A multi-segment spinal synchronous orthotic robot, method and controller

Abstract

The application relates to the technical field of medical devices, and discloses a multi-segment spine synchronous orthopedic robot, a method and a controller. The synchronous orthopedic robot comprises a controller, a rigid support frame and a plurality of independent orthopedic driving units arranged in the rigid support frame; each orthopedic driving unit and a one-dimensional line control sliding rail and a two-dimensional line control component mounted on the top of the rigid support frame jointly constitute a three-dimensional motion execution mechanism; the end of each orthopedic driving unit is provided with an adaptive connecting component; each orthopedic driving unit is rigidly connected with a pedicle screw implanted in a spine segment through the adaptive connecting component; the controller controls the actions of the plurality of orthopedic driving units through the one-dimensional line control sliding rail and the two-dimensional line control component, can realize the synchronous orthopedic treatment of the plurality of spine segments, and thus reduces the risk of pedicle screw pull-out or iatrogenic fracture.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a multi-segment synchronous spinal orthopedic robot, method and controller. Background Technology

[0002] Currently, the standard surgical procedure for treating severe scoliosis or kyphosis is posterior pedicle screw fixation and fusion. The procedure begins with exposure of the posterior spinal structures in the patient's prone position and the insertion of bilateral pedicle screws to establish corrective biomechanical anchors. Following the preoperative plan, the surgeon inserts a pre-bent orthotic rod into the screw head groove, entering the core corrective procedure phase. During this phase, the surgeon relies on manual manipulation or simple reduction instruments, employing a combination of techniques such as derotation, cantilever beam reduction, in-situ rod bending, and segmental compression / distraction to attempt to correct the three-dimensional deformity of the vertebral bodies. Once fluoroscopy confirms satisfactory morphology, the setwire is tightened for locking, and bone graft fusion is completed.

[0003] However, the orthopedic procedure mentioned above relies heavily on the coordination of the doctor and assistant's hands. Due to limitations in manual dexterity and the limited availability of instruments, it is usually only possible to use a sequential approach, either "segment by segment" or "region by region." The orthopedic force is easily concentrated on the single or double spinal segment being operated on, while adjacent spinal segments cannot share the load. This force pattern can easily generate huge instantaneous shear forces at the vertebral-screw interface, leading to serious problems such as pedicle screw pullout or even iatrogenic fractures. Summary of the Invention

[0004] In view of this, embodiments of this application provide a multi-segment spinal synchronous orthopedic robot, method and controller. By employing a synchronous orthopedic robot with multiple independent orthopedic drive units, synchronous orthopedic correction of multiple spinal segments can be achieved, reducing the risk of pedicle screw pullout or iatrogenic fracture.

[0005] The first aspect of this application provides a multi-segment synchronous spinal orthopedic robot, including a controller, a rigid support frame, and multiple independent orthopedic drive units disposed within the rigid support frame; each orthopedic drive unit, together with a one-dimensional wire-controlled slide rail and a two-dimensional wire-controlled component mounted on the top of the rigid support frame, constitutes a three-dimensional motion execution mechanism; each orthopedic drive unit has an adaptive connection component at its end; each orthopedic drive unit is rigidly connected to a pedicle screw implanted in a spinal segment through the adaptive connection component; the controller coordinates the movement of multiple orthopedic drive units through the one-dimensional wire-controlled slide rail and the two-dimensional wire-controlled component to achieve synchronous orthopedic correction of multiple spinal segments.

[0006] The multi-segment synchronous spinal orthopedic robot proposed in this application includes multiple independent orthopedic drive units housed within a rigid support frame. Each orthopedic drive unit constitutes a free three-dimensional motion execution mechanism under the action of a one-dimensional linear control rail and a two-dimensional linear control component, and each orthopedic drive unit has an adaptive connection component at its end. During spinal orthopedic surgery, each orthopedic drive unit is rigidly connected to a pedicle screw implanted in a spinal segment via the adaptive connection component, thus each orthopedic drive unit is solely responsible for the orthopedic work of one spinal segment. The controller of the synchronous orthopedic robot can collaboratively control the simultaneous movement of multiple orthopedic drive units through the one-dimensional linear control rail and the two-dimensional linear control component, thereby achieving synchronous orthopedic work of multiple spinal segments, effectively avoiding uneven force distribution and local stress concentration problems, and reducing the risk of pedicle screw pullout or iatrogenic fractures.

[0007] In one implementation of this application, each orthopedic drive unit has a transmission rod with axial extension and retraction freedom at its lower end, and an adaptive connection component is provided at the end of the transmission rod.

