Neural navigation auxiliary instrument and neural navigation system for skull damaged patient

Abstract

The invention discloses a neuronavigation auxiliary instrument for a skull damaged patient. The neuronavigation auxiliary instrument comprises a head fixing disc, a bent connecting rod, a hollow nail setting part and a hollow fixing nail. The bottom of the head fixing disc is matched with the head setting position in shape, and is provided with a plurality of head fixing nails; the hollow nail setting part comprises a penetrating channel allowing the hollow fixing nail to penetrate through, and a threaded hole section is arranged in the penetrating channel; the hollow fixing nail is of a pointed-end structure, and the middle of the hollow fixing nail is a through slender structure passing channel. A threaded section is arranged outside the hollow fixing nail; the bent connecting rod comprises a first rod and a second rod, in the specific navigation process, a plane constructed by the first rod and the second rod is matched with a placement plane of an auxiliary instrument at a preoperative planning position, and the auxiliary instrument is realized by matching the central axis of a channel with an entering path; a navigation system with an auxiliary instrument is correspondingly arranged, and the requirement that the slender structure of the patient with the titanium mesh enters the brain area after the skull is damaged is well met through cooperation of the auxiliary instrument and the navigation system.

Description

Technical Field

[0001] This invention belongs to the field of neuronavigation technology, specifically relating to the field of medical insertable treatment and auxiliary devices for detecting damaged areas in patients with skull injuries, and specifically to neuronavigation auxiliary devices and neuronavigation systems for patients with skull injuries. Background Technology

[0002] Currently, for the treatment of brain diseases such as epilepsy and the detection of disease areas, LITT (Magnetic Resonance Guided Laser Ablation Therapy System) is often used for ablation treatment, or SEEG (Stereotactic Electroencephalography) is used for detection of the surgical area. Regardless of the method, a thin ablation needle or monitoring electrode needs to be inserted into the corresponding disease area from outside the body. In essence, it is a surgical method of inserting a thin structure for the treatment or monitoring of brain diseases into the body from outside. At present, the clinical method for inserting the above-mentioned thin structure into the brain disease area is as follows: First, a hollow fixation nail is placed on the skull, facing the brain area of ​​the disease. The hard bone of the skull provides effective support for the fixation nail, and the fixation nail is fixed in a stable and accurate position on the skull. Then, the thin structure is inserted into the corresponding brain area through the hollow hole of the hollow fixation nail. At present, the setting of the fixation nail also relies on the orientation adjustment structure set on the head frame. However, the head frame is heavy, has low degree of freedom, and relies on visual setting, resulting in low accuracy of the entire setting and easy interference with the judgment results.

[0003] Following traumatic brain injury or stroke, decompression craniectomy is sometimes necessary, requiring patients to undergo cranioplasty. Currently, titanium mesh is commonly used for skull repair after skull damage. However, in patients undergoing cranioplasty with decompression craniectomy, if the primary disease has caused encephalomalacia leading to epilepsy or other brain disorders, further resection of the epilepsy lesion is required. In this case, SEEG is used to locate the epileptic focus, followed by ablation treatment using LITT (Magnetic Resonance Guided Laser Ablation) or other methods to remove the lesion. However, because the titanium mesh used for cranioplasty has numerous holes and is relatively thin, it's impossible to arbitrarily position the fixation pins. Instead, hollow fixation pins must be placed within the titanium holes on the mesh. Due to the high hardness and thinness of the titanium mesh, traditional fixation pins are difficult to directly confine within the titanium holes, making it challenging to pinpoint and remove the lesion area in patients undergoing decompression craniectomy. Summary of the Invention

[0004] With the continuous development of the field of neuro-navigation robots, existing technologies combine robotic arms with navigation systems, and some have already been applied in LITT and SEEG surgeries. However, these are primarily used in patients with intact skulls. For patients with skull damage, the use is difficult due to the limitations imposed by the titanium mesh openings on the fixation pins and the instability of the fixation pins in relation to the mesh. This application utilizes a neuro-navigation system and a robotic arm to fix a titanium mesh fixation device with fixation pins to the patient's head. The titanium mesh fixation device is placed using a pre-planned placement position and angle. Finally, by utilizing the stable positional relationship between the titanium mesh fixation device and the titanium mesh, as well as the stable positional relationship between the fixation pins and the titanium mesh fixation device, and the pre-planned placement position and angle, the fixation pins with hollow channels are stably positioned in the appropriate location.

