke and high dynamic performance. The body alignment mechanism focuses on providing high-load, self-locking, and stable static support, while the dynamic compensation mechanism focuses on achieving high-frequency, high-precision dynamic response, thereby optimizing both static alignment and dynamic compensation performance of the entire system.

[0016] The mechanical locking of the positioning adaptation mechanism during surgery provides an absolutely stable reference surface for the entire dynamic compensation process. This prevents slow drift of the support surface due to patient weight or equipment vibration during prolonged surgery, ensuring the long-term stability of compensation control. At the same time, the clear division of labor reduces the load and wear on individual actuators, improving the overall system's lifespan and reliability.

[0017] The dual-layer drive design balances individualized support and respiratory dynamic compensation, improving adaptability and response speed.

[0018] A further technical solution is that the head adjustment assembly also includes a head limiting mechanism, which is disposed above the head dynamic compensation support device and used to fix the patient's head. The head dynamic compensation mechanism is an array structure composed of multiple dynamic compensation mechanisms.

[0019] The head adjustment scheme of this invention, through the innovative design of "limiting mechanism + compensation array", elevates the head from a relatively isolated fixed point into an active and intelligent collaborative component of the entire dynamic stability system. It ensures the stability of the spinal chain end through precise compensation of multiple degrees of freedom.

[0020] A further technical solution is that the sensing component includes:

[0021] A pressure sensing module, integrated on the upper surface of the dynamic compensation mechanism, is used to capture chest and abdominal fluctuations and local load changes caused by breathing.

[0022] The posture monitoring module includes at least three IMU units, which are respectively set near the target segment of the spine in the patient's back, at the head and neck reference point, and on the spinous process clip connected to the target spinous process, for real-time assessment of spinal posture stability.

[0023] The respiratory signal interface is used to receive the respiratory phase signal output by the anesthesia machine, which serves as the clock source for the control module.

[0024] This invention achieves predictive compensation, significantly reducing system latency: Compared with "post-occurrence compensation" that relies solely on intraoperative sensor feedback, this feedforward mechanism can predict spinal movement in advance and act ahead of time, fundamentally solving the problem of compensation lag caused by mechanical and electrical control delays in the system, making the compensation action almost synchronous with respiratory movement, and achieving millisecond-level real-time compensation.

[0025] Through patient-specific biomechanical and respiratory-driven models, the system can make personalized, adaptive, and accurate predictions, rather than coarse estimates based on population averages. This allows the initial compensation amount to closely approximate the actual needs, minimizing residual errors in spinal displacement.

[0026] In the early stages of surgery or when sensor signals are briefly disturbed, model-based feedforward control can independently provide effective basic compensation, ensuring that the system's basic performance does not collapse. Feedback control acts as a "fine-tuner," and the combination of the two makes the system more resistant to external disturbances and internal model errors. Feedforward control handles most of the periodic and predictable compensation tasks, eliminating the need for the dynamic compensation mechanism to make large-scale, high-intensity adjustments throughout the process. This not only reduces energy consumption and actuator wear but also allows the closed-loop feedback controller to focus more on handling small, non-periodic residuals, thus optimizing the overall system control efficiency.

[0027] A further technical solution is that the system for stabilizing the patient's spine during spinal surgery also includes a pelvic stabilizer for providing fixed support to the lower part of the body. The pelvic fulcrum and the head restraint form a symmetrical stabilizing structure at both ends of the body. This design ensures that both ends of the spinal chain are constrained, and the dynamic compensation device in the middle can more precisely control the shape of the chain, thereby achieving global spatial stability of the entire spine from the sacrum to the cervical spine, rather than just localized stability.

[0028] To achieve the above objectives, the present invention also provides a method for stabilizing the spine of a patient undergoing spinal surgery, performed using any of the aforementioned systems for stabilizing the spine of a patient undergoing spinal surgery, comprising the following steps:

[0029] S1: Acquire preoperative medical imaging data of patients and generate individualized spinal biomechanical models;

[0030] S2, deploy sensor components to collect the patient's respiratory motion signals, body pressure distribution and spinal posture data, learn the respiratory-spinal displacement relationship based on the data collected by the sensor components, and generate a respiratory drive model;

[0031] S3, Pre-compensation: Based on respiratory motion signals, the respiratory phase is predicted, and the dynamic compensation support device of the trunk is driven by the respiratory drive model to make corresponding reverse displacement compensation to counteract the main periodic displacement trend of the spine; and the overall stability of the patient's spine is judged based on the spinal posture data. If the reverse displacement compensation exceeds the preset threshold, the pre-compensation parameters are adjusted until the overall spine is stable.

[0032] S4, Intraoperative Real-Time Compensation: Acquire precise posture data of the spinous process of the target spinal segment in real time, and correct and compensate for residuals by controlling the movement of the trunk dynamic compensation support device and / or head adjustment component through closed-loop control, so as to keep the target spinal segment spatially stable.

[0033] The entire process of this invention runs continuously throughout the surgery, forming a high-frequency closed loop of "perception-decision-execution-verification" to ensure that any minute residual movement is corrected in time, ultimately achieving "near-absolute stillness" of the target spinal segment under dynamic respiratory disturbance.

[0034] A further technical solution is that, in step S2, a static support reference is first established. After the patient is in place with the dynamic compensation support device for the trunk, the body position adaptation mechanism is driven based on the obtained body pressure distribution data or preset model to adjust each support unit to a specific height. All support units together constitute a stable support surface that accurately matches the curvature of the patient's back spine. The stable support surface serves as the reference surface for dynamic compensation in steps S3 and S4.

[0035] This invention provides patients with a comfortable support that evenly distributes body pressure and conforms to physiological curvature through an initial personalized fit. This not only avoids the risk of pressure injury, but more importantly, it ensures a stable and reliable contact between the patient's body and the support device, creating an optimal biomechanical environment for the subsequent precise transmission of compensating forces through dynamic trunk compensation of the support device's movement.

[0036] This method establishes an absolutely static reference frame for high-frequency dynamic compensation motion, ensuring that the dynamic compensation mechanism always performs micro-movements near a known, optimized "operating point," avoiding the blindness and inaccuracy of searching for the optimal compensation position over an extremely large stroke range. The control objective is simplified to "maintaining the unchanged shape of the reference surface," thus achieving perfect decoupling of static support and dynamic compensation in the control logic, making high-precision control of minute displacements possible.

