Intraoperative intelligent navigation system of microwave-assisted bone surgery robot

Abstract

The invention provides an intra-operative intelligent navigation system of a microwave-assisted bone surgery robot, which monitors the position of a bone in real time through a non-contact microwave energy field, corrects a microwave signal in combination with preoperative X-ray image data, generates an accurate navigation path for dynamic osteotomy, and provides an accurate navigation path for dynamic osteotomy. And the surgical operation is intelligently guided. The microwave dynamic correction module comprises a microwave emission array used for scanning bone surface deformation in real time to obtain a microwave reflection signal; the dynamic path correction module is used for correcting the precision of the microwave reflection signal according to the preoperative X-ray image so as to obtain accurate real-time skeleton contour information; and the AI intraoperative navigation module is used for performing intelligent guidance according to a preoperative operation design scheme based on the accurate microwave reflection signal, so that the osteotomy operation is accurately operated strictly according to the preoperative design. According to the technical scheme, the functions of real-time intelligent correction of the osteotomy path and the digital navigation guide plate under the guidance of the surgical site image are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bone surgery robot auxiliary equipment, and particularly relates to a microwave-assisted bone surgery robot intraoperative intelligent navigation system. BACKGROUND

[0002] At present, intraoperative navigation of a bone surgery robot needs X-ray detection, and although protective measures are taken, the influence of the rays on the doctor and the patient cannot be avoided. Microwaves used for detection have no damage to the human body and can be safely applied to image detection of bones. The accuracy of microwave detection is not good, and by comparing the results of preoperative X-ray detection of the bone as a reference, the accuracy of microwave detection can be corrected, so that intraoperative microwave detection can achieve the same effect as intraoperative X-ray detection, and finally the intelligent osteotomy navigation operation advantage of the surgery robot in bone surgery can be realized, and the influence of intraoperative radiation damage on the doctor and the patient can be completely avoided. SUMMARY

[0003] The present application provides a microwave-assisted bone surgery robot intraoperative intelligent navigation system to realize real-time correction of an osteotomy path and a digital guide plate function under image guidance of a surgical site.

[0004] In a first aspect, a microwave-assisted bone surgery robot intraoperative intelligent navigation system is provided, comprising: a microwave dynamic correction module, wherein, The microwave dynamic correction module is used for real-time monitoring of a bone position by a non-contact microwave energy field, and a dynamic osteotomy correction path is generated in combination with preoperative image data; the microwave dynamic correction module comprises: A microwave emission array is used for real-time scanning of bone surface deformation to obtain a microwave reflection signal. A dynamic path correction module is used for correcting the accuracy of the microwave reflection signal according to preoperative X-ray images to obtain real-time information of an accurate bone profile. An AI intraoperative navigation module is used for intelligent guidance according to a preoperative surgical design scheme based on the accurate microwave reflection signal, so that the osteotomy surgery is accurately operated in strict accordance with the preoperative design.

[0005] In the above technical solution, the microwave dynamic correction module arranged on the osteotomy knife mechanism is used to monitor the bone position in real time through a non-contact microwave energy field, and a dynamic osteotomy correction path is generated in combination with preoperative image data; the microwave dynamic correction module comprises: a microwave emission array used to scan the bone surface deformation in real time to obtain a microwave reflection signal; a dynamic path correction module used to correct the microwave reflection signal accuracy according to the preoperative X-ray image to obtain accurate bone contour real-time information; an AI intraoperative navigation module used to intelligently guide according to the preoperative surgical design scheme based on the accurate microwave reflection signal, so that the osteotomy surgery is accurately operated according to the preoperative design; the osteotomy path real-time correction and digital guide plate function under the image guidance of the surgical site are realized.

[0006] In a specific embodiment, the microwave emission array adopts a ring array type microwave antenna.

[0007] In a specific embodiment, the working frequency of the microwave antenna of the microwave emission array is 1-10 GHz.

[0008] In a second aspect, a microwave-assisted correction method is provided, comprising the following steps: The bone surface deformation is scanned in real time by using the microwave emission array to obtain a microwave reflection signal; The accuracy of the microwave reflection signal is corrected according to the preoperative X-ray image by using the dynamic path correction module to obtain accurate bone contour real-time information; The AI intraoperative navigation module is used to intelligently guide according to the preoperative surgical design scheme based on the accurate microwave reflection signal, so that the osteotomy surgery is accurately operated according to the preoperative design.