[0008] In one implementation of this application, the adaptive connection component is a universal pin connection component.

[0009] A second aspect of this application provides a method for simultaneous multi-segmental spinal correction, which is applied to the multi-segmental spinal correction robot provided in the first aspect of this application. The method includes: Based on the end-effector sensing data of each orthopedic drive unit, an initial pose matrix for each corresponding spinal segment is constructed. Based on the ideal spinal center curve planned preoperatively, the target pose matrix of each spinal segment corresponding to each orthopedic drive unit is constructed. By using inverse kinematics, the difference transformation matrix from the initial pose matrix to the target pose matrix for each corresponding spinal segment of each orthopedic drive unit is solved separately. Based on the difference transformation matrix corresponding to each orthopedic drive unit, the actions of multiple orthopedic drive units are coordinated and controlled by a one-dimensional linear control slide rail and a two-dimensional linear control component to achieve synchronous orthopedic correction of multiple spinal segments.

[0010] In one implementation of this application, based on the preoperatively planned ideal spinal center curve, a target pose matrix for each spinal segment corresponding to each orthopedic drive unit is constructed, including: The ideal spinal center curve is discretized and sampled. The tangent vector and normal vector of the corresponding spinal segment of each orthopedic drive unit on the discretized ideal spinal center curve are calculated to construct the target pose matrix of the corresponding spinal segment of each orthopedic drive unit.

[0011] In one implementation of this application, based on the difference transformation matrix corresponding to each orthopedic drive unit, the actions of multiple orthopedic drive units are coordinated and controlled by a one-dimensional linear control slide rail and a two-dimensional linear control component, including: By decomposing the difference transformation matrix corresponding to each orthopedic drive unit, we obtain the translation increment vector and rotation adjustment vector corresponding to each orthopedic drive unit. The translational increment vector and rotational adjustment vector corresponding to each orthopedic drive unit are mapped to pulse stepping commands for a one-dimensional linear control rail and a two-dimensional linear control component. The system uses pulse stepping commands to drive a one-dimensional linear guide rail and a two-dimensional linear component to coordinate the movement of multiple orthopedic drive units.

[0012] In one implementation of this application embodiment, the coordinated control of the actions of multiple orthopedic drive units includes: By controlling the movement speed of each orthopedic drive unit to be proportional to the required displacement, the actions of multiple orthopedic drive units can be completed within the same orthopedic time.

[0013] In one implementation of this application, after achieving simultaneous correction of multiple spinal segments, the method further includes: By utilizing the mechanical self-locking characteristics of one-dimensional wire-controlled slide rails and two-dimensional wire-controlled components, the motion posture of multiple orthopedic drive units is locked.

[0014] In one implementation of this application, before constructing the initial pose matrix of the spinal segment corresponding to each orthopedic drive unit based on the end-effector sensing data of each orthopedic drive unit, the method further includes: Based on intraoperative spinal imaging data, each orthopedic drive unit is controlled to move along a one-dimensional linear control slide rail to the position of the corresponding spinal segment, and is rigidly connected to the pedicle screw of the corresponding spinal segment through an adaptive connection component.

[0015] A third aspect of this application provides a controller including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the multi-segmental spinal synchronous correction method provided in the second aspect of this application.

[0016] A fourth aspect of this application provides a computer program product that, when run on a controller, causes the controller to execute the multi-segmental spinal synchronous correction method provided in the second aspect of this application.

[0017] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the multi-segmental spinal synchronous correction method provided in the second aspect of this application.

[0018] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a multi-segment synchronous spinal orthopedic robot provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a single orthopedic drive unit provided in an embodiment of this application; Figure 3 This is a flowchart of a multi-segment simultaneous spinal correction method provided in an embodiment of this application; Figure 4 This is a schematic diagram of an approximate spinal model provided in an embodiment of this application; Figure 5 This is a schematic diagram of the bone screw location layout in an approximate spinal model provided in an embodiment of this application; Figure 6 This is a schematic diagram of the vertebral coordinate system of each segment in an approximate spinal model embedded in a pathological scoliosis, provided in an embodiment of this application. Figure 7 This is a schematic diagram of a controller provided in an embodiment of this application. Detailed Implementation

[0020] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail. Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0021] Current spinal correction surgeries widely employ pedicle screw fixation and fusion, combined with techniques such as derotation, cantilever beam reduction, or segmental compression / distraction for correction. However, regardless of manual operation or existing auxiliary tools, the core processing logic remains limited to "single-point breakthrough" or "segment-by-segment sequential processing," lacking the ability to control the overall biomechanical distribution of the spine. This can easily lead to serious problems such as pedicle screw pullout or even iatrogenic fractures during surgery.

