Surgical navigation equipment

Abstract

The utility model discloses surgical navigation equipment. The surgical navigation equipment comprises a mechanical arm and a tail end tool, the touch display device is arranged between the mechanical arm and the end tool, the touch display device comprises a machine shell, a screen assembly and a first control module, the screen assembly is arranged on the machine shell and has a touch function and a display function, the display function is used for displaying intraoperative information, and the first control module is used for controlling the touch function. The touch control function is used for controlling the operation state of the surgical navigation equipment, and the first control module is arranged on the machine shell and electrically connected with the screen assembly. According to the surgical navigation equipment provided by the utility model, a doctor can control the running state of the whole surgical navigation equipment through the touch display device on the mechanical arm and does not need to go back and forth between a surgical area and an operation table, and the whole-process operation can be realized only by one doctor in the whole operation, so that the use convenience of the surgical navigation equipment is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a surgical navigation device. Background Art

[0002] Surgical navigation equipment can match the patient's preoperative or intraoperative imaging data with the patient's anatomical structure on the operating table. It can also track surgical instruments and update the position of surgical instruments in real time on the patient's image, allowing doctors to clearly understand the position of surgical instruments relative to the patient's anatomical structure and improve the accuracy of the operation.

[0003] Surgical navigation equipment usually includes: a host, an optical tracking system and a robotic arm. When the surgical navigation equipment is working, the optical tracking system obtains the patient's body information, the host receives the body information from the optical tracking system and displays it on the screen, and the end of the robotic arm is installed with surgical instruments or surgical auxiliary tools, and the robotic arm is communicated with the host, so the robotic arm can guide the doctor to find the exact position, and then the doctor uses the surgical instruments or surgical auxiliary tools at the end of the robotic arm to perform the operation.

[0004] In the related art, the operating table of the surgical navigation equipment is located outside the operating area, and usually the doctor needs to go back and forth between the operating area and the operating table, or someone needs to be at the operating table to cooperate with the doctor, which is time-consuming and labor-intensive. Utility Model Content

[0005] The present invention aims to address at least one of the technical problems existing in the prior art. To this end, the present invention provides a surgical navigation device that allows the surgeon to control the operating status of the entire surgical navigation device via a touch-sensitive display device on a robotic arm, eliminating the need to travel back and forth between the operating area and the operating table. This allows a single surgeon to perform the entire surgical procedure, effectively improving the ease of use of the surgical navigation device.

[0006] According to an embodiment of the present invention, a surgical navigation device includes: a robotic arm and an end tool; a touch display device, wherein the touch display device is arranged between the robotic arm and the end tool, the touch display device includes a housing, a screen assembly and a first control module, the screen assembly is arranged in the housing and includes a touch function and a display function, the display function is used to display intraoperative information, and the touch function is used to control the operating status of the surgical navigation device, and the first control module is arranged in the housing and electrically connected to the screen assembly.

[0007] According to the surgical navigation device of the embodiment of the present invention, the doctor can control the operating status of the entire surgical navigation device through the touch display device on the robotic arm, without having to travel back and forth between the operating area and the operating table. Only one doctor is required to operate the entire process during the entire operation, which effectively improves the convenience of using the surgical navigation device.

[0008] In some embodiments, a connecting cavity is provided in the housing, and at least a portion of the robotic arm extends into the connecting cavity and is connected to an inner wall of the connecting cavity.

[0009] In some embodiments, an installation cavity is provided in the housing, the installation cavity and the connection cavity are spaced apart, the first control module is provided in the installation cavity, and the first control module is electrically connected to the robotic arm.

[0010] In some embodiments, in a first direction, the touch display device is disposed between the robotic arm and the end tool, and the connecting cavity and the installation cavity are arranged along the first direction.

[0011] In some embodiments, the surgical navigation device further includes a connecting wire, which is disposed in the housing, one end of the connecting wire is electrically connected to the first control module, and the other end of the connecting wire is electrically connected to the robotic arm.