[0005] A neuronavigation aid for patients with skull injuries, comprising a head fixation plate, a bending link, a hollow screw placement section, and a hollow fixation screw.

[0006] The head fixation plate is a rigid disc-shaped structure. The bottom of the fixation plate matches the shape of the head where it is set. Multiple head fixation pins are set at the bottom. The head fixation pins are inserted into the skull or into the mesh of the titanium mesh. The purpose of the fixation plate is to stably set on the head by fixing the fixation plate into the skull or into the mesh of the titanium mesh.

[0007] The hollow pin setting part includes a through channel that allows the hollow fixing pin to pass through, and the through channel contains a threaded hole section.

[0008] The hollow fixing pin has a pointed structure with a slender through-hole in the middle; the outer side of the hollow fixing pin has a threaded section that matches the threaded hole.

[0009] The bending link, including the first link and the second link, ensures that the entry path of the plane and slender structure constructed by the first link and the second link matches the center position of the head fixation area corresponding to the fixation plate, thus achieving a match between the preoperative planning plane for the placement of auxiliary instruments.

[0010] Furthermore, the bending link includes a first link and a second link. The first end of the first link is fixedly connected to the head fixation plate, and the second end is rotatably connected to the first end of the second link. The connection position between the second end of the first link and the first end of the second link is the first rotation position. The second end of the second link is rotatably connected to the hollow nail setting part, and the rotation position between the second end of the second link and the hollow nail setting part is the second rotation position. The first and second rotation positions rotate within the plane of the bending link as a whole. This arrangement ensures that the angles of the first and second rotation positions can be determined based on the planned placement location and the condition of the placement plane during preoperative planning.

[0011] Furthermore, the first rod extends from the center of the head fixing plate, and its first end is fixedly connected to the head fixing plate. This arrangement prevents positional changes after fixing.

[0012] Furthermore, the first rod is positioned perpendicular to the center of the head fixing plate, and its length is controlled within 5cm. The second rod is a lockable telescopic rod, and its extended length is controlled within 10cm. The maximum diameter of the head fixing plate is controlled within 2cm. This configuration allows the second rod to be guided away from the head, and the rotating and telescopic second rod, along with the rotating hollow nail mounting part, guides the hollow fixing nail into the vicinity of the head.

[0013] Furthermore, the hollow fixing pin is a screw shape with a frustum-shaped front end, which makes it easy to rotate the hollow fixing pin into the mesh of the corresponding titanium mesh.

[0014] Furthermore, an operating structure is provided at the rear end of the hollow fixation pin, which is used to rotate the hollow fixation pin after the operating instrument is combined with the hollow fixation pin, so that the hollow fixation pin is screwed into the head through the selected titanium mesh holes.

[0015] Furthermore, regarding the setting method of the head fixation plate, the head fixation plate can be printed using 3D printing technology based on the shape of the reverse fitting of the preoperative planned head placement position. This method can ensure the best skin fit, and after the head fixation pins inside the fixation plate are set, the position of the head fixation plate can be well maintained.

[0016] This application also discloses a neuronavigation system for patients with skull injuries, which includes the aforementioned neuronavigation assistive device, as well as a robotic arm that moves the assistive device, a CT imaging system, and a navigation tracking system.

[0017] The specific steps are as follows: S1: Preoperative MRI and CT scans are performed, in which MRI images are used to construct a three-dimensional model of the brain region, assess the location of the epileptic focus, obtain the location of the implantation target point of the slender structure, and use CT images to obtain a three-dimensional model of the skull shape with titanium mesh.

[0018] S2: Use the surgical robot planning system to register the surgery and register the coordinates of each imaging system with the real system.

[0019] S3: Using the registration information from step two, integrate the 3D model of the skull shape from CT scans with titanium mesh with the 3D model of the brain region from MRI images to form a complete 3D model of the head structure. Display the location of the titanium mesh and the mesh openings in the 3D images. Display the target locations of the brain tissue in the 3D images. For each target location, construct multiple access paths for the slender structures based on clinical needs. Select the path that passes closer to the middle region of the mesh openings from the multiple access paths as the final access path for the slender structures.