[0009] In the above technical solution, the microwave emission array is used to scan the bone surface deformation in real time to obtain a microwave reflection signal; the dynamic path correction module is used to correct the accuracy of the microwave reflection signal according to the preoperative X-ray image to obtain accurate bone contour real-time information; the AI intraoperative navigation module is used to intelligently guide according to the preoperative surgical design scheme based on the accurate microwave reflection signal, so that the osteotomy surgery is accurately operated according to the preoperative design; the osteotomy path real-time correction and digital guide plate function under the image guidance of the surgical site are realized. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 A structure block diagram of the microwave-assisted bone surgery robot intraoperative intelligent navigation system provided by the embodiment of the present application is provided; Figure 2 A flowchart of the microwave-assisted correction method provided by the embodiment of the present application is provided. DETAILED DESCRIPTION

[0011] The application will be further described in details by the accompanying drawings and embodiments. The features and advantages of the application will become more apparent through these descriptions.

[0012] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. The

[0013] Moreover, the technical features involved in the different embodiments of the application described below can be combined with each other as long as there is no conflict.

[0014] To facilitate the understanding of the microwave-assisted bone surgery robot intraoperative intelligent navigation system and method provided in the embodiments of the application, the application scenarios thereof are first described. The microwave-assisted bone surgery robot intraoperative intelligent navigation system and method provided in the embodiments of the application are used to realize real-time correction of osteotomy path and digital guide plate function under image guidance of a surgical site. At present, X-ray detection is needed for intraoperative navigation of a bone surgery robot. Although protective measures are taken, the influence of radiation on both doctors and patients cannot be avoided. Microwave used for detection has no damage to the human body and can be safely applied to image detection of bones. The accuracy of microwave detection is not good, and by comparison with the X-ray detection result of a preoperative bone, the accuracy of microwave detection can be corrected, so that the intraoperative microwave detection can achieve the same effect as the intraoperative X-ray detection, and finally the intelligent osteotomy navigation operation advantage of the surgical robot in bone surgery can be fully played, and the influence of intraoperative radiation damage on both doctors and patients can be completely avoided. Therefore, the microwave-assisted bone surgery robot intraoperative intelligent navigation system and method provided in the embodiments of the application are used to realize real-time correction of osteotomy path and digital guide plate function under image guidance of a surgical site. The embodiments thereof are described in details below with reference to specific drawings.

[0015] Reference Figure 1 and Figure 2 , Figure 1 The structural block diagram of the microwave-assisted bone surgery robot intraoperative intelligent navigation system provided in the embodiments of the application is shown in FIG. 1. Figure 2 The flowchart of the microwave-assisted correction method provided in the embodiments of the application is shown in FIG. 2.

[0016] In Figure 1 the embodiments, a microwave-assisted bone surgery robot intraoperative intelligent navigation system is provided, which comprises a microwave dynamic correction module, wherein The microwave dynamic correction module is used to monitor the position of a bone in real time through a non-contact microwave energy field, and generate a dynamic osteotomy correction path in combination with preoperative image data; and the microwave dynamic correction module comprises: a microwave emission array for real-time scanning of bone surface deformation to obtain microwave reflection signals; a dynamic path correction module for correcting the accuracy of microwave reflection signals based on preoperative X-ray images to obtain accurate real-time information of bone contour; an AI intraoperative navigation module for intelligent guidance based on accurate microwave reflection signals according to the preoperative surgical design scheme, so that the osteotomy surgery is strictly performed according to the preoperative design.

[0017] Specifically, the beneficial effects include: improve surgical accuracy Real-time accurate monitoring of bone position: The microwave emission array in the microwave dynamic correction module can scan the bone surface deformation in real time to obtain microwave reflection signals. Compared with the traditional preoperative static image positioning, this real-time monitoring method can timely capture the position changes of the bone in the surgical process due to various factors (such as patient position changes, bone elastic deformation, etc.), providing the most accurate and timely bone position information for the doctor, thereby effectively avoiding the problem of inaccurate osteotomy due to bone position deviation, greatly improving the accuracy of the operation.