[0037] A further technical solution is that, in step S2, IMU units are set at reference points on the patient's upper back and neck; in step S3, IMU units at reference points on the patient's upper back and neck are used to collect spinal posture data to determine the overall stability of the patient's spine; in step S4, a spinous process clamp with IMU units is rigidly connected to the target spinous process to obtain the posture of the vertebral body including the target spinous process in real time, and the displacement trend is predicted by combining the patient's respiratory motion signals and body pressure distribution, and the compensation control focus is placed on the vertebral body including the target spinous process and its adjacent surgical target segment.

[0038] This invention uses an upper back / neck IMU to ensure the entire trunk and spinal chain remain stable from tilting or swaying (macroscopic stability), and a spinous process clamp IMU to ensure absolute spatial stillness in the core surgical area (microscopic precision). This division of labor resolves the contradiction that a single sensor cannot simultaneously ensure global and local stability. By cleverly assigning specific tasks to different IMUs at different stages, a hierarchical, focused, and self-optimizing intelligent control process is constructed, ensuring that the system can smoothly transition from "safe startup" to "precise locking".

[0039] A further technical solution is that, in step S2, the respiratory cycle is marked by the airway pressure or flow curve output by the anesthesia machine; pressure sensor data and posture data collected by the IMU unit are collected within at least one complete respiratory cycle; and the collected data are fitted with the individualized spinal biomechanical model using an LSTM neural network or a mechanical back-calculation algorithm to establish the correspondence between the respiratory phase and the displacement and rotation of each segment of the spine, thereby generating a respiratory drive model.

[0040] This invention transforms a vague physiological phenomenon into a quantitative model that can be accurately predicted and controlled by fusing time synchronization signals, spatial distribution pressure, and inertial attitude data. This method is the core of the entire intelligent compensation system, and the high-precision respiratory drive model it generates ultimately achieves intraoperative spinal stability.

[0041] Compared with the prior art, the implementation of the technical solution of the present invention has the following technical effects:

[0042] 1. Through a hybrid control strategy of model-driven feedforward and closed-loop feedback, it can actively predict and counteract spinal displacement caused by breathing in real time, so that the target spinal segment remains nearly absolutely still during the operation.

[0043] 2. The trunk dynamic compensation support device adopts a dual-layer drive design of body position adaptation mechanism + dynamic compensation mechanism, which decouples the large-range static shape and small-stroke dynamic fine adjustment in structure and control, so as to perfectly adapt to different patient body shapes and realize high-frequency precision compensation for physiological movement.

[0044] 3. By integrating respiratory phase data of the anesthesia machine, full-field pressure distribution data, and multi-level IMU attitude data, a cross-scale, multi-backup sensing system was constructed, providing a reliable data foundation for intelligent control and significantly improving the robustness and fault tolerance of the system.

[0045] 4. Through the coordinated design of the head limiting compensation device and the pelvic stabilizer, the two ends of the spinal chain are anchored, so that the active compensation of the trunk is transformed into controlled deformation around the fixed fulcrum, thus realizing the stability of the complete biomechanical chain from the cervical spine to the sacrum.

[0046] In application, the present invention can fix the trunk dynamic compensation support device using a universal operating table side rail, achieving a dynamic stability effect comparable to a large robotic arm system at a cost far lower than that of a surgical robot without modifying the operating table, and has extremely high clinical promotion value. Attached Figure Description

[0047] 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.

[0048] Figure 1 This is a structural block diagram of a system for stabilizing the spine of a patient undergoing spinal surgery, according to one embodiment of the present invention.

[0049] Figure 2 This is a schematic diagram of the composition of the torso dynamic compensation support device and head adjustment assembly according to one embodiment of the present invention.

[0050] Figure 3 This is a cross-sectional schematic diagram of the composition structure of the torso dynamic compensation support device and head adjustment assembly according to one embodiment of the present invention.

[0051] Figure 4 This is a schematic diagram of the fixation structure of the trunk dynamic compensation support device, head adjustment component and operating table according to one embodiment of the present invention.

[0052] Figure 5 This is a schematic diagram showing the composition and application state of the torso dynamic compensation support device and head adjustment component according to one embodiment of the present invention.

[0053] Figure 6 This is a schematic diagram of the structure of a support unit according to one embodiment of the present invention;

[0054] Figure 7 This is a schematic diagram of the structure of a dynamic compensation support device for the torso according to one embodiment of the present invention.

[0055] Figure 8This is a schematic diagram of the head adjustment assembly according to one embodiment of the present invention;

[0056] Figure 9 This is a flowchart illustrating a method for stabilizing a patient's spine during spinal surgery, according to one embodiment of the present invention.

[0057] In the picture:

[0058] 1. Dynamic compensation support device for the torso; 2. Head adjustment assembly; 3. Support unit.

[0059] 4. Dynamic compensation mechanism; 5. Body position adaptation mechanism; 6. Head restraint mechanism

[0060] 7. Head dynamic compensation support device; 8. Flexible covering layer; 9. Pressure sensing module

[0061] 10 Universal joint 11 Pelvic stabilizer 12 Operating table

[0062] 13 Fixed structure 14 Guide rail Detailed Implementation

[0063] 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.

[0064] The embodiments of the present invention are as follows, with reference to Figures 1-8 A system for stabilizing the spine of a patient undergoing spinal surgery, comprising:

[0065] The trunk dynamic compensation support device 1 includes a support array for supporting the patient's trunk, the support array including a plurality of side-by-side support units 3, each of the support units 3 being configured to independently and controllably displace to provide dynamic compensation support to the patient's trunk;

[0066] Sensing components: used to monitor and collect patients' respiratory motion signals, body pressure distribution, and spinal posture data in real time;

[0067] Head adjustment component 2: includes a head dynamic compensation support device 7, which is configured to work in conjunction with the trunk dynamic compensation support device 1 to synchronously adjust the patient's head and neck posture in order to coordinate the dynamic deformation of the cervical and thoracic vertebrae and maintain the overall alignment of the spine.

[0068] Control module: Communicatively connected to the support array, sensing components and head adjustment components 2, and configured to control the multiple support units 3 and head adjustment components 2 to perform coordinated movements based on signals monitored by the sensing components, so as to dynamically compensate for spinal displacement caused by breathing, thereby keeping the target spinal segment spatially stable during surgery.

[0069] In practical applications, the trunk dynamic compensation support device 1 (multiple splicable support arrays) can be fixed inside the mattress of the operating table 12, or it can be fixed using the side rail 14 of the general operating table 12. The patient lies prone on the support array, with the head placed on the head dynamic compensation support device 7 of the head adjustment component 2, precisely matching the stable support surface of the patient's back spinal curvature as a reference surface. The corresponding sensing components collect respiratory signals (such as the airway pressure curve of the anesthesia machine), pressure distribution (such as pressure changes caused by chest and abdominal fluctuations), and spinal posture data in real time. After receiving the data, the control module drives the support unit 3 to move independently, and simultaneously drives the head adjustment component 2 to move synchronously, so as to dynamically compensate for the spinal displacement caused by breathing, thereby keeping the target segment of the spine spatially stable during the operation and ensuring that the support surface of the patient's back spinal curvature is always maintained on the reference surface.