[0020] S4: Construct a 3D model of the assistive device excluding the head fixation plate in the imaging system. Based on the 3D model of the assistive device excluding the head fixation plate, determine the final access path, the cranial region or titanium mesh region that matches the head fixation plate, and backfit the shape of the cranial region or titanium mesh region that matches the head fixation plate. At the same time, the planes containing the first and second rods of the 3D model of the assistive device excluding the head fixation plate pass through the central position of the cranial region or titanium mesh region that matches the head fixation plate and the final access path to determine the placement plane.

[0021] S5: Using 3D printing technology, a head fixation plate that is fitted in reverse and adapted to the skull region or titanium mesh region is printed out to construct a real head fixation plate.

[0022] S6: Set the tracer onto the robotic arm or onto the auxiliary instrument. Before tracking, determine the relationship between the tracer and the central axis of the passage through which the hollow pin is placed, as well as the relationship between the tracer and the plane formed by the first and second rods. During the operation, use the robotic arm to hold and move the auxiliary instrument, and the movement is completed under the tracking of the navigation system. Use the robotic arm to hold the auxiliary instrument so that the placement plane matches the plane formed by the first and second rods, and then match the final access path through the central axis of the passage. Then place the head fixation plate; fix the head fixation pin to the head to complete the setup of the auxiliary instrument.

[0023] S7: Using the operating instrument, the hollow fixing nail is placed into the hollow nail setting part and rotated into the corresponding titanium mesh.

[0024] S8: The slender structure is placed into the corresponding brain region through the passage channel of the fixed hollow fixation nail.

[0025] Technical effect Addressing the challenge of fixing the slender skull structure from outside the brain region in patients with skull injuries, an auxiliary device is designed to stably fix the head during use. This device utilizes a head fixation plate—an additional fixation structure—to secure the hollow fixation pin, eliminating the need for unstable fixation using a combination of a hollow fixation pin and a titanium mesh. Furthermore, the placement of the first and second rods keeps the fixation pin away from the area of ​​the head fixation plate, avoiding interference. The rotation between the first and second rotation positions, within the plane constructed by the bending connecting rod, ensures accurate positioning on the plane determined by the navigation system, making setup simple and convenient.

[0026] By using 3D printing to create a head fixation plate and setting up head fixation pins that extend from the head fixation plate into the skull and titanium mesh holes, the head fixation plate can be stably fixed to the head and will not adjust its position due to changes in skin position. In turn, the hollow fixation pins can be stably fixed to the head.

[0027] By controlling the length of the first rod to within 5cm, setting the second rod as a lockable telescopic rod with the extended length of the second rod controlled to within 10cm, and controlling the maximum diameter of the head fixation plate to within 2cm, the overall auxiliary instruments can be kept small. Multiple instruments can be set around the head according to the needs of the surgery to meet the needs of setting multiple slender structures.

[0028] By integrating auxiliary instruments, robotic arms, imaging systems, and navigation tracking systems, it is possible to accurately locate the final entry path, place the plane, and set the auxiliary instruments to the accurate position with the cooperation of the robotic arm and navigation tracking system. The slender structure is then accurately delivered through the passage channel of the hollow fixing nail according to the final entry path. Attached Figure Description

[0029] Figure 1 A schematic diagram of a structure for positioning assistive devices in a spherical structure that mimics the head; Figure 2 This is a schematic diagram of the upper side view of the auxiliary device; Figure 3 This is a schematic diagram of the lower side structure of the assistive device; Figure 4 This is a comparison diagram of the first and second rotational positions of the auxiliary device. A represents the first position, and B represents the second position. Figure 5 A partially enlarged structural diagram of the hollow nail setting section and the hollow fixing nail assembly; Figure 6 A longitudinal sectional view of the hollow nail installation section; Figure 7 This is a schematic diagram of a hollow fixing nail structure; Figure 8 This is a flowchart of the operation of a neural navigation system.

[0030] Explanation of main figure symbols 1. Head fixing plate; 11. Head fixing pin; 2. Bending connecting rod; 21. First rod; 22. Second rod; 23. First rotation position; 24. Second rotation position; 3. Hollow pin setting part; 31. Through channel; 32. Threaded hole section; 4. Hollow fixing pin; 41. Through channel; 42. Threaded section; 5. Tracer. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0032] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.