[0018] Dynamic generation of correction path: The dynamic path correction module corrects the accuracy of the microwave reflection signals combined with the preoperative X-ray images, which can obtain accurate real-time information of the bone contour. Based on these real-time information, the system can generate a dynamic osteotomy correction path according to the preoperative surgical design scheme. This means that even if the bone position changes during the operation, the system can quickly adjust the osteotomy path to ensure that the osteotomy operation always follows the predetermined accurate trajectory, further improving the accuracy of the operation, so that the osteotomy result is more in line with the preoperative design requirements.

[0019] Intelligent navigation and accurate operation: Using the AI intraoperative navigation module, the system can provide intelligent guidance for doctors based on accurate microwave reflection signals according to the preoperative surgical design scheme. This module can analyze the deviation between the surgical operation and the preoperative design in real time and feedback to the doctor in time, guiding the doctor to perform accurate operation. This intelligent navigation function is like providing a precise "navigator" for the doctor, helping the doctor to accurately find the target position in the complex surgical environment, realizing the accurate execution of the osteotomy surgery, reducing human error, and improving the quality of the operation.

[0020] Ensure surgical safety Non-contact monitoring reduces risks: The microwave dynamic correction module uses a non-contact microwave energy field to monitor the bone position in real time, avoiding the damage and interference that traditional contact monitoring methods may cause to the bone and surrounding tissues. During the operation, no additional physical contact or marking of the bone is required, reducing the risk of infection and surgical trauma and ensuring the safety of the operation. At the same time, non-contact monitoring does not affect the surgeon's operating field of view and flexibility, allowing the surgeon to operate more freely.

[0021] Real-time feedback prevents complications: By monitoring the bone position and deformation in real time, the system can detect abnormalities that may occur during the operation, such as bone displacement, excessive or insufficient osteotomy, etc. Once an abnormality is detected, the system will immediately alert the doctor and provide appropriate correction suggestions to help the doctor adjust the operation strategy in a timely manner and avoid complications. This real-time feedback mechanism provides strong protection for the safety of the operation and effectively reduces the risk of the operation.

[0022] Optimizes surgical procedures Reduces intraoperative waiting time: The system can obtain bone position information in real time and generate a dynamic correction path, eliminating the need for the doctor to frequently stop operating during the operation to conduct additional image checks or measurements. This greatly reduces the intraoperative waiting time, improves the efficiency of the operation, and shortens the operation time. For patients, shorter operation time means less risk of anesthesia and faster postoperative recovery.

[0023] Simplifies surgical operation steps: The intelligent guidance function of the AI intraoperative navigation module provides clear and intuitive operation instructions for doctors, making it easier for them to complete the osteotomy operation. Doctors do not need to spend a lot of time and effort to determine the bone position and osteotomy path during the operation, but only need to follow the system's prompts to operate. This simplifies the operation steps and reduces the difficulty of the operation, especially for doctors with relatively less experience, who can benefit greatly from the guidance.

[0024] Improves patient prognosis Improves postoperative recovery: Due to the significant improvement in surgical precision, the osteotomy results are more accurate, and the healing of the postoperative bone is also better. Precise osteotomy can better align and fuse the bone, reducing complications such as nonunion and malunion during the healing process, thereby shortening the patient's recovery time and improving the patient's quality of life.

[0025] Reduces postoperative pain and discomfort: Non-contact monitoring and precise surgical operation reduce damage to surrounding tissues, reducing the degree of postoperative pain and discomfort. Patients can recover their normal activities and functions more quickly after surgery, reducing their dependence on painkillers and improving their comfort and satisfaction.

[0026] Further, the system further comprises: a temperature control mechanical structure for temperature control of the osteotome mechanism; A multi-stage damping mechanism for damping the osteotome mechanism.