[0022] To address the aforementioned technical problems, this application provides a multi-segment synchronous spinal orthopedic robot, method, and controller. By employing a synchronous orthopedic robot equipped with multiple independent orthopedic drive units, simultaneous orthopedic correction of multiple spinal segments can be achieved, reducing the risk of pedicle screw pullout or iatrogenic fractures. For more specific technical details regarding the embodiments of this application, please refer to the various embodiments described below.

[0023] Please see Figure 1 This is a structural schematic diagram of a multi-segment synchronous spinal orthopedic robot provided in an embodiment of this application. Figure 1 The multi-segment spinal synchronous orthopedic robot shown adopts a modular frame structure, internally integrating multiple independent orthopedic drive units in parallel, forming a high-rigidity parallel drive network based on one-dimensional linear guide rails and two-dimensional linear control components. Specifically, the main body of the robot is a rigid support frame, on which multiple independent orthopedic drive units are mounted in parallel. A one-dimensional linear guide rail and two-dimensional linear control components are also installed on the top of the frame. Each orthopedic drive unit, together with the one-dimensional linear guide rail and two-dimensional linear control components, constitutes a three-dimensional motion execution mechanism, forming a high-rigidity parallel drive network. Furthermore, each orthopedic drive unit has an adaptive connection component at its end, including an axial clearance adaptive mechanism. This adaptive connection component can rigidly connect to a pedicle screw implanted in a spinal segment, achieving stable clamping. Thus, each orthopedic drive unit can independently handle the orthopedic work of one spinal segment. During spinal correction surgery, the robot's controller uses a pre-planned path to collaboratively control the movements of multiple correction drive units through one-dimensional linear guide rails and two-dimensional linear components. Specifically, it can drive each correction drive unit to synchronously adjust the spatial coordinates of the end effector through linear control. This can cause the pedicle screws implanted in the spine to undergo corresponding positional changes, complete the precise adjustment of the spinal posture, and ultimately achieve synchronous correction of multiple spinal segments.

[0024] In one implementation of this application, each orthopedic drive unit has a transmission rod with axial extension and retraction freedom at its lower end, and an adaptive connection component at the end of the transmission rod. This transmission rod allows for free adjustment of the extension and retraction length of the unit's end, effectively improving the motion flexibility of the end effector. An adaptive connection component with a passive extension and retraction structure is provided at the connection between the end effector and the vertebral body. This component can automatically eliminate mechanical interference and stress concentration caused by spinal stretching through axial extension and retraction compensation while rigidly transmitting lateral corrective thrust.

[0025] In one implementation of this application, the adaptive connection component is a universal pin-point connection component. The adaptive connection component at the end of the transmission rod can be a universal pin-point connection component with an adaptive axial clearance structure, used to make a rigid yet flexible connection with the pedicle screw implanted in the vertebral body, enabling gapless and stable gripping of screws implanted at different angles.

[0026] As an example, Figure 2 This is a schematic diagram of a single orthopedic drive unit provided in an embodiment of this application. Figure 2 As can be seen, the two-dimensional wire-controlled component consists of a servo motor, a telescopic rod, and a load-bearing rod. The transmission rod of the orthopedic drive unit can adjust its extension length via a universal bearing, and the universal nail point connection assembly at the end of the transmission rod can be used to securely connect the pedicle screw. Under the action of the servo motor and the telescopic rod, the end effector of the orthopedic drive unit can achieve precise movement in a two-dimensional plane.

[0027] For details on the working principle of the multi-segment synchronous spinal orthopedic robot described above, please refer to the method embodiments described below.