[0033] To keep the drawings concise, only the parts relevant to this application are shown schematically in each drawing, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components with the same structure or function is shown schematically, or only one of them is labeled.

[0034] In this document, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; unless otherwise specified or explained, the term "multiple" refers to two or more; the terms "connected," "fixed," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0035] Example 1: A neuronavigation aid for patients with skull injuries refer to Figure 1-7 A neuronavigation aid for patients with skull injuries, comprising a head fixation plate 1, a bending connecting rod 2, a hollow nail setting part 3, and a hollow fixation nail 4.

[0036] The head fixation plate 1 is a rigid disc-shaped structure. The bottom of the fixation plate matches the shape of the head setting position. Multiple head fixation nails 11 are set at the bottom. The head fixation nails 11 are inserted into the skull or into the mesh of the titanium mesh. The purpose of the fixation plate is to be stably set on the head by fixing the fixation plate into the skull or into the mesh of the titanium mesh.

[0037] refer to Figure 5 and Figure 6 The hollow nail setting part 3 includes a through channel 31 that allows the hollow fixing nail 4 to pass through, and the through channel 31 contains a threaded hole section 32.

[0038] refer to Figure 7 The hollow fixing pin 4 has a pointed structure, with a slender structure through the middle section via a channel 41; the hollow fixing pin 4 has a threaded section 42 on its outer side that is adapted to the threaded hole.

[0039] The bending link 2 includes a first link 21 and a second link 22. During the specific navigation process, the entry path of the plane and slender structure constructed by the first link 21 and the second link 22 is matched with the center position of the head fixation area corresponding to the fixation plate, so that the placement plane of the auxiliary instrument at the preoperative planning can be matched.

[0040] A more preferred embodiment is, referring to Figure 2 and Figure 3 The bending link 2 includes a first link 21 and a second link 22. The first end of the first link 21 is fixedly connected to the head fixation plate 1, and the second end is rotatably connected to the first end of the second link 22. The connection position between the second end of the first link 21 and the first end of the second link 22 is the first rotation position 23. The second end of the second link 22 is rotatably connected to the hollow nail setting part 3. The rotation position between the second end of the second link 22 and the hollow nail setting part 3 is the second rotation position 24. The first rotation position 23 and the second rotation position 24 rotate within the plane of the bending link 2 as a whole. This arrangement ensures that the angles of the first rotation position 23 and the second rotation position 24 can be determined based on the planned placement position and the condition of the placement plane during preoperative planning.

[0041] A more preferred embodiment is that the first rod 21 extends from the center of the head fixing plate 1, and the first end of the first rod 21 is fixedly connected to the head fixing plate 1. This arrangement can prevent positional changes after fixing.

[0042] By setting the rotation positions of the two rotating parts within the plane constructed by the bending link 2, it is possible to ensure that as long as the entry path of the slender structure and the center position of the head fixation area corresponding to the fixation plate are determined preoperatively, the placement plane of the auxiliary instrument can be planned preoperatively. During the operation, the plane where the bending structure is located is tracked to match the plane of the bending structure with the placement plane. Once matched, the fixation plate is placed, and then the head fixation nail 11 is driven into the skull or the titanium mesh in the corresponding area using a tapping instrument. This ensures an effective plane. The two rotation positions can be adjusted by tracking to make the central axis of the passage 31 consistent with the entry path. Then, the hollow fixation nail 4 is placed in the passage 31 of the hollow nail setting part 3, and the threaded hole section 32 and the threaded section 42 are adapted and combined.

[0043] A more preferred embodiment is, referring to Figure 2 and Figure 4 Both the first rotation position 23 and the second rotation position 24 are equipped with rotation locking structures. The rotation angle is determined according to the preoperative planning, and once the rotation angle is determined, the locking relationship between the two positions is completely locked. This ensures that the device can be placed at the accurate angle under the navigation of the navigation system. A more preferred embodiment is that the rotation method of the first rotation position 23 and the second rotation position 24 is the same as the setting method of the rotation locking structure. Specifically, the first rotation position 23 is provided with corresponding mutually rotating insertion parts. A rotation hole is provided in the insertion part, and a rotation post is provided in the rotation hole. The first end of the rotation post is an end cap, and the rotation post is wholly or partially set as a threaded post. A rotation locking cap is provided on the outside of the threaded post. The rotation relationship of the rotating insertion parts is locked by rotating the locking cap on the threaded post. Of course, the specific implementation does not limit the rotation combination of the first rotation position 23 and the second rotation structure and the setting method of the rotation locking structure.