[0012] In some embodiments, the inner surface of the housing is provided with a first wiring channel for guiding the connecting wire, and the first wiring channel is communicated with the connecting cavity and the installation cavity respectively.

[0013] In some embodiments, a surface of the housing is provided with an avoidance groove connected to the connecting cavity, and the avoidance groove is used to avoid a part of the structure of the robotic arm.

[0014] In some embodiments, the first wiring channel is in communication with the avoidance groove so that at least a portion of the connecting wire is located outside the housing.

[0015] In some embodiments, the surgical navigation device further includes: a shielding cover connected to the housing to shield a portion of the connecting wire located outside the housing.

[0016] In some embodiments, the first control module is provided with a communication antenna, which is suitable for communicating with the host of the surgical navigation device. The mounting cavity is provided with a mounting opening for installing the first control module. The housing is provided with a second connector for connecting the end tool. The second connector closes the mounting opening, and the second connector is constructed as a non-metallic part.

[0017] In some embodiments, the first control module is connected to the screen assembly via a second wiring harness, and a second wiring channel for guiding the wiring of the second wiring harness is provided in the housing.

[0018] In some embodiments, in a first direction, the touch display device is disposed between the robotic arm and the end tool, and the screen assembly is arranged around the first direction.

[0019] In some embodiments, a plurality of the screen assemblies are provided, and the plurality of the screen assemblies are distributed at intervals around the first direction.

[0020] In some embodiments, the screen assembly is configured as a curved structure arranged around the first direction.

[0021] In some embodiments, on a cross section in a first direction, two ends of the screen assembly are point A and point B respectively, the center of the screen assembly is point O, and a central angle ∠AOB of the screen assembly is greater than 180°.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 is a schematic diagram of the cooperation between the touch display device and the end tool according to some embodiments of the present utility model;

[0025] Figure 2 yes Figure 1 An exploded view of the touch display device;

[0026] Figure 3 is a schematic diagram of a touch display device according to other embodiments of the present invention;

[0027] Figure 4 yes Figure 3 An exploded view of the touch display device;

[0028] Figure 5 yes Figure 3 A schematic diagram of a housing of a touch display device;

[0029] Figure 6 yes Figure 3 a cross-sectional view of a touch display device;

[0030] Figure 7 yes Figure 1 Schematic diagram of the coordination between the touch display device, the end tool and the sterile cover.

[0031] Reference numerals:

[0032] 1. Touch display device; 11. Screen assembly; 12. Casing; 121. Installation cavity; 1211. Installation opening; 1212. First wiring channel; 1213. Second wiring channel; 122. Connecting cavity; 123. Second connecting piece; 1231. Locking device; 124. Shielding cover; 125. Avoidance groove; 126. Mounting piece; 127. Positioning groove; 128. Weight reduction hole; 13. First control module; 14. Connecting wire; 141. First connector; 2. End tool; 3. Sterile cover. DETAILED DESCRIPTION

[0033] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0035] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0036] Surgical navigation equipment can match the patient's preoperative or intraoperative imaging data with the patient's anatomical structure on the operating table. It can also track surgical instruments and update the position of surgical instruments in real time on the patient's image, allowing doctors to clearly understand the position of surgical instruments relative to the patient's anatomical structure and improve the accuracy of the operation.

[0037] Surgical navigation equipment usually includes: a host, an optical tracking system and a robotic arm. When the surgical navigation equipment is working, the optical tracking system obtains the patient's body information, the host receives the body information from the optical tracking system and displays it on the screen, and the end of the robotic arm is installed with surgical instruments or surgical auxiliary tools, and the robotic arm is communicated with the host, so the robotic arm can guide the doctor to find the exact position, and then the doctor uses the surgical instruments or surgical auxiliary tools at the end of the robotic arm to perform the operation.

[0038] In the related art, the operating table of the surgical navigation equipment is located outside the operating area, and usually the doctor needs to go back and forth between the operating area and the operating table, or someone needs to be at the operating table to cooperate with the doctor, which is time-consuming and labor-intensive.

[0039] In order to improve at least one of the above technical problems, the present invention provides a surgical navigation device.