[0028] Please see Figure 3 This application illustrates a multi-segment simultaneous spinal correction method provided in an embodiment of the present application, comprising: 301. Based on the end-effector sensing data of each orthopedic drive unit, construct the initial pose matrix of the corresponding spinal segment for each orthopedic drive unit. It should be understood that the execution entity of this method embodiment is the controller provided by the aforementioned multi-segment spinal synchronous orthopedic robot. Assuming the aforementioned multi-segment spinal synchronous orthopedic robot has N (e.g., N=6) orthopedic drive units, and a global coordinate system O-XYZ is established, where the Z-axis is distributed along the axis of the human spine, the X-axis corresponds to the coronal plane (left-right direction) of the spine, and the Y-axis corresponds to the sagittal plane (anteroposterior direction) of the spine, then relying on the aforementioned one-dimensional linear control rail and two-dimensional linear control components, each orthopedic drive unit i=1, 2, ..., N possesses the following independent control degrees of freedom: driven by the two-dimensional linear control components, used to correct scoliosis and apply a derotation lever arm, the lateral displacement x. i Driven by a two-dimensional wire-controlled component, it is used to correct the longitudinal displacement y of the rear / forward convexity. i Driven by a one-dimensional linear guide rail, the axial displacement z adapts to the dynamic changes in the intervertebral spacing of different spinal segments. iFurthermore, each orthopedic drive unit may also be equipped with a single-degree-of-freedom rotational joint at its end for connecting to a bone screw, so as to adapt to the normal rotation caused by the rotation of the vertebrae during spinal correction. In the technical solution of this application embodiment, the orthopedic drive unit and the spinal segment are in one-to-one correspondence. For example, if the adaptive connection component at the end of the i-th orthopedic drive unit is rigidly connected to the pedicle screw implanted in the i-th spinal segment, then the i-th orthopedic drive unit corresponds to the i-th spinal segment.

[0029] To accurately describe the motion process of each spinal segment from its initial pathological state to its target corrective state, each clamped segment of the spine can be considered as an independent rigid body, and the following spatial coordinate systems can be defined: (1) Global base coordinate system B: fixed on the base or frame of the multi-segment spinal synchronous orthopedic robot, serving as an absolute reference benchmark; (2) End effector coordinate system E i : Fixedly connected to the center of the end adaptive connection component of the i-th orthopedic drive unit; (3) Conical coordinate system V i : The vertebral anatomical center that is fixedly connected to the i-th spinal segment.

[0030] When spinal correction surgery begins, the system initializes by reading the end-effector sensing data of each correction drive unit. This allows the construction of the initial pose matrix for each spinal segment corresponding to each drive unit. For example, for the i-th spinal segment, the end-effector sensing data, such as the motor rotation angle of the i-th drive unit, can be read and then converted onto the lead screw and linkage to obtain the translation vector and rotation matrix relative to the global base coordinate system. This yields the initial pose matrix of the i-th spinal segment relative to the global base coordinate system. As shown below:

[0031] in, This represents the initial rotation matrix, which reflects the scoliosis and rotational deformity angles of the corresponding spinal segments. As a translation vector, it can represent the initial three-dimensional coordinate position of the center point of the corresponding spinal segment.

[0032] In one implementation of this application, before constructing the initial pose matrix of the spinal segment corresponding to each orthopedic drive unit based on the end-effector sensing data of each orthopedic drive unit, the method further includes: Based on intraoperative spinal imaging data, each orthopedic drive unit is controlled to move along a one-dimensional linear control slide rail to the position of the corresponding spinal segment, and is rigidly connected to the pedicle screw of the corresponding spinal segment through an adaptive connection component.

[0033] During the system initialization and gripping phase, navigation and positioning are required based on intraoperative spinal imaging data. Each orthopedic drive unit is controlled to move along a one-dimensional linear guide rail to the corresponding spinal segment, and a rigid physical connection is established with the pedicle screw of the corresponding spinal segment through an adaptive connection component (e.g., a universal pin connection component). For example, the first orthopedic drive unit is controlled to move along the one-dimensional linear guide rail to the position of spinal segment 1, and the adaptive connection component of the first orthopedic drive unit is rigidly connected to the pedicle screw implanted in spinal segment 1; the second orthopedic drive unit is controlled to move along the one-dimensional linear guide rail to the position of spinal segment 2, and the adaptive connection component of the second orthopedic drive unit is rigidly connected to the pedicle screw implanted in spinal segment 2, and so on, traversing all orthopedic drive units. After this, the real-time end-effector sensing data of each orthopedic drive unit can be read to construct the initial pose matrix of the spinal segment corresponding to each orthopedic drive unit.

[0034] 302. Based on the ideal spinal center curve planned preoperatively, construct the target pose matrix for each spinal segment corresponding to each orthopedic drive unit. After constructing each initial pose matrix as described above, the trajectory calculation stage begins. In this stage, the target pose matrix of each spinal segment corresponding to each orthopedic drive unit is constructed based on the ideal spinal center curve planned preoperatively.

[0035] In one implementation of this application, based on the preoperatively planned ideal spinal center curve, a target pose matrix for each spinal segment corresponding to each orthopedic drive unit is constructed, including: The ideal spinal center curve is discretized and sampled. The tangent vector and normal vector of the corresponding spinal segment of each orthopedic drive unit on the discretized ideal spinal center curve are calculated to construct the target pose matrix of the corresponding spinal segment of each orthopedic drive unit.