[0044] A more preferred embodiment is that the first rod 21 is set perpendicular to the center of the head fixing plate 1, and the length of the first rod 21 is controlled within 5cm. The second rod 22 is set as a lockable telescopic rod, and the extended length of the second rod 22 is controlled within 10cm. With this setting, the second rod 22 can be guided away from the head. Furthermore, by rotating and telescopically extending the second rod 22 in conjunction with the setting of the rotating hollow nail setting part 3, the hollow fixing nail 4 is introduced into the vicinity of the head.

[0045] A more preferred embodiment is that the hollow fixation nail 4 is a screw with a frustum-shaped front end. This design facilitates the rotation of the hollow fixation nail 4 into the corresponding mesh of the titanium mesh. The frustum-shaped structure reduces the difficulty of entry, and the outer diameter of the frustum matches the mesh opening. This ensures the fixation of the threaded hole segment 32 of the hollow nail setting part 3 of the neuro-navigation auxiliary device with the two positions of the titanium mesh opening, ensuring the accuracy and stability of the path. This allows subsequent slender structures to enter the brain through the passage 41 of the hollow fixation nail 4 for brain region monitoring or treatment.

[0046] A more preferred embodiment is, referring to Figure 7 The rear end of the hollow fixing nail 4 is equipped with an operating structure for rotating the hollow fixing nail 4 after the operating instrument is combined with it, so that the hollow fixing nail 4 is screwed into the head through the selected titanium mesh holes. The operating structure can be set as a cross-shaped groove to facilitate the rotation operation of the Phillips screwdriver. Of course, the operating structure can also be set with other shapes to achieve the combination of the operating instrument and the hollow fixing nail 4.

[0047] A more preferred embodiment is that the head fixation plate 1 is printed using 3D printing technology according to the shape of the reverse fitting of the head placement position planned before the operation. This method can ensure the best skin fit. After the head fixation nails 11 in the fixation plate are set, the position of the head fixation plate 1 can be well maintained.

[0048] A more preferred embodiment is that a fixing adhesive is provided around the head fixing plate 1 to further fix the head fixing plate 1.

[0049] A more preferred embodiment is, referring to Figure 2-3 The auxiliary device is also equipped with a tracer 5 that can be recognized by the navigation system. The tracer 5 is mounted on the first rod 21 and is oriented away from the second rod 22. This arrangement ensures the space requirements during installation, maintains the balance of the entire auxiliary device, and guarantees the stability of its position after fixing.

[0050] Example 2: Neuronavigation system for patients with skull injuries refer to Figure 8 A neuronavigation system for patients with skull injuries includes the aforementioned neuronavigation assistive device, a robotic arm to move the assistive device, a CT imaging system, and a navigation tracking system. The specific system operation steps are as follows: S1: Preoperative MRI and CT scans are performed, where MRI images are used to construct a three-dimensional model of the brain region, assess the location of the epileptic focus, and obtain the location of the implantation target point for the slender structure; CT images are used to obtain a three-dimensional model of the skull shape with a titanium mesh.

[0051] S2: Use the surgical robot planning system to register the surgery and register the coordinates of each imaging system with the real system.

[0052] S3: Using the registration information from step two, integrate the 3D model of the skull shape from CT scans with titanium mesh with the 3D model of the brain region from MRI images to form a complete 3D model of the head structure. Display the location of the titanium mesh and the mesh openings in the 3D images. Display the target locations of the brain tissue in the 3D images. For each target location, construct multiple access paths for the slender structures based on clinical needs. Select the path that passes closer to the middle region of the mesh openings from the multiple access paths as the final access path for the slender structures.