[0040] Reference below Figure 1-Figure 7 A surgical navigation device according to an embodiment of the present invention is described.

[0041] Reference Figure 1 、 Figure 2 and Figure 3 According to an embodiment of the present invention, the surgical navigation device includes: a robotic arm, an end tool 2 and a touch display device 1, wherein the end tool 2 can be a surgical instrument or a surgical auxiliary tool, and the surgical auxiliary tool can be a guiding tool, a positioning tool or other auxiliary tool of the surgical instrument, and the present invention is not limited to this.

[0042] The touch display device 1 is arranged between the robotic arm and the end tool 2. The touch display device 1 includes a screen component 11. The screen component 11 includes a touch function and a display function. The display function is used to display intraoperative information, and the touch function is used to control the operating status of the surgical navigation device.

[0043] Among them, the intraoperative information can be image information formed after processing the patient's body information, or it can be information such as the parameters, position, accuracy of the robotic arm, or it can be parameter information of other equipment during the operation. The present invention is not limited to this. The touch function is used to control the operating status of the surgical navigation device. That is to say, the doctor can control the operating status of the entire surgical navigation device through the touch display device 1 on the robotic arm, without having to go back and forth between the operating area and the operating table. Only one doctor is needed to operate the entire process during the entire operation, which improves the efficiency of the operation, helps to shorten the operation time, and improves the safety of the operation. In some embodiments of the present invention, the functions of the surgical navigation device used and potentially used during the operation are integrated into the touch display device 1: such as switching bone screws, emergency stop, fine-tuning, and releasing the robotic arm alarm. Only one doctor is needed to operate the entire process during the entire operation, which effectively improves the convenience of using the surgical navigation device.

[0044] Specifically, the touch display device 1 includes a housing 12, a screen assembly 11, and a first control module 13. The housing 12 is adapted to be connected to the end of a robotic arm and is also adapted to be connected to the end tool 2. The screen assembly 11 and the first control module 13 are both located within the housing 12. The screen assembly 11 is electrically connected to the first control module 13, which is in communication with the host computer of the robotic arm or surgical navigation device.

[0045] Because the robotic arm is communicatively connected to the host of the surgical navigation device, and the host is communicatively connected to other structures in the surgical navigation device, the first control module 13 can be directly communicatively connected to the host or indirectly communicatively connected to the host through the robotic arm. As long as the first control module 13 can be communicatively connected to the host, the present invention does not impose any restrictions on this.

[0046] The first control module 13 can obtain intraoperative information through the host and display it in the display function of the screen component 11. The doctor can issue instructions through the touch function of the screen component 11, and the first control module 13 can transmit the instructions to the host to control the operating status of the surgical navigation device.

[0047] According to the surgical navigation device of the embodiment of the present invention, the doctor can control the operating status of the entire surgical navigation device through the touch display device 1 on the robotic arm, without having to travel back and forth between the operating area and the operating table. Only one doctor is required to operate the entire process during the entire operation, which effectively improves the convenience of using the surgical navigation device.

[0048] In some embodiments, the touch display device 1 is integrated with a pre-calibration function. In an embodiment of the present invention, the end tool 2 is a guide tool for guiding the doctor to insert the needle. The pre-calibration function requires adding a marker to the patient when taking a CT scan before the operation. In the preoperative planning stage, a pre-calibration needle insertion point is manually planned at the marker. Before the patient is formally guided to insert the needle, the guide tool at the end of the robotic arm is first positioned to the planned pre-calibration needle insertion point. At this time, observe whether the positioning of the guide tool is accurate. If it is inaccurate, it can be adjusted in conjunction with the fine-tuning interface on the screen component 11 to improve the accuracy of needle insertion.

[0049] The pre-calibration function, combined with the touch display device 1 on the robotic arm, can effectively correct errors such as alignment and tool assembly before the formal needle placement during surgery. It is an important guarantee for intraoperative accuracy. At the same time, the entire pre-calibration process can be completed by the doctor on the touch display device 1 during surgery, which is simple, convenient and efficient.