[0070] The trunk dynamic compensation support device 1 can be arranged as a modular mattress, and the multiple independently controllable support units 3 are arranged in a splicable array. This invention, through coordinated compensation of the head and trunk, avoids passive deformation of the cervical spine caused by chest and abdominal compensating movements, ensuring the spatial stability of the entire spinal chain and further improving the static effect and safety of the surgical area.

[0071] The technical solution of this invention achieves dynamic active stabilization of the spine while providing support to the patient's body under the premise of normal breathing, keeping the spinal segments relatively still. This fundamentally solves the technical problem of surgical navigation errors and instrument deviation caused by respiratory movements, and significantly improves surgical accuracy and safety.

[0072] Based on the above embodiments, in another embodiment of the present invention, the control module is provided with a storage unit, which stores an individualized spinal biomechanical model established based on the patient's preoperative medical images; the control module is further configured to: establish a respiratory-spinal motion relationship model between the patient's respiratory phase and spinal displacement based on the data monitored by the sensing components and the individualized spinal biomechanical model in the preoperative stage, and generate feedforward control commands based on the respiratory-spinal motion relationship model at least in the initial stage of surgery.

[0073] In practical applications, prior to surgery, high-resolution three-dimensional image data of the target area of ​​the patient's spine are acquired via computed tomography (CT) or magnetic resonance imaging (MRI). As those skilled in the art will understand, the system assigns standard biomechanical material properties (such as elastic modulus, Poisson's ratio, etc.) to this geometric model, thereby constructing a patient-specific spinal biomechanical model that can be used for finite element analysis (FEA) or other mechanical calculations. This model is stored in the system's storage unit and can simulate the deformation and displacement of the spine under respiratory loads.

[0074] Then, the respiratory-spinal motion relationship model is learned and established. The sensing component collects pressure data and IMU posture data for three complete respiratory cycles. The control module fits the data with the individualized biomechanical model to establish the respiratory-spinal motion relationship model. At the start of the operation, the control module generates feedforward commands in advance based on the respiratory signal of the anesthesia machine (inspiratory phase trigger) and the respiratory-spinal motion relationship model, which drives the trunk support unit 3 to move and counteract the predicted spinal displacement.

[0075] This invention utilizes patient-specific biomechanical and respiratory drive models, enabling the system to make personalized, adaptive, and precise predictions, rather than coarse estimates based on population averages. This allows the initial compensation amount to closely approximate actual needs, minimizing residual errors in spinal displacement and providing a stable platform for surgical navigation and precision manipulation.

[0076] Based on the above embodiments, in another embodiment of the present invention, such as... Figures 6-7 The support unit 3 includes a double-layer drive structure, which includes a dynamic compensation mechanism 4 and a body position adaptation mechanism 5 arranged in series. The body position adaptation mechanism 5 is configured to adjust the spatial position of the support unit during the surgical preparation stage to form an initial support profile that adapts to the individual body shape of the patient. The dynamic compensation mechanism 4 is configured to perform high-frequency micro-motion based on the instructions of the control module during the operation to dynamically counteract the spinal displacement caused by respiratory movements.

[0077] In practical application, a static support baseline is first established. After the patient is positioned in the dynamic compensation support device, the system drives the position adaptation mechanism 5 based on pressure distribution or a preset model to adjust each support unit 3 to a specific height. Ultimately, the surface of the entire support array forms a stable initial support contour that closely conforms to the anatomical structure of the patient's back. All support units 3 together constitute a stable support surface that precisely conforms to the patient's chest and abdomen and matches the physiological curvature of the patient's spine. This surface is the "zero point" or "reference surface" for all subsequent dynamic compensations. Once the initial contour is formed, the position adaptation mechanism 5 completes its mission and enters a locked or held state, remaining inactive throughout the entire surgical procedure. The system control center then switches to the dynamic compensation mechanism 4.

[0078] During the surgery, dynamic motion compensation is implemented. With each breath, the dynamic compensation mechanism 4 activates, receiving commands from the control system and performing rapid, sub-millimeter-level extension and contraction movements based on the reference height set by the body positioning mechanism 5. Specifically, when inhalation is predicted or detected causing the body to rise, the dynamic compensation mechanism 4 drives the support panel to move downwards synchronously, ensuring the spatial position of the spine relative to the external surgical coordinate system remains unchanged. The reverse occurs during exhalation. The entire process is closed-loop, with the compensation effect verified and fine-tuned in real-time using sensors such as an IMU.

[0079] Specifically, the dynamic compensation mechanism 4 is located above the body position adaptation mechanism 5. The body position adaptation mechanism 5 is a large stroke slow adjustment unit, which can be an electric lead screw or an electric cylinder. The dynamic compensation mechanism 4 is a small stroke fast compensation unit, which can be a voice coil motor, a servo micro motor or a piezoelectric driver.

[0080] This invention assigns two tasks with drastically different requirements for drive performance—large-scale static positioning and small-scale dynamic tracking—to two independent dedicated mechanisms, resolving the contradiction that a single driver cannot simultaneously meet the demands of large stroke and high dynamic performance. The body alignment mechanism 5 focuses on providing high-load, self-locking, and stable static support, while the dynamic compensation mechanism 4 focuses on achieving high-frequency, high-precision dynamic response, thus optimizing both static alignment and dynamic compensation performance of the entire system.

[0081] like Figure 5 The mechanical locking of the positioning adaptation mechanism 5 during surgery provides an absolutely stable reference surface for the entire dynamic compensation process. This prevents the support surface from slowly drifting due to patient weight or equipment vibration during prolonged surgery, ensuring the long-term stability of compensation control. At the same time, the clear division of labor reduces the load and wear on individual actuators, improving the overall system's lifespan and reliability.

[0082] The dual-layer drive design balances individualized support and respiratory dynamic compensation, improving adaptability and response speed.

[0083] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 1 , Figure 4 , Figure 8 The head adjustment component 2 also includes a head limiting mechanism 6, which is disposed above the head dynamic compensation support device 7 and is used to fix the patient's head. The head dynamic compensation mechanism 4 is an array structure composed of multiple dynamic compensation mechanisms 4.