[0036] The construction of the target pose matrix adopts the motion planning principle of "target curve discretization". First, the ideal spinal center curve is discretized and sampled. Then, the tangent vector and normal vector of the corresponding spinal segment of each orthopedic drive unit on the discretized ideal spinal center curve are calculated. This allows the construction of the target pose matrix for each spinal segment corresponding to each orthopedic drive unit. For example, assuming the preoperatively planned ideal spinal center curve is C(u), it can be represented in three-dimensional space as: C(u) = [x... d (u), y d (u), z d (u)] TWhere u is a normalized parameter along the spinal axis, the curve C(u) is discretized. For the spinal segment i corresponding to the i-th orthopedic drive unit, its tangent vector and normal vector on the ideal spinal center curve after discretization can be calculated, and the target pose matrix shown below can be constructed. :

[0037] in, Let be the coordinates of the corresponding point on the ideal curve. The ideal vertebral posture is usually the midsagittal plane posture.

[0038] 303. Solve the difference transformation matrix from the initial pose matrix to the target pose matrix for each spinal segment corresponding to each orthopedic drive unit by means of inverse kinematics. To propel each spinal segment from its initial pose to its target pose, inverse kinematics can be used to solve for the difference transformation matrix from the initial pose matrix to the target pose matrix for each spinal segment corresponding to each orthopedic drive unit. For example, the difference transformation matrix from the initial pose matrix to the target pose matrix for spinal segment i corresponding to the i-th orthopedic drive unit can be solved separately. To the target pose matrix Difference Transformation Matrix It can be represented as:

[0039] It can be seen that by calculating the initial pose matrix With difference transformation matrix The product of these terms yields the target pose matrix. Therefore, the difference transformation matrix It is the core of motion commands that the i-th orthopedic drive unit needs to execute.

[0040] 304. Based on the difference transformation matrix corresponding to each orthopedic drive unit, the actions of multiple orthopedic drive units are coordinated by one-dimensional linear control rails and two-dimensional linear control components to achieve synchronous orthopedic correction of multiple spinal segments.

[0041] By analyzing the difference transformation matrix corresponding to each orthopedic drive unit, the motion control instructions that each orthopedic drive unit needs to execute can be determined. Then, the controller can use one-dimensional linear control rails and two-dimensional linear control components to coordinately control each orthopedic drive unit to execute its required actions according to the determined motion control instructions, thereby driving the position and posture adjustment of each spinal segment and ultimately achieving synchronous orthopedic correction of multiple spinal segments.

[0042] In one implementation of this application, based on the difference transformation matrix corresponding to each orthopedic drive unit, the actions of multiple orthopedic drive units are coordinated and controlled by a one-dimensional linear control slide rail and a two-dimensional linear control component, including: (1) By decomposing the difference transformation matrix corresponding to each orthopedic drive unit, the translation increment vector and rotation adjustment vector corresponding to each orthopedic drive unit are obtained; (2) Map the translation increment vector and rotation adjustment vector corresponding to each orthopedic drive unit to the pulse stepping commands of the one-dimensional linear control slide rail and the two-dimensional linear control component; (3) Drive one-dimensional linear control slide rail and two-dimensional linear control component based on pulse stepping command to coordinate the action of multiple orthopedic drive units.

[0043] Specifically, by decomposing the difference transformation matrix corresponding to each orthopedic drive unit, the translational increment vector and rotational adjustment vector corresponding to each orthopedic drive unit can be obtained. The controller further maps and converts the translational increment vector and rotational adjustment vector corresponding to each orthopedic drive unit into pulse stepping commands for the one-dimensional linear guide rail and the two-dimensional linear control component. Based on these pulse stepping commands, the one-dimensional linear guide rail and the two-dimensional linear control component are driven, thereby coordinating the control of each orthopedic drive unit to complete the required actions. A single orthopedic drive unit can precisely adjust the three-dimensional translation of a spinal segment, while the differential motion between two orthopedic drive units can adjust the three-dimensional rotation of a spinal segment. For example, by decomposing the difference transformation matrix corresponding to the i-th orthopedic drive unit... This allows us to obtain the translation increment vector required for the i-th orthopedic drive unit. and rotation adjustment vector The controller will translate the incremental vector and rotation adjustment vector The mapping is converted into pulse stepping commands for one-dimensional linear guide rails and two-dimensional linear components. Based on these pulse stepping commands, the i-th orthopedic drive unit can be controlled to complete the required orthopedic action, and so on.