[0027] In the above technical solution, by setting the microwave dynamic correction module on the osteotome mechanism, the temperature control mechanical structure and the multi-stage damping mechanism, the microwave dynamic correction module is used to monitor the bone position in real time through a non-contact microwave energy field, and a dynamic osteotomy correction path is generated in combination with preoperative image data; including: a microwave transmitting array for real-time scanning of bone surface deformation to obtain microwave reflection signals; a dynamic path correction module for correcting the accuracy of microwave reflection signals according to preoperative X-ray images to obtain accurate bone contour real-time information; the temperature control mechanical structure is used for temperature control of the osteotome mechanism; the multi-stage damping mechanism is used for damping the osteotome mechanism; the real-time correction of the osteotomy path under the guidance of the surgical site image and the digital guide plate function are realized.

[0028] In a specific embodiment, the microwave transmitting array adopts a ring array type microwave antenna.

[0029] Specifically, the beneficial effects of the ring array type microwave antenna in the microwave assisted bone surgery robot intelligent navigation system include: All-around accurate scanning: The ring array type microwave antenna can realize all-around scanning of the bone surface without dead angles. In osteotomy surgery, the deformation of the bone may occur in various directions, and this all-around scanning feature ensures that no matter how the bone surface changes, the microwave reflection signals can be captured in time and accurately, providing comprehensive and accurate data for the dynamic path planning unit, so as to generate a dynamic osteotomy correction path that is more in line with the actual situation, greatly improving the accuracy of the surgery.

[0030] Enhanced signal reception and processing: The antenna units arranged in a ring can simultaneously receive microwave reflection signals from different directions, and through reasonable signal processing algorithms, useful signals can be effectively enhanced and noise interference can be suppressed. This helps to improve the quality and reliability of the signals, so that the system can more clearly identify the deformation of the bone, reduce the deviation of the osteotomy path caused by signal errors, and further improve the accuracy of the surgery.

[0031] Flexible adaptation to surgical scenarios: Its ring structure is compact and occupies small space, which is convenient for integration into the osteotome mechanism and does not cause too much hindrance to the surgical operation. Moreover, this structure has a certain flexibility and can be adjusted appropriately according to different surgical sites and surgical needs, better adapting to various complex surgical scenarios and providing strong guarantee for the smooth progress of the surgery.

[0032] In one specific embodiment, the microwave antennas of the microwave emission array have an operating frequency of 1-10 GHz.

[0033] Specifically, the beneficial effects include: Good balance of tissue penetration and resolution: Microwave frequencies of 1-10 GHz have moderate penetration capabilities in human tissue. They can penetrate to a certain depth below the bone surface, effectively detecting the internal structure and deformation of the bone, providing more comprehensive data for the generation of dynamic osteotomy correction paths. At the same time, they do not penetrate too deeply, making the signal too dispersed and blurred, ensuring sufficient resolution to clearly distinguish subtle changes in the bone, making the monitoring results accurate and reliable, and improving surgical precision.

[0034] Mature technology and low-cost advantage: 1-10 GHz is a commonly used frequency in the Industrial, Scientific, and Medical (ISM) band, and the related technology is mature and widely applied. This means that there is a wealth of existing technology and experience to draw upon when designing and manufacturing microwave antennas, which can reduce research and development costs and difficulty. At the same time, the market supply of electronic components and devices in this frequency band is sufficient and the price is relatively low, which is conducive to controlling the cost of the entire microwave-assisted bone surgery robot intraoperative intelligent navigation system and improving its cost-effectiveness and market competitiveness.

[0035] Safety performance is guaranteed: Microwave energy at this frequency, under reasonable control, has both thermal and non-thermal effects on human tissue that are within safe limits and will not harm patients and medical personnel, ensuring the safety of the surgical process.

[0036] In one specific embodiment, the temperature control mechanical structure includes a PCM packaging layer and a liquid cooling channel layer arranged from bottom to top on the osteotomy knife mechanism for temperature control of the osteotomy knife mechanism.

[0037] Specifically, the beneficial effects include: Efficient and accurate temperature control: The PCM (Phase Change Material) packaging layer uses its phase change characteristics to absorb a large amount of heat and undergo phase change when the temperature of the osteotomy knife rises, quickly stabilizing the temperature rise trend. The liquid cooling channel layer continuously removes heat through circulating coolant. The combination of the two works synergistically to achieve more efficient and accurate temperature control of the osteotomy knife mechanism, ensuring that it remains within the appropriate temperature range during the surgical process, avoiding heat damage to surrounding tissues due to excessive temperature, and ensuring surgical safety.