[0084] The implementation of the head adjustment component 2 is a process that combines rigid restraint with flexible dynamic compensation. When the patient is in a prone position, their head is placed on the support surface of the head dynamic compensation support device 7. The head restraint mechanism 6 (typically a soft but immovable pad or frame designed to conform to the curves of the patient's forehead, cheekbones, and jaw) gently and firmly contacts and fixes the head from above or the side. This limits large-scale, unintended movements of the head (such as lateral slippage or torsion) during anesthesia or surgery, establishing a reliable initial position and force fulcrum for fine dynamic compensation.

[0085] The core of the head dynamic compensation support device 7 is an array of multiple dynamic compensation mechanisms 4. These mechanisms are similar to the dynamic compensation mechanisms 4 in the torso support unit (such as voice coil motors), and are densely arranged in a miniaturized, modular form under the headrest area. Each tiny compensation mechanism can independently and controllably perform micron- to millimeter-level extension and retraction movements. Together, they support a flexible headrest panel. When the control system determines that the head posture needs to be adjusted based on sensor signals (such as neck IMU or torso movement trends), it precisely controls this array of miniature compensation mechanisms under the head.

[0086] (Pitch compensation): When a slight extension (backward tilt) tendency of the thoracic spine is detected during inhalation, in order to prevent excessive backward tilt of the cervical spine, the control system can instruct the compensation mechanism located in the forehead area to retract slightly, and at the same time instruct the compensation mechanism located in the jaw area to push out slightly, forming a slight "nodding" action to coordinate the movement of the cervical and thoracic spine.

[0087] (Tilting compensation): If breathing causes a slight lateral sway of the body, the system can control the compensation mechanisms on the left and right sides of the head array to perform differential motion, generating a small counteracting torque to maintain the neutral posture of the head and neck.

[0088] The head adjustment component 2 of this invention, composed of an array of multiple dynamic compensation mechanisms 4, essentially constitutes a multi-degree-of-freedom micro-motion platform. It can comprehensively generate complex movements such as up-down, forward-backward, pitch, lateral, and even micro-rotation around an axis, thereby enabling highly precise, multi-dimensional, decoupled, and fine adjustment of the head to perfectly match the complex deformation of the spine. Through the precise micro-motion of the array, head adjustment is no longer isolated but integrated with the compensating movements of the trunk support device. This allows the head and neck to coordinate and follow the thoracic and lumbar spine in compensation, stabilizing the entire spine as a complete biomechanical chain, avoiding secondary stress and deformation of the cervical spine caused by thoracic and abdominal compensation, and achieving true "global stability."

[0089] The head restraint mechanism 6 provides basic safety, preventing significant accidental movement. Meanwhile, the array-style dynamic compensation offers flexible, adaptive fine-tuning, avoiding the localized high pressure and discomfort that rigid fixation might cause. This "combination of rigidity and flexibility" design maximizes patient comfort and safety while pursuing surgical precision. Because the head compensation mechanism and the torso compensation mechanism maintain consistency in principle and components, this simplifies the system's supply chain, control architecture, and software design. The control module can use similar algorithms and drive circuits to control the whole-body compensation movements, improving the overall system's integration, reliability, and maintainability.

[0090] The head adjustment scheme of this invention, through the innovative design of "limiting mechanism + compensation array", elevates the head from a relatively isolated fixed point into an active and intelligent collaborative component of the entire dynamic stability system. It ensures the stability of the spinal chain end through precise compensation of multiple degrees of freedom.

[0091] Based on the above embodiments, in another embodiment of the present invention, the sensing component includes:

[0092] The pressure sensing module 9 is integrated on the upper surface of the dynamic compensation mechanism 4 and is used to capture chest and abdominal fluctuations and local load changes caused by breathing.

[0093] The posture monitoring module includes at least three IMU units, which are respectively set near the target segment of the spine in the patient's back, at the head and neck reference point, and on the spinous process clip connected to the target spinous process, for real-time assessment of spinal posture stability.

[0094] The respiratory signal interface is used to receive the respiratory phase signal output by the anesthesia machine, which serves as the clock source for the control module.

[0095] like Figure 7 Beneath the flexible covering layer 8 of each support unit 3 (which distributes pressure to prevent pressure sores without restricting breathing), a pressure sensing module 9 (such as a pressure sensor array, fiber optic sensing membrane, or capacitive sensing membrane) is tightly integrated. The pressure sensing module 9 is connected to the upper end of the dynamic compensation mechanism 4 via a universal joint 10. These modules together form a high-resolution, distributed pressure sensing network covering the entire chest and abdominal region. During breathing, the rise and fall of the chest causes dynamic changes in pressure in the area where it contacts the mattress. During inhalation, the pressure in the chest region increases; during exhalation, the pressure decreases. Simultaneously, the abdominal region exhibits the opposite or a specific pattern.

[0096] These real-time, continuous pressure change data are sent to the control module for:

[0097] Respiratory event detection: As an effective supplement and cross-validation of anesthesia machine signals, it directly reflects the body's physical movement.

[0098] Monitoring of subtle changes in body posture: Detecting minute slips or displacements that may occur in the patient.

[0099] Model calibration: Provides rich surface biomechanical data for personalized respiratory-spinal motion relationship models.

[0100] The attitude monitoring module contains at least three IMUs, which are strategically placed in key locations:

[0101] Back reference point IMU: Usually placed on the spinous process of the upper thoracic vertebrae in the non-surgical area to monitor overall movement and tilt of the upper body.

[0102] Head and neck reference point IMU: Placed on the headrest or forehead, it is used to monitor head posture and coordinate with trunk movements for control.

[0103] Target spinous process clamp IMU: This is the key sensor. After the surgery begins, a spinous process clamp equipped with an IMU is rigidly fixed to the spinous process of the target vertebra (the vertebra that needs to be kept stationary). It provides the most direct and accurate real-time attitude data of the target segment in six degrees of freedom (three-axis displacement, three-axis rotation).

[0104] These IMUs measure their own acceleration and angular velocity at extremely high frequencies (typically >200Hz), and use data fusion algorithms to calculate precise attitude and displacement information. The readings of the chuck IMU serve as the gold standard for closed-loop control, used to calculate the residual error after feedforward compensation.

[0105] The system's respiratory signal interface (such as a digital or analog input port) is connected to the standard anesthesia machine in the operating room via cable, receiving real-time analog / digital signals of airway pressure or flow from the anesthesia machine. The signals clearly outline the waveforms of each inhalation and exhalation, providing a high-precision, non-invasive, and absolutely synchronized time reference (clock source) for the entire respiratory cycle. This enables:

[0106] Marking the respiratory cycle: The control system uses this signal to accurately determine whether it is currently in the inspiratory phase, expiratory phase, end of inspiration, or end of expiration.

[0107] Drive feedforward control: such as the triggering and timing of feedforward control commands, strictly synchronized with this breathing phase to achieve true predictive compensation.