[0044] In one implementation of this application embodiment, the coordinated control of the actions of multiple orthopedic drive units includes: By controlling the movement speed of each orthopedic drive unit to be proportional to the required displacement, the actions of multiple orthopedic drive units can be completed within the same orthopedic time.

[0045] To avoid strain caused by asynchronous movement of different spinal segments, the movement speed of each orthopedic drive unit is not fixed. Specifically, the movement speed of each orthopedic drive unit can be controlled to be proportional to the required displacement, ultimately ensuring that the movements of all orthopedic drive units are completed within the same orthopedic time. For example, a uniform orthopedic completion time can be set. TThen the motion speed of the i-th orthopedic drive unit This can be expressed by the following formula:

[0046] in, This represents the total displacement required for the i-th orthopedic drive unit to complete its movement. It can be seen that for orthopedic drive units requiring a larger displacement (e.g., those corresponding to the apical vertebral segment), their movement speed is faster; conversely, for orthopedic drive units requiring a smaller displacement (e.g., those corresponding to the distal vertebral segment), their movement speed is slower. This ensures that all spinal segments begin movement simultaneously and reach the target position simultaneously, achieving adaptive matching to the spinal linkage effect and obtaining a near-perfect synchronous orthopedic effect. Furthermore, the end-axial adaptive mechanisms of each orthopedic drive unit (e.g., ...) Figure 2 The universal bearing shown can be passively adjusted to eliminate axial stress caused by spinal elongation.

[0047] Because the spine is a complex viscoelastic coupling system, the movements of its various segments are strongly coupled. Without rigid locking and position maintenance of the corrected areas, local posture adjustments can easily trigger soft tissue rebound or chain reactions, leading to the loss of initial corrective effects. This forces doctors to make repeated adjustments, making it difficult to maintain strict coordination of the spine's three-dimensional morphology in dynamic conditions. To address this issue, the technical solution of this application utilizes the high rigidity and position-locking capabilities of a synchronous orthopedic robot to provide a full-process configuration maintenance mechanism. This ensures that each spinal segment strictly resists soft tissue rebound and coupling interference during adjustment. Specific operation methods are described below.

[0048] In one implementation of this application, after achieving simultaneous correction of multiple spinal segments, the method further includes: By utilizing the mechanical self-locking characteristics of one-dimensional wire-controlled slide rails and two-dimensional wire-controlled components, the motion posture of multiple orthopedic drive units is locked.

[0049] Once the ends of all orthopedic drive units have reached their respective target positions, the synchronous orthopedic correction of each spinal segment is considered complete. Subsequently, the mechanical self-locking properties of the one-dimensional linear guide rails and two-dimensional linear control components are used to forcibly lock the movement posture of each orthopedic drive unit, thereby forcibly locking the entire spine in the corrected posture. This maintains the spatial configuration of the repositioned spinal segments, preventing problems such as rebound or displacement of adjacent spinal segments and protecting the orthopedic effect. Finally, under this high-rigidity configuration, the physician inserts and locks in a permanent internal fixation rod, thus completing the entire spinal orthopedic procedure.

[0050] The multi-segment synchronous spinal orthopedic robot proposed in this application includes multiple independent orthopedic drive units housed within a rigid support frame. Each orthopedic drive unit constitutes a free three-dimensional motion execution mechanism under the action of a one-dimensional linear control rail and a two-dimensional linear control component, and each orthopedic drive unit has an adaptive connection component at its end. During spinal orthopedic surgery, each orthopedic drive unit is rigidly connected to a pedicle screw implanted in a spinal segment via the adaptive connection component, thus each orthopedic drive unit is solely responsible for the orthopedic work of one spinal segment. The controller of the synchronous orthopedic robot can collaboratively control the simultaneous movement of multiple orthopedic drive units through the one-dimensional linear control rail and the two-dimensional linear control component, thereby achieving synchronous orthopedic work of multiple spinal segments, effectively avoiding uneven force distribution and local stress concentration problems, and reducing the risk of pedicle screw pullout or iatrogenic fractures.

[0051] To facilitate understanding of the technical effects achieved by the technical solutions of this application embodiment in specific implementation, various CAD design software can be used to complete the modeling of the spinal structure, and a fitting approximation strategy can be adopted to complete the construction of the spinal model, thereby realizing online simulation of the complete spinal correction process.