[0053] S4: Construct a 3D model of the assistive device excluding the head fixation plate 1 in the imaging system. Based on the 3D model of the assistive device excluding the head fixation plate 1 and the access path, determine the skull region or titanium mesh region that matches the head fixation plate 1, and backfit the shape of the skull region or titanium mesh region that matches the head fixation plate 1. Simultaneously, pass the planes of the first rod 21 and the second rod 22 of the 3D model of the assistive device excluding the head fixation plate 1 through the central position of the skull region or titanium mesh region that matches the head fixation plate 1 and the final access path to determine the placement plane. S5: Using 3D printing technology, the head fixation plate 1, which is adapted to the skull region or titanium mesh region by reverse fitting, is printed out to construct a real head fixation plate 1. It should be noted that when constructing the head fixation plate 1, the head fixation nails 11 are set according to the situation of the titanium mesh region. Of course, in specific implementation, the three-dimensional data of the first rod 21, the second rod 22, and the hollow nail setting part 3 can be constructed at the same time and printed out together using 3D printing technology. Alternatively, only the connection position between the head fixation plate 1 and the first rod 21 can be constructed and printed out. When using it, it is assembled. Note that after the connection position of the first rod 21 is combined, the positions of the two are fixed with bio-adhesive.

[0054] S6: Set the tracer 5 onto the robotic arm or onto the auxiliary device. Before tracking, determine the relationship between the tracer 5 and the central axis of the hollow pin setting part 3 through the channel 31, and also know the relationship between the tracer 5 and the plane formed by the first rod 21 and the second rod 22. During the operation, use the robotic arm to hold the auxiliary device and move it. The movement process is completed under the tracking of the navigation tracking system. Use the robotic arm to hold the auxiliary device so that the placement plane matches the plane formed by the first rod 21 and the second rod 22. Then, pass through the central axis of the channel 31 and match the final access path. Then, place the head fixation plate 1. Fix the head fixation pin 11 to the head to complete the setting of the auxiliary device.

[0055] S7: Using an operating tool, the hollow fixing nail 4 is placed into the hollow nail setting part 3 and rotated into the mesh of the corresponding titanium mesh.

[0056] S8: The slender structure is placed into the corresponding brain region through the channel 41 of the fixed hollow fixation nail 4. The slender structure can be an electrode needle for detecting the epileptic region in SEEG (stereotactic intracranial electroencephalography) surgery, or an ablation needle for LITT (magnetic resonance guided laser ablation therapy) surgery.

[0057] The above description is merely a specific embodiment of this application. Under the guidance of the above teachings, those skilled in the art can make other improvements or modifications based on the above embodiments. Those skilled in the art should understand that the above specific description is only to better explain the purpose of this application, and the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A neuronavigation aid for patients with skull injuries, comprising a head fixation plate, a bending link, a hollow screw placement section, and a hollow fixation screw. The head fixation plate is a rigid disc-shaped structure. The bottom of the fixation plate matches the shape of the head where it is set. Multiple head fixation pins are set at the bottom. The head fixation pins are inserted into the skull or into the mesh of the titanium mesh. The purpose of the fixation plate is to stably set on the head by fixing the fixation plate into the skull or into the mesh of the titanium mesh. A hollow pin setting part includes a through-channel that allows a hollow fixing pin to pass through, and the through-channel contains a threaded hole section; The hollow fixing pin has a pointed structure with a slender through-hole in the middle; the outer side of the hollow fixing pin has a threaded section that matches the threaded hole. The bending link, including the first link and the second link, ensures that the entry path of the plane and slender structure constructed by the first link and the second link matches the center position of the head fixation area corresponding to the fixation plate, thus achieving a match between the preoperative planning plane for the placement of auxiliary instruments.

2. The auxiliary device according to claim 1, characterized in that, The bending link includes a first link and a second link. The first end of the first link is fixedly connected to the head fixation plate, and the second end is rotatably connected to the first end of the second link. The connection position between the second end of the first link and the first end of the second link is the first rotation position. The second end of the second link is rotatably connected to the hollow nail mounting part, and the rotation position between the second end of the second link and the hollow nail mounting part is the second rotation position. The first and second rotation positions rotate within the plane of the entire bending link assembly. This design ensures that the angles of the first and second rotation positions can be determined during preoperative planning based on the planned placement location and the condition of the placement plane. Preferably, the first rod extends from the center of the head fixing plate, and the first end of the first rod is fixedly connected to the head fixing plate.

3. The auxiliary device according to claim 2, characterized in that, Both the first and second rotation positions are equipped with rotation locking structures. The rotation angle is determined according to the preoperative plan. Once the rotation angle is determined, the locking relationship between the two positions is completely locked.