[0050] In some specific embodiments, the screen assembly 11 includes a display screen and a touch screen. The display screen forms the above-mentioned display function, and the touch screen forms the above-mentioned touch function. In the embodiment of the present invention, the structure of the screen assembly 11 is simple, which improves the convenience of operating the touch display device 1.

[0051] Reference Figure 1 、 Figure 4 and Figure 6 In some embodiments, a connection cavity 122 is provided within the housing 12, and at least a portion of the robotic arm extends into the connection cavity 122 and connects to the inner wall of the connection cavity 122. In the embodiment of the present application, a portion of the robotic arm is inserted into the connection cavity 122 of the touch display device 1, effectively improving the stability of the connection between the touch display device 1 and the robotic arm, and ensuring the reliability of the surgical navigation device.

[0052] In some embodiments, a mounting cavity 121 is provided in the housing 12 , and the mounting cavity 121 and the connecting cavity 122 are spaced apart. The first control module 13 is provided in the mounting cavity 121 , and the first control module 13 is electrically connected to the robotic arm.

[0053] In the embodiment of the present invention, the first control module 13 is disposed within the housing 12, thereby avoiding the risk of interference between the first control module 13 and other structures, avoiding the risk of leakage of the first control module 13, and extending the service life of the first control module 13. The first control module 13 is electrically connected to the robotic arm, and the first control module 13 is electrically connected to the screen assembly 11, so that the robotic arm can supply power to the first control module 13, and the first control module 13 can supply power to the screen assembly 11, thereby ensuring the reliable operation of the touch display device 1. In addition, the first control module 13 can also be electrically connected to the robotic arm to communicate with the robotic arm. The first control module 13 is communicated with the host through the robotic arm, which simplifies the circuit structure of the surgical navigation device and reduces the cost of the surgical navigation device.

[0054] Ginseng Figure 6 In some embodiments, a mounting member 126 is provided within the housing 12, with a connecting cavity 122 and a mounting cavity 121 located on either side of the mounting member 126. The two sides of the mounting member 126 respectively contribute to defining the connecting cavity 122 and the mounting cavity 121. The portion of the robotic arm located within the connecting cavity 122 is connected to the mounting member 126 via fasteners. The fasteners may be screws, bolts, and / or pins, providing high connection strength and low cost.

[0055] Reference Figure 4 、 Figure 5 and Figure 6In some specific embodiments, the housing 12 is provided with a mounting opening 1211 communicating with the mounting cavity 121 , and the housing 12 is detachably connected with a second connecting member 123 for connecting the end tool 2 . When the second connecting member 123 is installed on the housing 12 , the second connecting member 123 closes the mounting opening 1211 .

[0056] In the embodiment of the present invention, a worker can install the first control module 13 into the installation cavity 121 through the installation opening 1211, thereby improving the convenience of installing the first control module 13. In addition, in the embodiment of the present application, the installation opening 1211 is closed by the second connecting member 123, which simplifies the structure of the touch display device 1 and reduces the cost of the touch display device 1.

[0057] In some further embodiments, the mounting opening 1211 is disposed opposite to the mounting member 126 , and the fastener passes through the mounting member 126 and is threadedly connected to the robotic arm.

[0058] In an embodiment of the present application, before installing the first control module 13, the staff can provide an operating space for the connection between the housing 12 and the robotic arm through the installation opening 1211 and the installation cavity 121. The fastener passes through the installation piece 126 from the installation cavity 121 and is then threadedly connected to the robotic arm, effectively improving the convenience of connecting the housing 12 and the robotic arm.

[0059] In some embodiments, the touch display device 1 is disposed between the robot arm and the end tool 2 , and the connecting cavity 122 and the installation cavity 121 are arranged along a first direction.

[0060] In the embodiment of the present application, the connecting cavity 122 and the installation cavity 121 are arranged along the first direction, so that the first control module 13 can be arranged perpendicular to the first direction.