[0038] Quick and timely response: The PCM packaging layer can quickly respond at the initial stage of temperature change, starting to absorb heat and undergo phase change, giving temperature control time. The liquid cooling channel layer can quickly conduct heat away, further accelerating the cooling speed. This dual response mechanism enables the temperature control system to respond promptly to the heat changes generated during the osteotomy process, ensuring the stability of the osteotomy knife temperature and improving the accuracy and reliability of the surgery.

[0039] Compact and practical: The PCM encapsulation layer and the liquid cooling channel layer are arranged from bottom to top in sequence, which is compact and does not occupy too much space, facilitating integration into the osteotome mechanism and not interfering with surgical operation, and can adapt to different surgical scenarios and osteotome designs, with good practicality and universality.

[0040] In a specific and implementable embodiment, the PCM encapsulation layer is filled with paraffin-based phase change material, wherein, The paraffin-based phase change material is used to absorb the instantaneous heat generated by the osteotome mechanism.

[0041] Specifically, the beneficial effects include: Excellent instantaneous heat absorption capacity: The paraffin-based phase change material has a large latent heat of phase change, which can quickly absorb heat and undergo phase change from solid to liquid when the osteotome mechanism generates instantaneous heat, effectively suppressing the rapid rise in temperature. This feature can prevent the osteotome from overheating due to heat accumulation in a short period of time, avoid heat damage to surrounding normal tissues, and ensure surgical safety.

[0042] Good chemical stability and biocompatibility: The paraffin-based phase change material is chemically stable and will not react with the osteotome mechanism or other substances in the surgical environment, ensuring the reliability and stability of the system. At the same time, it has good biocompatibility and will not stimulate or be toxic to human tissues, reducing the risk of surgery and meeting the strict requirements of the medical field for material safety.

[0043] High cost-effectiveness and easy access: The paraffin-based phase change material is widely available and relatively low in price, reducing the manufacturing cost of the PCM encapsulation layer, and thus making the cost of the entire microwave-assisted skeletal surgery robot intraoperative intelligent navigation system more controllable. Moreover, its preparation process is relatively simple, easy to mass-produce and apply, and conducive to the promotion and popularization of the technology in the clinic.

[0044] In a specific and implementable embodiment, the liquid cooling channel layer adopts a spiral micro-channel structure.

[0045] Specifically, the beneficial effects include: Enhanced cooling efficiency: The spiral micro-channel structure greatly increases the contact area between the cooling liquid and the osteotome mechanism. When the cooling liquid flows in the spiral channel, it can more fully exchange heat with the heat-generating parts and quickly remove the heat generated by the osteotome, significantly improving the cooling efficiency compared to traditional straight channels, and effectively preventing the osteotome from overheating due to long-term work, ensuring surgical safety.

[0046] Promote uniform fluid flow: The spiral-shaped design allows the cooling liquid to form a stable spiral flow state within the channel. This flow pattern can reduce turbulence and dead angles in the fluid, resulting in more uniform distribution of the cooling liquid. Uniform flow ensures that each part of the osteotome is effectively cooled, avoiding local overheating and improving the accuracy and reliability of temperature control.

[0047] Save space and materials: The spiral micro-channel structure is compact and achieves a longer channel length in a limited space. Without increasing the overall size of the liquid cooling channel layer, it achieves good cooling effect. This not only saves equipment space and makes the entire microwave-assisted bone surgery robot intelligent navigation system more compact and portable, but also reduces the use of cooling liquid and the consumption of channel materials, thereby reducing costs.

[0048] In a specific implementable embodiment, the temperature control mechanical structure further comprises: a temperature sensor array, wherein, The temperature sensor array uses a distributed thermocouple to monitor the temperature of the osteotomy area in real time and trigger the liquid cooling pump power adjustment.

[0049] Specifically, the beneficial effects include: Accurate and comprehensive temperature monitoring: The temperature sensor array composed of distributed thermocouples can be arranged at multiple points in the osteotomy area, achieving comprehensive and fine monitoring of the temperature of the area. Compared with single-point or few-point monitoring, it can capture temperature differences and trends at different positions in the osteotomy area, providing more comprehensive and accurate temperature data for the temperature control system, ensuring accurate temperature control of the osteotomy area.