4. The auxiliary device according to claim 3, characterized in that, The rotation method of the first and second rotation positions is the same as that of the rotation locking structure. Specifically, the first rotation position has corresponding mutually rotating insertion parts, each with a rotation hole. A rotation post is placed inside the rotation hole, with a cap at the first end. The rotation post, either wholly or partially, is a threaded post, and a rotation locking cap is placed on the outside of the threaded post. The rotation relationship of the rotating insertion parts is locked by rotating the locking cap on the threaded post.

5. The auxiliary device according to claim 1, characterized in that, The length of the first rod is controlled within 5cm, the second rod is set as a lockable telescopic rod, and the extended length of the second rod is controlled within 10cm; the maximum diameter of the head fixing plate is controlled within 2cm.

6. The auxiliary device according to claim 1, characterized in that, The hollow fixing screw is a screw with a frustoconical front end; Preferably, the rear end of the hollow fixing nail is provided with an operating part and a setting structure, which is used to operate the instrument to rotate the hollow fixing nail after it is combined with the hollow fixing nail, and to screw the hollow fixing nail into the head through the selected titanium mesh.

7. The auxiliary device according to claim 1, characterized in that, The head fixation plate is back-fitted according to the shape of the head placement position planned before surgery, and then printed using 3D printing technology.

8. The auxiliary device according to claim 1, characterized in that, The head fixing plate is also equipped with fixing adhesive tape around its perimeter to further secure the head fixing plate.

9. The auxiliary device according to claim 1, characterized in that, The auxiliary device is also equipped with a tracer that can be recognized by the navigation system. The tracer is set on the first pole and is oriented away from the second pole.

10. A neuronavigation system for patients with skull injuries, characterized in that, It includes the aforementioned neuronavigation assistive device, as well as a robotic arm that moves the assistive device, a CT imaging system, and a navigation tracking system; The specific steps are as follows: S1. Three-dimensional model construction. Preoperative MRI and CT scans are performed. MRI images are used to construct a three-dimensional model of the brain region, assess the location of the epileptic focus, and obtain the location of the implantation target point of the slender structure. CT images are used to obtain a three-dimensional model of the skull shape with titanium mesh. S2: Surgical registration, using the surgical robot planning system to register the surgical procedure and register the coordinate relationship between each imaging system and the real system; S3: Determination of the final access path. Using the registration information from step two, the 3D model of the skull shape from CT with titanium mesh and the 3D model of the brain region from MRI images are integrated into a complete 3D model of the head structure. The position of the titanium mesh and the mesh openings in the titanium mesh are displayed in the 3D images. The target locations of the brain tissue are displayed in the 3D images. For each target location, multiple access paths for the slender structure are constructed based on clinical needs. Among the multiple access paths, the path that passes closer to the middle region of the mesh openings is selected as the final access path for the slender structure. S4: Determining the placement plane: Construct a 3D model of the assistive device excluding the head fixation plate in the imaging system. Based on the 3D model of the assistive device excluding the head fixation plate and the access path, determine the skull region or titanium mesh region that matches the head fixation plate, and backfit the shape of the skull region or titanium mesh region that matches the head fixation plate. At the same time, the planes of the first and second rods of the 3D model of the assistive device excluding the head fixation plate pass through the central position of the skull region or titanium mesh region that matches the head fixation plate and the final access path to determine the placement plane. S5: Construction of the head fixation plate. Using 3D printing technology, the head fixation plate that is backfitted and adapted to the skull area or titanium mesh area is printed out to construct a real head fixation plate. S6: Setting up the auxiliary device: Set the tracer onto the robotic arm or onto the auxiliary device. Before tracking, determine the relationship between the tracer and the central axis of the passage through which the hollow pin is placed, and also know the relationship between the tracer and the plane formed by the first and second rods. During the operation, use the robotic arm to hold the auxiliary device and move it. The movement process is completed under the tracking of the navigation tracking system. Use the robotic arm to hold the auxiliary device to make the placement plane match the plane formed by the first and second rods first. Then match the central axis of the passage with the final access path. Then place the head fixation plate and fix the head fixation pin to the head to complete the setting up of the auxiliary device. S7: Setting the hollow fixing nail: Using an operating tool, the hollow fixing nail is set into the hollow nail setting part and rotated into the mesh of the corresponding titanium mesh. S8: The setting of slender structures involves placing the slender structures into the corresponding brain regions through the passage channels of the fixed hollow fixation pins.

Images