[0108] Data fusion and synchronization: As a timestamp, asynchronous data from pressure sensing module 9 and attitude monitoring module are synchronized and aligned to ensure that all data are processed under the same breathing phase, thereby constructing an accurate causal relationship.

[0109] During the learning and establishment of the respiratory-spinal motion model, the respiratory signal interface continuously receives the airway pressure or flow curve output by the anesthesia machine, which is marked as the "golden clock source" of the respiratory cycle. The pressure sensor array continuously records the dynamic changes in pressure distribution in the patient's chest and abdomen caused by respiration. The IMU unit (usually placed at the back and head and neck reference points) synchronously records the posture changes of these areas.

[0110] Then, data fitting and model training are performed: the control module collects data from multiple complete respiratory cycles (e.g., 2-3 minutes). Subsequently, it fits the real-time collected pressure and IMU data with the stored biomechanical model. Specifically, the system uses machine learning algorithms (e.g., Long Short-Term Memory Network LSTM) or mechanical backpropagation algorithms to analyze the nonlinear mapping relationship between respiratory phases (inspiratory phase, expiratory phase, peak, trough) and predicted displacement / rotation of each spinal segment, thereby establishing a high-precision respiratory-spinal motion relationship model (i.e., a "respiratory drive model") specific to the patient. This model can predict the amount and direction of displacement of the target spinal segment in the near future based on real-time respiratory phase signals.

[0111] Predictive compensation: At the start of surgery, especially in the initial stage, when the system recognizes that the patient is about to enter the "inspiratory" phase through the anesthesia machine signal, the control module immediately calls the established respiratory-spinal motion relationship model.

[0112] Command issuance: The model predicts the "upward" displacement of the spine caused by inhalation. Based on this, the control module generates a reverse "downward" feedforward control command in advance and sends it to the corresponding support unit 3.

[0113] Thus, the dynamic compensation mechanism 4 of the support unit 3 begins to move before or simultaneously with the actual lifting of the body, actively "giving up" space, thereby significantly offsetting the main, periodic displacement trend. This provides a high-precision starting point for subsequent closed-loop feedback control, significantly reducing the burden on feedback control.

[0114] This invention achieves predictive compensation, significantly reducing system latency: Compared with "post-occurrence compensation" that relies solely on intraoperative sensor feedback, this feedforward mechanism can predict spinal movement in advance and act ahead of time, fundamentally solving the problem of compensation lag caused by mechanical and electrical control delays in the system, making the compensation action almost synchronous with respiratory movement, and achieving millisecond-level real-time compensation.

[0115] Through patient-specific biomechanical and respiratory-driven models, the system can make personalized, adaptive, and accurate predictions, rather than coarse estimates based on population averages. This allows the initial compensation amount to closely approximate the actual needs, minimizing residual errors in spinal displacement.

[0116] In the early stages of surgery or when sensor signals are briefly disturbed, model-based feedforward control can independently provide effective basic compensation, ensuring that the system's basic performance does not collapse. Feedback control acts as a "fine-tuner," and the combination of the two makes the system more resistant to external disturbances and internal model errors. Feedforward control undertakes most of the periodic and predictable compensation tasks, eliminating the need for the dynamic compensation mechanism 4 to undergo large-scale, high-intensity adjustments throughout the process. This not only reduces energy consumption and actuator wear but also allows the closed-loop feedback controller to focus more on handling small, non-periodic residuals, thus optimizing the overall system control efficiency.

[0117] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 1 The system for stabilizing a patient's spine during spinal surgery also includes a pelvic stabilizer 11 for providing fixed support to the lower part of the body.

[0118] The implementation of the pelvic stabilizer 11 is a process of strategically securing the lower part of the body. After the patient is in a prone position, before or after the initial positioning adaptation, the position and height of the pelvic stabilizer 11 are manually adjusted by medical staff or electrically via the control system to ensure it fits tightly and securely against the patient's pelvic area. Once adjusted, this fulcrum is mechanically locked, maintaining its spatial position throughout the entire surgical procedure. It becomes a reliable and immovable anchor point between the patient's body and the operating table 12.

[0119] As the surgery begins, the trunk and head support units dynamically compensate for the movement, while the thoracic and abdominal support units exert active forces on the patient's body to compensate for respiratory movements. Under the combined effect of active compensation by the modular array and head-following adjustment, the patient's trunk sways slightly around the pelvic support point, but the target spinal segment remains nearly stationary relative to the operating room coordinate system. The stable support of the pelvic region acts like a hinge fulcrum, allowing the upper body's compensating movement to form a controlled swinging closed chain, further reducing unnecessary displacement in the surgical area. Without the pelvic fulcrum, these forces would likely cause the patient's body to slide along the bed towards the feet. The presence of the pelvic fulcrum provides a strong reaction force fulcrum for these compensating forces, transforming the compensating movement into a slight "rotation" or "deformation" of the trunk around the pelvis, rather than ineffective "sliding," ensuring that the entire compensation process is a controlled, internal deformation, rather than a total displacement relative to the external coordinate system.

[0120] The pelvic fulcrum and head restraints form a symmetrical and stable structure at both ends of the body. This design ensures that both ends of the spinal chain are restrained, and the dynamic compensation device in the middle can more precisely control the shape of the chain, thereby achieving global spatial stability of the entire spine from the sacrum to the cervical spine, rather than just localized stability.

[0121] In the specific implementation process, such as Figure 4 The torso dynamic compensation support device 1 and the head adjustment component 2 are mounted on the operating table 12 guide rail 14 via an adjustable fixing structure 13, which includes an E-shaped hook or a magnetic module. The standard operating table 12 guide rails 14 (25×10 mm, 28.6×9.5 mm, 31.8×6.35 mm) allow for quick knob locking via the E-shaped hook or magnetic module, facilitating installation and removal. This universal fixing method facilitates rapid installation and disassembly, improving compatibility.

[0122] The present invention also provides a method for stabilizing the spine of a patient undergoing spinal surgery, as illustrated in the following embodiments. Figure 9 Performing the procedure using any of the above-described systems for stabilizing a patient's spine during spinal surgery includes the following steps:

[0123] S1: Acquire preoperative medical imaging data of patients and generate individualized spinal biomechanical models;

[0124] S2, deploy sensor components to collect the patient's respiratory motion signals, body pressure distribution and spinal posture data, learn the respiratory-spinal displacement relationship based on the data collected by the sensor components, and generate a respiratory drive model;

[0125] S3, Pre-compensation: Based on respiratory motion signals, the respiratory phase is predicted, and the dynamic compensation support device 1 of the trunk is driven by the respiratory drive model to make corresponding reverse displacement compensation to counteract the main periodic displacement trend of the spine; and the overall stability of the patient's spine is judged based on the spinal posture data. If the reverse displacement compensation exceeds the preset threshold, the pre-compensation parameters are adjusted until the overall spine is stable.