[0050] Fast response and trigger adjustment: Thermocouples have the characteristic of fast response speed and can quickly and timely perceive small changes in the temperature of the osteotomy area. Once the temperature exceeds the preset safety range, the liquid cooling pump power adjustment mechanism can be triggered immediately to increase or decrease the flow of cooling liquid, quickly adjust the temperature of the osteotome mechanism and the surrounding area, avoid damage to tissues caused by high temperature or affect the operation effect caused by low temperature, and ensure the safety and stability of the operation process.

[0051] Reliable, stable and easy to integrate: Thermocouple technology is mature and reliable, and can work stably for a long time in complex surgical environments, reducing temperature control errors caused by sensor failure. At the same time, it is small in size and easy to distribute in the osteotomy area, with high integration with temperature control components such as liquid cooling channel layers, which does not significantly interfere with surgical operations and the overall structure of the device, and is conducive to the compact design and practical application of the system.

[0052] In a specific implementable embodiment, the multi-stage damping mechanism comprises: The first-stage damping unit uses a magneto-rheological fluid damper to suppress low-frequency vibration by adjusting the damping coefficient through an electromagnetic field. The secondary damping unit is used to absorb high-frequency vibrations through a flexible hinge coupling device with a titanium alloy thin-walled structure.

[0053] Specifically, the beneficial effects include: Precise suppression of low-frequency vibrations: The primary damping unit uses a magnetorheological fluid damper, which can adjust the damping coefficient by utilizing the electromagnetic field. This allows for real-time and precise adjustment of the damping size according to the actual situation of low-frequency vibrations. In osteotomy surgery, low-frequency vibrations may come from the operation of surgical equipment or external environmental interference. This damping unit can effectively suppress such vibrations, avoiding their adverse effects on the stable operation of the osteotome, ensuring the accuracy of the osteotomy direction, and improving the precision of the surgery.

[0054] Efficient absorption of high-frequency vibrations: The flexible hinge coupling device of the secondary damping unit is combined with a titanium alloy thin-walled structure. Titanium alloy has high strength, low density, and good toughness, and the thin-walled structure can produce elastic deformation under the action of high-frequency vibrations. The flexible hinge further enhances this deformation capability, thereby efficiently absorbing high-frequency vibration energy. High-frequency vibrations are often unpredictable and change rapidly, and this design can quickly attenuate them, reducing the impact on the surgical site.

[0055] Synergistic effect to improve damping effect: The primary and secondary damping units work together to suppress vibrations of different frequencies. This multi-stage damping mechanism provides a stable working environment for the osteotome mechanism, reduces the risk of vibration-induced surgery, and helps improve the success rate of surgery and the postoperative recovery effect of patients.

[0056] In a specific implementation, the multi-stage damping mechanism also includes a vibration monitoring unit for real-time feedback of vibration parameters through a three-axis accelerometer, closed-loop control of the damping system of the magnetorheological fluid damper and the hinge stiffness of the flexible hinge coupling device.

[0057] Specifically, the beneficial effects of the vibration monitoring unit include: Real-time and accurate feedback for dynamic optimization of damping: The three-axis accelerometer can obtain real-time and accurate vibration parameters of the osteotome mechanism in three dimensions, including vibration amplitude, frequency, and direction. These real-time data provide accurate basis for the closed-loop control system, allowing the system to dynamically adjust the damping coefficient of the magnetorheological fluid damper and the hinge stiffness of the flexible hinge coupling device according to the actual vibration situation, achieving real-time optimization of the damping effect and ensuring effective suppression of vibrations in different surgical stages and complex environments.

[0058] Enhancing System Stability and Reliability: Through closed-loop control, the system can quickly respond to changes in vibration and make timely adjustments to avoid the failure of shock absorption due to vibration accumulation or sudden changes. This active adjustment mechanism greatly enhances the stability and reliability of the multi-stage damping mechanism, providing continuous and stable damping protection for osteotomy surgery, reducing the risk of surgery caused by unstable vibration.