[0052] As an example, Figure 4 This is a schematic diagram of an approximate model of the spine provided in an embodiment of this application. Figure 4 The model shown utilizes a three-degree-of-freedom gimbal to approximate the motion characteristics of the intervertebral disc. When setting the rotation axis, limiting and damping characteristics are added to conform to the biological limits and forces of the real spine. Furthermore, bone screw points are added at locations approximating the pedicle to connect to the aforementioned synchronous orthopedic robot. The overall configuration approximately maintains the physiological curvature of the spine. The layout of each bone screw point is as follows: Figure 5 As shown. After constructing the above approximate model of the spine, the pathological scoliosis is embedded into this model. Figure 6 The vertebral coordinate system of each segment in the approximate model of the spine embedded with pathological scoliosis is shown.

[0053] Using the measurement tools of CAD design software, the transformation matrix of the vertebral center relative to the workspace center can be obtained. Then, using the calculation method of the difference transformation matrix described above, the various difference transformation matrices between the pathological scoliosis model and the normal spine model can be obtained as follows:

[0054] Among them, T7 corr T8 corr T9 corr and T10 corr These represent the difference transformation matrices corresponding to the four different orthopedic drive units.

[0055] Subsequently, the various differential transformation matrices are mapped into control commands for a multi-segment spinal synchronous orthopedic robot. This controls each orthopedic drive unit to move synchronously along the planned path, resolving issues of uneven force distribution and local stress concentration in different spinal segments, and reducing the risk of pedicle screw extraction and fracture. Furthermore, since the end effector can precisely control three-dimensional coordinate points, a single-point follower control for displacement and a two-point differential control for coupled rotation can be employed. Time-varying weights are used to organically combine these two methods, and the coordinated rate is adjusted to simultaneously meet the complex requirements of three-dimensional orthopedic correction within a single continuous motion, avoiding the surgical interruption risks associated with step-by-step correction.

[0056] For the spinal correction results, the gold standard Cobb angle and apical vertebral rotation angle of scoliosis surgery can be used for evaluation. Since the pathological scoliosis added in this case is in the coronal plane, the coronal Cobb angle and the axial rotation angle of the T9 vertebral segment are used as the evaluation criteria for the correction results. According to the measurement tools, the Cobb angle of the spinal model before correction was 17.4°, and the Cobb angle after correction was 4.6°. The yaw angle of the T9 vertebral body before correction was 24.5°, and the yaw angle after correction was 2.9°. It can be seen that there is a significant improvement effect, which proves the effectiveness of the multi-segmental synchronous spinal correction robot and method proposed in the embodiments of this application.

[0057] In summary, the technical solution of this application aims to achieve coordinated control and rate adjustment of multiple vertebral segments in the same time dimension by constructing a parallel multi-screw drive network, thereby optimizing the overall mechanical distribution and reducing surgical risks. Furthermore, by utilizing the high rigidity and positioning locking capabilities of the multi-segment spinal synchronous orthopedic robot, a full-process configuration maintenance mechanism can be provided, ensuring that each spinal segment strictly resists soft tissue rebound and coupling interference during posture adjustment, ultimately achieving efficient and safe three-dimensional orthopedic control integrating "stable clamping, precise movement, and shape locking." In addition, through discretization mapping and coordinated rate control, fuzzy operations relying on physician experience and feel are transformed into precise positioning control based on mathematical models, eliminating operational errors caused by human shaking and fatigue.

[0058] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0059] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the multi-segmental spinal synchronous correction method described in any of the above embodiments.

[0060] This application also provides a computer program product that, when run on a controller, causes the controller to execute the multi-segmental spinal synchronous correction method as described in any of the above embodiments.

[0061] Figure 7 This is a schematic diagram of a controller provided in one embodiment of this application. Figure 7 As shown, the controller 7 in this embodiment includes a processor 70, a memory 71, and a computer program 72 stored in the memory 71 and executable on the processor 70. When the processor 70 executes the computer program 72, it implements the steps in the embodiments of the various multi-segmental spinal synchronous correction methods described above, for example... Figure 3 Steps 301-304 are shown.

[0062] The computer program 72 can be divided into one or more modules / units, which are stored in the memory 71 and executed by the processor 70 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 72 in the controller 7.

[0063] The processor 70 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0064] The memory 71 can be an internal storage unit of the controller 7, such as a hard disk or memory of the controller 7. The memory 71 can also be an external storage device of the controller 7, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the controller 7. Furthermore, the memory 71 can include both internal storage units and external storage devices of the controller 7. The memory 71 is used to store the computer program and other programs and data required by the controller. The memory 71 can also be used to temporarily store data that has been output or will be output.