[0126] S4, Intraoperative Real-Time Compensation: Real-time acquisition of precise posture data of the spinous process of the target spinal segment, and closed-loop control of the trunk dynamic compensation support device 1 and / or head adjustment component 2 to correct and compensate residuals, so as to keep the target spinal segment spatially stable.

[0127] This invention is a closed-loop intelligent control process from preoperative planning to intraoperative execution. In specific applications:

[0128] First, import the patient's preoperative CT or MRI images in DICOM format. Then, using specialized 3D reconstruction software, perform automated image segmentation (distinguishing between bones, soft tissues, etc.) to generate a precise 3D geometric model of the patient's spine. Subsequently, using finite element analysis (FEA), assign standard biomechanical material properties to this geometric model, constructing a patient-specific spinal biomechanical model capable of simulating deformation and displacement under respiratory loads. This model serves as the digital foundation for all subsequent intelligent decision-making.

[0129] After the patient is positioned, all sensors are activated to perform self-learning and model calibration of the respiratory-spinal motion relationship. High-fidelity respiratory waveforms are acquired from the anesthesia machine interface, dynamic pressure maps of the entire chest and abdominal region are obtained from the pressure sensor array of the mattress, and spinal posture data is obtained from the initial posture of the reference IMUs placed on the back and head and neck. The system control module collects the above data over multiple respiratory cycles (e.g., 2-3 minutes) and fits it to the biomechanical model generated in S1. Using machine learning algorithms (e.g., LSTM) or mechanical back-calculation algorithms, a respiratory drive model is established, which can accurately describe the quantitative relationship of "how much displacement and rotation of a certain segment of the spine corresponds to a certain respiratory phase (e.g., peak inspiration)".

[0130] Predictive feedforward pre-compensation is performed in the initial stage of surgery: At the start of surgery, the control system uses the anesthesia machine's respiratory signal as a metronome to predict the respiratory phase at the next moment in real time. Utilizing the respiratory drive model learned in S2, the compensation amount required to offset the predicted displacement is calculated in advance, and the corresponding unit of the trunk dynamic compensation support device 1 is driven to move in advance. While implementing pre-compensation, the system continuously reads data from the back reference point IMU to assess overall stability. If the IMU shows displacement or posture oscillations exceeding a preset safety threshold (e.g., 0.3 mm), the current feedforward model parameters are deemed inaccurate. The system automatically fine-tunes the pre-compensation gain or offset and performs a new round of testing until the IMU data shows the spine has entered a generally stable state. This step ensures the system can quickly converge to the optimal operating point. During this stage, the movement of the trunk dynamic compensation support device 1 mainly controls the module array in the upper body region (chest, abdomen, scapular region, and head posture), while the pelvis and lower segment remain fixedly supported. The force and speed of the trunk dynamic compensation support device 1's movements should be gentle to avoid patient slippage or physiological discomfort.

[0131] The core stage of the surgery is precise closed-loop compensation based on real feedback: this stage is crucial for ensuring accuracy. A spinous process clamp with an IMU is rigidly mounted on the target vertebra, providing the most realistic and direct six-DOF pose data for the target segment. The control module compares the actual pose read from the spinous process clamp IMU with the desired static pose, calculating the residual after feedforward compensation. This residual is input into a closed-loop controller (such as a PID controller or Kalman filter) to generate precise correction commands. These commands fine-tune the movements of the trunk support device and / or head adjustment assembly 2 in real time, dynamically "chasing" and eliminating the residual.

[0132] The entire process runs continuously throughout the surgery, forming a high-frequency closed loop of "perception-decision-execution-verification" to ensure that any tiny residual movement is corrected in time, ultimately achieving "near-absolute stillness" of the target spinal segment under dynamic respiratory disturbance.

[0133] Based on the above embodiments, in another embodiment of the present invention, a system for stabilizing the spine of a patient undergoing spinal surgery is used. In step S2, a static support reference is first established. After the patient is in place with the trunk dynamic compensation support device 1, the body position adaptation mechanism 5 is driven based on the obtained body pressure distribution data or a preset model to adjust each support unit 3 to a specific height. All support units 3 together constitute a stable support surface that accurately matches the curvature of the patient's back spine. The stable support surface serves as the reference surface for dynamic compensation in steps S3 and S4.

[0134] The specific application procedure involves the patient lying prone on the trunk dynamic compensation support device 1, after which the system is immediately activated. The system can read the initial pressure distribution data transmitted from the pressure sensing modules 9 on all support units 3. The algorithm within the control module analyzes this pressure map, identifies areas of excessive pressure (insufficient support) and excessive pressure (unsupported), and calculates an ideal target support surface that can distribute pressure evenly and conform to the physiological curvature of the spine.

[0135] Medical staff can also input patient information such as height, weight, and gender to select the most matching, standard spinal curvature model from a built-in database as the target support surface.

[0136] The control module sends commands to the body positioning adaptation mechanism 5 (i.e., the large-stroke slow-speed adjustment unit, such as an electric lead screw) of each support unit 3. All these mechanisms begin to move synchronously or sequentially according to their respective target height values. They rise and fall slowly and smoothly, pushing the entire upper structure (including the dynamic compensation mechanism 4 and the top plate) to the designated position. Once all support units 3 have reached the target height, they collectively form a stable support surface that closely conforms to the anatomical structure of the patient's back. This surface is called the "static support reference surface."

[0137] Subsequently, all positioning adaptation mechanisms 5 enter a locked or held state (e.g., the electric lead screw maintains its position using its self-locking property). From this moment on, these mechanisms will no longer move during the entire surgical procedure, and the reference plane they form will become the fixed reference coordinate system in space for the entire dynamic compensation system.

[0138] In steps S3 and S4, when the dynamic compensation mechanism 4 (small-stroke rapid compensation unit) receives a control command to perform micro-motion, all its extension and retraction movements are relative to this locked reference plane. For example, if the command tells a unit to "press down 1 mm", it means that the dynamic compensation mechanism 4 of that unit moves down 1 mm from its reference plane position.

[0139] This invention provides patients with a comfortable support that evenly distributes body pressure and conforms to physiological curvature through an initial personalized fit. This not only avoids the risk of pressure injury, but more importantly, it ensures a stable and reliable contact between the patient's body and the support device, creating an optimal biomechanical environment for the subsequent precise transmission of compensating forces through mattress movement.