[0059] Improving Surgical Precision and Safety: Precise vibration monitoring and closed-loop control make the osteotome more stable during operation, reducing the deviation of osteotomy caused by vibration and improving surgical precision. At the same time, stable damping effect also reduces the risk of damage to surrounding tissues caused by vibration, ensuring the safety of surgery and helping patients recover faster and better after surgery.

[0060] In a specific embodiment, the microwave-assisted bone surgery robot intraoperative intelligent navigation system comprises: a microwave dynamic correction module arranged on the osteotome mechanism, a temperature control mechanical structure, and a multi-stage damping mechanism, wherein, Microwave dynamic correction module: real-time monitoring of bone position through non-contact microwave energy field, combined with preoperative image data to generate dynamic osteotomy path; Temperature control mechanical structure: integrated composite temperature control system of liquid cooling circulation and phase change material (PCM), inhibiting heat conduction of osteotomy tool; Multi-stage damping mechanism: damping device using magnetorheological fluid damper and flexible hinge coupling, eliminating the influence of high-frequency vibration on osteotomy precision.

[0061] Further, the microwave correction module comprises: Microwave emission array: annular array microwave antenna, working frequency 1-10GHz, generating tunable energy field through phase control, real-time scanning of bone surface deformation; Dynamic path planning unit: based on the fusion algorithm of microwave reflection signal and preoperative CT / MRI image, generating osteotomy path correction scheme with error ≤0.1mm.

[0062] Further, the temperature control mechanical structure comprises: Liquid cooling-PCM composite layer: Outer liquid cooling channel: spiral microchannel structure, circulating cooling liquid (aqueous ethylene glycol) flow dynamic adjustment; Inner PCM encapsulation layer: paraffin-based phase change material (melting point 37℃), absorbing instantaneous heat generated by the osteotomy tool; Temperature sensor array: distributed thermocouple real-time monitoring of osteotomy area temperature, triggering liquid cooling pump power adjustment.

[0063] Further, the multi-stage damping mechanism comprises: Primary damping: MRF damper, damping coefficient adjustable by electromagnetic field (0.1-10 kN·s / m), low-frequency vibration (1-50 Hz) suppression; Secondary damping: flexible hinge coupling device, titanium alloy thin-walled structure (thickness 0.2 mm), high-frequency vibration (50-500 Hz) absorption; Vibration monitoring unit: real-time feedback of vibration parameters by three-axis accelerometer, closed-loop control of damper and hinge stiffness.

[0064] In this embodiment, the beneficial effects include: Precision improvement: microwave correction and dynamic path planning reduce osteotomy error to ±0.1 mm, 70% higher than traditional methods; Thermal damage control: temperature control structure reduces the temperature fluctuation range of the osteotomy area to ±2℃, avoiding bone necrosis; Vibration suppression: multi-stage damping mechanism makes the roughness of the osteotomy surface Ra≤3.2μm, reducing the postoperative repair rate by 65%; Intelligent adaptation: the system can automatically adapt to different bone densities and osteotomy tool types, compatible with saw blades, grinding heads and other instruments.

[0065] In a specific implementation, the process of mandibular angle osteotomy is as follows: Import the patient's mandibular CT data preoperatively to generate the initial osteotomy path; Intraoperative microwave array scanning finds that the bone is shifted 0.15mm to the right, and the dynamic path planning unit generates a new path that is corrected 0.15mm to the left; When the osteotomy tool is started, the temperature control structure maintains the temperature at 40℃, and the multi-stage damping mechanism controls the vibration amplitude to ±0.05mm; Postoperative microwave scanning verifies the flatness of the osteotomy surface, Ra=2.8μm.

[0066] In a specific implementation, the process of zygomatic reduction is as follows: Intraoperative identification of zygomatic rotation error 1.2°, dynamic adjustment of osteotomy angle; Temperature control structure suppresses the heat generated by the grinding head to avoid damage to the infraorbital nerve; Damping mechanism eliminates grinding vibration, no need for secondary polishing after operation.