[0061] Through the above technical solution, the convenience of installing the first control module 13 is improved, and the utilization rate of the internal space of the housing 12 is improved, which is conducive to the miniaturization of the touch display device 1.

[0062] In some further embodiments, in the first direction, the mounting opening 1211 is located at an end of the housing 12 , and the screen assembly 11 is disposed on a side of the housing 12 .

[0063] Through the above technical solution, the installation and disassembly of the first control module 13 and the screen assembly 11 do not interfere with each other. For example, the first control module 13 will not hinder the installation and disassembly of the screen assembly 11, and the screen assembly 11 will not hinder the installation and disassembly of the first control module 13. This design has good maintainability and is conducive to the installation and disassembly of after-sales parts maintenance.

[0064] Reference Figure 6 and Figure 7In some embodiments, a structure for fixing a sterile cover 3 is provided on the side of the second connecting member 123 facing away from the housing 12. Before the operation, the touch display device 1 and the robotic arm are wrapped with the sterile cover 3, and then the end tool 2 is installed on the second connecting member 123, so that only the end tool 2 is located in a sterile environment, which greatly reduces the risk of infection during the operation.

[0065] In some specific embodiments, the second connecting member 123 is constructed as a flange structure, and the second connecting member 123 is connected to the housing 12 through a fastener, wherein the fastener can be a screw or a bolt, which has low cost and high connection stability.

[0066] Reference Figure 4 、 Figure 5 and Figure 6 In some specific embodiments, the touch display device 1 further includes a connecting wire 14 , which is disposed in the housing 12 , one end of the connecting wire 14 is electrically connected to the first control module 13 , and the other end of the connecting wire 14 is electrically connected to the robotic arm.

[0067] In the embodiment of the present invention, the first control module 13 is electrically connected to the robotic arm via a connecting wire 14, which has a simple structure and reduces the cost of the surgical navigation device. In addition, the connecting wire 14 is arranged in the housing 12, which avoids leakage of the connecting wire 14 and improves the neatness of the surgical navigation device.

[0068] Reference Figure 4 、 Figure 5 and Figure 6 In some specific embodiments, the inner surface of the housing 12 is provided with a first wiring channel 1212 for guiding the connecting wire 14 , and the first wiring channel 1212 is communicated with the connecting cavity 122 and the installation cavity 121 respectively.

[0069] In the embodiment of the utility model, the displacement of the connecting wire 14 is limited by the first wiring channel 1212, the possibility of interference between the connecting wire 14 and other structures is reduced, and the convenience of installation of structures such as the first control module 13 and the screen assembly 11 is improved.

[0070] In some embodiments, a surface of the housing 12 is provided with an avoidance groove 125 that is in communication with the connection cavity 122 . The avoidance groove 125 is used to avoid part of the structure of the robotic arm.

[0071] During the insertion of the robotic arm into the connection cavity 122, a portion of the robotic arm's structure slides within the avoidance groove 125. In this embodiment of the present application, the provision of the avoidance groove 125 prevents interference between the housing 12 and the robotic arm, thereby improving the ease of connection between the housing 12 and the robotic arm. Furthermore, the placement of a portion of the robotic arm's structure within the avoidance groove 125 also serves as a positioning mechanism, preventing the housing 12 from rotating relative to the robotic arm, thereby facilitating subsequent securing operations.

[0072] In addition to the avoidance groove 125, the contact portion between the housing 12 and the end face of the robotic arm is also provided with a positioning pin, that is, a positioning pin is provided on the mounting member 126, which can cooperate with the positioning hole on the robotic arm flange for high-precision positioning during installation.

[0073] In some embodiments, a first connector 141 is provided at the end of the connecting wire 14 away from the first control module 13, and the robotic arm is provided with a second connector. The first connector 141 is suitable for plugging and mating with the second connector, thereby realizing the electrical connection between the first control module 13 and the robotic arm, and improving the convenience of the electrical connection between the first control module 13 and the robotic arm.

[0074] In some embodiments, the first wiring channel 1212 is connected to the avoidance groove 125 so that at least a portion of the connecting wire 14 is located outside the housing 12 .