[0140] This method establishes an absolutely static reference frame for high-frequency dynamic compensation motion, ensuring that the dynamic compensation mechanism 4 always performs micro-movements near a known and optimized "operating point," avoiding the blindness and inaccuracy of searching for the optimal compensation position over an extremely large stroke range. The control objective is simplified to "maintaining the unchanged shape of the reference surface," thus achieving perfect decoupling of static support and dynamic compensation in the control logic, making high-precision control for minute displacements possible.

[0141] Based on the above embodiments, in another embodiment of the present invention, a system for stabilizing the spine of a patient during spinal surgery is used. In step S2, IMU units are set at reference points on the upper back and neck of the patient. In step S3, spinal posture data is collected using IMU units set at reference points on the upper back and neck of the patient to determine the overall stability of the patient's spine. In step S4, a spinous process clamp with IMU units is rigidly connected to the target spinous process to obtain the posture of the vertebral body including the target spinous process in real time. The displacement trend is predicted by combining the patient's respiratory motion signals and body pressure distribution. The compensation control focuses on the target vertebral body including the target spinous process and its adjacent segments.

[0142] With the patient in a prone position, two reference IMU units are securely placed on the upper back (typically the spinous processes of the thoracic vertebrae in the non-surgical area) and neck (headrest or forehead band), respectively. The system records the initial spatial orientation of the two IMUs in a stable state.

[0143] These two reference IMUs are primarily used in Phase S2 to monitor the overall stability of the body during the learning process, ensuring that the collected respiratory-displacement relationship data is obtained under a good baseline condition. They provide a quantifiable reference for the "macroscopic posture" of the entire spine. When the system begins pre-compensation based on the feedforward model, the upper back IMU and cervical IMU become the core sensors for judging the "overall stability of the spine." The control module monitors the readings of these two IMUs in real time. If their displacement or angle changes exceed the preset safety threshold, the current pre-compensation parameters (such as gain and stroke) are deemed inappropriate. The system prioritizes a callback and fine-tuning of the feedforward model parameters in Phase S3 (e.g., reducing the compensation amount in certain steps), and then repeats the pre-compensation test until the data from the upper back and cervical IMUs show that the overall posture has returned to stability. This ensures that the system is in a robust and balanced initial state before entering the precise surgical phase.

[0144] During the surgery, in the intraoperative real-time compensation phase, the surgeon rigidly fixes the spinous process clamp, which integrates an IMU, to the spinous process of the target vertebra. The activation of this IMU signifies a shift in system control focus from "overall posture" to "absolute position of the target segment." The control system now uses the precise six-DOF posture of the target vertebra provided by the IMU as the most critical feedback signal. Simultaneously, it doesn't discard other information but fuses respiratory motion signals (for phase prediction) and body pressure distribution (for verifying surface motion trends) with the data from the spinous process clamp (e.g., using a Kalman filter) to make more robust predictions of displacement trends. Based on this fused information, the control module performs "focused compensation." It no longer needs to drive all support units for large-scale compensation but instead performs mechanical calculations to precisely control the target vertebra and a few support units 3 below and around the corresponding 1-3 adjacent vertebrae, performing coordinated micro-movements. For example, if the target vertebra is T12, the system will focus on adjusting the modules supporting the T11, T12, and L1 regions to form a "dynamic compensation focus area" centered on the target.

[0145] This invention uses an upper back / neck IMU to ensure the entire trunk and spinal chain remain stable from tilting or swaying (macroscopic stability), and a spinous process clamp IMU to ensure absolute spatial stillness in the core surgical area (microscopic precision). This division of labor resolves the contradiction that a single sensor cannot simultaneously ensure global and local stability. By cleverly assigning specific tasks to different IMUs at different stages, a hierarchical, focused, and self-optimizing intelligent control process is constructed, ensuring that the system can smoothly transition from "safe startup" to "precise locking".

[0146] Based on the above embodiments, in another embodiment of the present invention, in step S2, the respiratory cycle is marked by the airway pressure or flow curve output by the anesthesia machine; pressure sensor data and posture data collected by the IMU unit are collected within at least one complete respiratory cycle; the collected data are fitted with the individualized spinal biomechanical model using an LSTM neural network or a mechanical back-inference algorithm to establish the correspondence between the respiratory phase and the displacement and rotation of each segment of the spine, and to generate a respiratory drive model.

[0147] This step is the core algorithmic step in achieving intelligent prediction and compensation in this invention. The system uses the airway pressure or flow rate curve output by the anesthesia machine as the absolute time reference. This signal is clearly divided into key phase points such as the inspiratory phase, expiratory phase, peak inspiratory pressure, and end-expiratory phase, providing a unified timestamp for all other data. All data streams are precisely aligned according to the timestamps provided by the anesthesia machine signal. Subsequently, the data undergoes preprocessing such as filtering (e.g., low-pass filtering to remove high-frequency noise) and standardization to prepare a high-quality dataset for model training.

[0148] Model building and training can be achieved through the following two paths:

[0149] I. Data-driven modeling based on LSTM neural networks:

[0150] The preprocessed time-series data is used as input, including: respiratory phase signals, multi-channel pressure data, and historical attitude data of the reference point IMU.

[0151] The network learns to predict the displacement and rotation of each segment of the spine (based on a biomechanical model definition) at a future moment.

[0152] LSTM networks, due to their memory capabilities, are well-suited for learning time-series signals such as respiratory movements. Through backpropagation, they automatically learn the complex, non-linear dynamic relationships between breathing patterns, pressure changes, and spinal motion from large amounts of respiratory cycle data. Once trained, the network itself is a powerful respiratory-driven model capable of predicting spinal motion based on real-time sensor input signals.

[0153] II. Model-Driven Modeling Based on Mechanical Back-Calculation Algorithm

[0154] This approach centers on a personalized spinal biomechanical model. It uses the surface pressure distribution measured by a pressure sensor array as the boundary load applied to the spinal biomechanical model.

[0155] By using a mechanical back-calculation algorithm, combined with actual motion measured by a reference point IMU as partial verification, the displacement and rotation that each segment inside the spine should undergo in order to produce the currently observed body surface motion are calculated.

[0156] By continuously calculating multiple respiratory cycles, the system can establish a lookup table or a simplified transfer function to directly map the respiratory phase and surface pressure patterns to the calculated motion of each segment within the spine. This mapping relationship is the respiratory drive model.

[0157] The preprocessed time-series data is used as input, including: respiratory phase signals, multi-channel pressure data, and historical attitude data of the reference point IMU.