[0067] In Figure 2 the embodiment, a microwave-assisted correction method is provided, comprising the following steps: Real-time scanning of bone surface deformation using a microwave emission array to obtain microwave reflection signals; Using a dynamic path correction module, the accuracy of the microwave reflection signals is corrected according to the preoperative X-ray image to obtain accurate real-time information of the bone profile; Using a temperature control mechanical structure to control the temperature of the osteotomy knife mechanism; The osteotomy cutter mechanism is damped by a multi-stage damping mechanism.

[0068] In the above technical solution, the microwave dynamic correction module, the temperature control mechanical structure and the multi-stage damping mechanism are arranged on the osteotomy cutter mechanism, the microwave dynamic correction module is used for monitoring the bone position in real time through a non-contact microwave energy field, and a dynamic osteotomy correction path is generated in combination with preoperative image data; the microwave dynamic correction module includes a microwave emission array used for scanning the bone surface deformation in real time to obtain a microwave reflection signal and a dynamic path correction module used for correcting the microwave reflection signal accuracy according to the preoperative X-ray image to obtain accurate bone contour real-time information; the temperature control mechanical structure is used for temperature control of the osteotomy cutter mechanism; and the multi-stage damping mechanism is used for damping of the osteotomy cutter mechanism, so that the osteotomy path real-time correction and the digital guide plate function under the image guidance of a surgical site are realized.

[0069] In one specific embodiment, the microwave auxiliary correction method includes: Preoperative planning: import patient bone image data to generate an initial osteotomy path; Intraoperative correction: the microwave array scans the bone surface to identify displacement errors; a dynamic path planning unit generates a correction path and projects the correction path to a digital guide plate interface; Osteotomy execution: the temperature control mechanical structure is started to maintain the temperature of the osteotomy area at ≤42℃; the multi-stage damping mechanism suppresses vibration in real time, and the osteotomy tool works along the correction path; Postoperative verification: the microwave scans the flatness of the osteotomy surface, and when the error exceeds a threshold value, secondary correction is triggered.

[0070] Those skilled in the art know that the present application can be implemented as a system, a method or a computer program product.

[0071] Therefore, the present disclosure can be embodied in the form of a complete hardware, a complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, which is generally referred to as a "circuit", "module" or "system" herein. In addition, in some embodiments, the present application can also be embodied in the form of a computer program product in one or more computer readable media, which includes computer readable program codes.

[0072] Any combination of one or more computer readable medium can be utilized. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0073] Although the embodiments of the present application have been shown and described above, it should be understood by those skilled in the art that the above embodiments are exemplary, and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application. On this basis, various replacements and improvements can be made to the present application, and these all fall within the protection scope of the present application.

Claims

1. A microwave-assisted bone surgery robotic intraoperative intelligent navigation system, characterized in that, The application relates to a microwave dynamic correction module, wherein, The microwave dynamic correction module is used for monitoring the bone position in real time through a non-contact microwave energy field, and a dynamic bone cutting correction path is generated in combination with preoperative image data; the microwave dynamic correction module comprises: A microwave emission array is used for scanning the bone surface deformation in real time to obtain microwave reflection signals. A dynamic path correction module is used for correcting the microwave reflection signal accuracy according to preoperative X-ray images to obtain accurate bone contour real-time information. An AI intraoperative navigation module is used for intelligently guiding according to the preoperative surgical design scheme based on the accurate microwave reflection signals, so that the bone cutting operation is accurately operated according to the preoperative design. The microwave emission array adopts a ring array type microwave antenna.

2. The microwave-assisted bone surgery robotic intraoperative intelligent navigation system of claim 1, wherein, The working frequency of the microwave antenna of the microwave emission array is 1-10 GHz.

3. The microwave-assisted bone surgery robotic intraoperative intelligent navigation system of claim 2, wherein, The application further relates to a method for correcting a bone cutting operation, which comprises the following steps:

4. A microwave-assisted correction method, characterized by, The microwave emission array is used for scanning the bone surface deformation in real time to obtain microwave reflection signals. The dynamic path correction module is used for correcting the microwave reflection signal accuracy according to preoperative X-ray images to obtain accurate bone contour real-time information. The AI intraoperative navigation module is used for intelligently guiding according to the preoperative surgical design scheme based on the accurate microwave reflection signals, so that the bone cutting operation is accurately operated according to the preoperative design. ​

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