[0065] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0066] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0067] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0068] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0069] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

[0070] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0071] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0072] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0073] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A multi-segment synchronous spinal orthopedic robot, characterized in that, The device includes a controller, a rigid support frame, and multiple independent orthopedic drive units disposed within the rigid support frame. Each orthopedic drive unit, together with a one-dimensional linear control rail and a two-dimensional linear control component mounted on the top of the rigid support frame, constitutes a three-dimensional motion actuator. Each orthopedic drive unit has an adaptive connection component at its end, and each orthopedic drive unit is rigidly connected to a pedicle screw implanted in a spinal segment through the adaptive connection component. The controller coordinates the movement of multiple orthopedic drive units through the one-dimensional linear control rail and the two-dimensional linear control component to achieve synchronous orthopedic correction of multiple spinal segments.

2. The multi-segment spinal synchronous orthopedic robot as described in claim 1, characterized in that, Each of the orthopedic drive units has a transmission rod with axial extension and retraction freedom at its lower end, and the adaptive connection assembly is provided at the end of the transmission rod.

3. The multi-segment spinal synchronous orthopedic robot as described in claim 1 or 2, characterized in that, The adaptive connection component is a universal pinpoint connection component.

4. A method for simultaneous multi-segmental spinal correction, characterized in that, The method, applied to the multi-segmental spinal synchronous orthopedic robot as described in any one of claims 1 to 3, comprises: Based on the end-effector sensing data of each of the orthopedic drive units, an initial pose matrix for each spinal segment corresponding to each of the orthopedic drive units is constructed. Based on the ideal spinal center curve planned preoperatively, the target pose matrix of each spinal segment corresponding to each of the orthopedic drive units is constructed. By using inverse kinematics, the difference transformation matrix from the initial pose matrix to the target pose matrix for each spinal segment corresponding to each orthopedic drive unit is solved separately. Based on the difference transformation matrix corresponding to each of the orthopedic drive units, the actions of multiple orthopedic drive units are coordinated by the one-dimensional linear control slide rail and the two-dimensional linear control component to achieve synchronous orthopedic correction of multiple spinal segments.

5. The multi-segment simultaneous spinal correction method as described in claim 4, characterized in that, The step of constructing the target pose matrix for each spinal segment corresponding to each of the orthopedic drive units based on the preoperatively planned ideal spinal center curve includes: The ideal spinal center curve is discretized and sampled. The tangent vector and normal vector of the spinal segment corresponding to each orthopedic drive unit on the discretized ideal spinal center curve are calculated respectively to construct the target pose matrix of the spinal segment corresponding to each orthopedic drive unit.

6. The multi-segment simultaneous spinal correction method as described in claim 4, characterized in that, The method of coordinating the control of multiple orthopedic drive units based on the difference transformation matrix corresponding to each of the orthopedic drive units, through the one-dimensional linear control slide rail and the two-dimensional linear control component, includes: By decomposing the difference transformation matrix corresponding to each of the orthopedic driving units, the translation increment vector and rotation adjustment vector corresponding to each of the orthopedic driving units are obtained; The translational increment vector and rotational adjustment vector corresponding to each of the orthopedic drive units are mapped to the pulse stepping commands of the one-dimensional linear control slide rail and the two-dimensional linear control component. The pulse stepping command drives the one-dimensional linear control slide rail and the two-dimensional linear control component to coordinate the operation of multiple orthopedic drive units.

7. The multi-segment simultaneous spinal correction method as described in claim 6, characterized in that, The coordinated control of the actions of the multiple orthopedic drive units includes: By controlling the movement speed of each of the orthopedic drive units to be proportional to the required displacement, the actions of multiple orthopedic drive units are completed within the same orthopedic time.

8. The multi-segment simultaneous spinal correction method as described in claim 4, characterized in that, After achieving simultaneous correction of multiple spinal segments, the method further includes: The mechanical self-locking characteristics of the one-dimensional linear guide rail and the two-dimensional linear component are used to lock the movement posture of multiple orthopedic drive units.

9. The multi-segment simultaneous spinal correction method as described in claim 4, characterized in that, Before constructing the initial pose matrix of the spinal segment corresponding to each of the orthopedic drive units based on the end-effector sensing data of each of the orthopedic drive units, the method further includes: Based on intraoperative spinal imaging data, each of the orthopedic drive units is controlled to move along the one-dimensional linear control slide rail to the position of the corresponding spinal segment, and is rigidly connected to the pedicle screw of the corresponding spinal segment through the adaptive connection component.

10. A controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the multi-segmental spinal synchronous correction method as described in any one of claims 4 to 9.

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