[0158] Regardless of the approach used, the generated model is validated using data from the last few respiratory cycles to ensure its predicted output matches the IMU measurement trends. Ultimately, a high-precision respiratory drive model specific to the patient and suitable for feedforward control is generated and loaded into the control module's memory. This ensures that, in the next moment of the current respiratory phase, it can accurately infer how many millimeters the target vertebrae will shift upward and how many degrees they will tilt forward.

[0159] This invention transforms a vague physiological phenomenon into a quantitative model that can be accurately predicted and controlled by fusing time synchronization signals, spatial distribution pressure, and inertial attitude data. This method is the core of the entire intelligent compensation system, and the high-precision respiratory drive model it generates ultimately achieves intraoperative spinal stability.

[0160] 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.

[0161] 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 system for stabilizing the spine of a patient undergoing spinal surgery, characterized in that, include: A dynamic compensating support device for the trunk includes a support array for supporting the patient's trunk, the support array comprising a plurality of side-by-side support units, each of the support units being configured to independently and controllably displace to provide dynamic compensating support to the patient's trunk; Sensing components: used to monitor and collect patients' respiratory motion signals, body pressure distribution, and spinal posture data in real time; Head adjustment assembly: includes a head dynamic compensation support device, which is configured to work in conjunction with the trunk dynamic compensation support device to synchronously adjust the patient's head and neck posture in order to coordinate the dynamic deformation of the cervical and thoracic vertebrae and maintain the overall alignment of the spine. Control module: Communicatively connected to the support array, sensing components and head adjustment components, and configured to control the multiple support units and head adjustment components to perform coordinated movements based on signals monitored by the sensing components, so as to dynamically compensate for spinal displacement caused by breathing, thereby keeping the target spinal segment spatially stable during surgery; The control module is equipped with a storage unit that stores an individualized spinal biomechanical model based on the patient's preoperative medical images. The control module is further configured to: establish a respiratory-spinal motion relationship model between the patient's respiratory phase and spinal displacement based on the data monitored by the sensing components and the individualized spinal biomechanical model during the preoperative stage, and generate feedforward control commands based on the respiratory-spinal motion relationship model at least during the initial stage of surgery. The support unit includes a dual-layer drive structure, which includes a dynamic compensation mechanism and a body position adaptation mechanism arranged in series. The body position adaptation mechanism is configured to adjust the spatial position of the support unit during the surgical preparation stage to form an initial support profile that adapts to the individual body shape of the patient. The dynamic compensation mechanism is configured to perform high-frequency micro-motion based on the instructions of the control module during the operation to dynamically counteract the spinal displacement caused by respiratory movements.

2. The system for stabilizing the spine in a patient undergoing spinal surgery according to claim 1, characterized in that, The head adjustment assembly also includes a head limiting mechanism, which is disposed above the head dynamic compensation support device and used to fix the patient's head. The head dynamic compensation mechanism is an array structure composed of multiple dynamic compensation mechanisms.

3. The system for stabilizing the spine in a patient undergoing spinal surgery according to claim 1, characterized in that, The sensing component includes: A pressure sensing module, integrated on the upper surface of the dynamic compensation mechanism, is used to capture chest and abdominal fluctuations and local load changes caused by breathing. The posture monitoring module includes at least three IMU units, which are respectively set near the target segment of the spine in the patient's back, at the head and neck reference point, and on the spinous process clip connected to the target spinous process, for real-time assessment of spinal posture stability. The respiratory signal interface is used to receive the respiratory phase signal output by the anesthesia machine, which serves as the clock source for the control module.

4. The system for stabilizing the spine of a patient undergoing spinal surgery according to claim 1, characterized in that, The system for stabilizing a patient's spine during spinal surgery also includes a pelvic stabilizer for providing fixed support to the lower part of the body.

5. A method for stabilizing the spine in a patient undergoing spinal surgery, characterized in that, Performing the procedure using the system for stabilizing a patient's spine during spinal surgery according to any one of claims 1 to 4, comprising the following steps: S1: Acquire preoperative medical imaging data of patients and generate individualized spinal biomechanical models; S2, deploy sensor components to collect the patient's respiratory motion signals, body pressure distribution and spinal posture data, learn the respiratory-spinal displacement relationship based on the data collected by the sensor components, and generate a respiratory drive model; S3, Pre-compensation: Based on respiratory motion signals, the respiratory phase is predicted, and combined with the respiratory drive model, the trunk dynamic compensation support device is driven to make corresponding reverse displacement compensation to counteract the main periodic displacement trend of the spine. The overall stability of the patient's spine is determined based on the spinal posture data. If the reverse displacement compensation exceeds the preset threshold, the pre-compensation parameters are adjusted until the overall spine is stable. S4, Intraoperative Real-Time Compensation: Acquire precise posture data of the spinous process of the target spinal segment in real time, and correct and compensate for residuals by controlling the movement of the trunk dynamic compensation support device and / or head adjustment component through closed-loop control, so as to keep the target spinal segment spatially stable.

6. The method for stabilizing the spine in a patient undergoing spinal surgery according to claim 5, characterized in that, When using the system for stabilizing a patient's spine during spinal surgery as described in claim 3, in step S2, a static support reference is first established. After the patient is in place with the dynamic compensation support device for the trunk, the body position adaptation mechanism is driven based on the obtained body pressure distribution data or a preset model to adjust each support unit to a specific height. All support units together constitute a stable support surface that precisely matches the curvature of the patient's back spine. The stable support surface serves as the reference surface for dynamic compensation in steps S3 and S4.

7. The method for stabilizing the spine of a patient undergoing spinal surgery according to claim 6, characterized in that, The system for stabilizing a patient's spine during spinal surgery, as described in claim 3, is used in the following steps: In step S2, IMU units are installed at reference points on the patient's upper back and neck; in step S3, spinal posture data is collected using IMU units at reference points on the patient's upper back and neck to assess the overall stability of the patient's spine; in step S4, a spinous process clamp equipped with IMU units is rigidly connected to the target spinous process to obtain the posture of the vertebral body including the target spinous process in real time. The displacement trend is predicted by combining the patient's respiratory motion signals and body pressure distribution, and the compensation control focuses on the vertebral body including the target spinous process and its adjacent surgical target segment.

8. The method for stabilizing the spine of a patient undergoing spinal surgery according to claim 7, characterized in that, In step S2, the respiratory cycle is marked by the airway pressure or flow curve output by the anesthesia machine; pressure sensor data and posture data collected by the IMU unit are collected within at least one complete respiratory cycle; the collected data are fitted with the individualized spinal biomechanical model using an LSTM neural network or a mechanical back-inference algorithm to establish the correspondence between the respiratory phase and the displacement and rotation of each segment of the spine, and to generate a respiratory drive model.

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