[0075] Through the above technical solution, the first connector 141 on the connecting wire 14 can be located outside the housing 12, so that the first connector 141 can move freely, making it convenient for the staff to plug the first connector 141 into the second connector of the robotic arm.

[0076] In some embodiments, the surgical navigation device further includes a shielding cover 124 , which is connected to the housing 12 to shield a portion of the connecting wire 14 located outside the housing 12 .

[0077] By shielding the portion of the connecting wire 14 located outside the housing 12 and the first connector 141 through the shielding cover 124 , the possibility of interference between the first connector 141 and other structures is reduced, thereby extending the service life of the first connector 141 .

[0078] In some specific embodiments, the shielding cover 124 is fixed to the housing 12 by screws, which improves the convenience of installing the shielding cover 124.

[0079] In some further embodiments, a positioning groove 127 is provided on the surface of the housing 12, and a portion of the shielding cover 124 abuts against the inner wall of the positioning groove 127, so that the through hole on the shielding cover 124 can be aligned with the threaded hole on the housing 12, further improving the convenience of installing the shielding cover 124.

[0080] In some embodiments, the second connector 123 is detachably matched with the end tool 2 so that the second connector 123 can be connected to different end tools 2, so that the surgical navigation device can be suitable for different surgeries, effectively improving the applicability of the surgical navigation device.

[0081] In some specific embodiments, the second connecting member 123 is provided with a locking device 1231, and the second connecting member 123 is detachably matched with the end tool 2 through the locking device 1231, thereby improving the convenience of installing and removing the end tool 2, thereby improving the convenience of the surgical navigation device.

[0082] In some embodiments, the first control module 13 is provided with a communication antenna, which is suitable for communication connection with a host of the surgical navigation device, and the second connecting member 123 is constructed as a non-metallic member.

[0083] In this embodiment of the present invention, the first control module 13 can also communicate with the host computer via a communication antenna. This means that in this embodiment, the first control module 13 can communicate with the host computer not only via the robotic arm but also directly via the communication antenna, further improving the reliability of touch-controlled operation of the surgical navigation device. Furthermore, in this embodiment, the second connector 123 is constructed as a non-metallic member, allowing signals transmitted or received by the communication antenna to pass through the second connector 123, ensuring the reliability of the communication antenna.

[0084] In some embodiments, the screen assembly 11 is disposed in a housing 12 , and the housing 12 is constructed of a metal material to facilitate heat dissipation of the screen assembly 11 and extend the service life of the screen assembly 11 .

[0085] In some specific embodiments, the housing 12 is constructed of aluminum alloy, which is not only beneficial to heat dissipation of the touch display device 1 , but also helps to reduce the weight of the touch display device 1 and improve the smoothness of the driving of the robotic arm.

[0086] In some further embodiments, a plurality of weight-reducing holes 128 are provided on the housing 12 , which effectively reduces the weight of the touch display device 1 and improves the convenience of movement of the end of the robotic arm.

[0087] Reference Figure 4 、 Figure 5 and Figure 6 In some embodiments, the screen assembly 11 is connected to the first control module 13 via a second wiring harness, and the inner wall of the housing 12 is provided with a second wiring channel 1213 for guiding the wiring of the second wiring harness.

[0088] In this embodiment of the present invention, the screen assembly 11 is connected to the first control module 13 via a second wiring harness, allowing the first control module 13 to not only power the screen assembly 11 but also communicate with the screen assembly 11, simplifying the structure of the touch display device 1 and reducing the cost of the touch display device 1. Furthermore, a second wiring channel 1213 is provided within the housing 12. This second wiring channel 1213 limits the displacement of the second wiring harness, reducing the possibility of interference between the second wiring harness and other structures, and improving the ease of installation of the first control module 13, screen assembly 11, and other structures.

[0089] In some embodiments, in a first direction, the touch display device 1 is disposed between the robot arm and the end tool 2 , and the screen assembly 11 is arranged around the first direction.

[0090] During surgery, the robotic arm may be required to drive the end tool 2 to rotate around a first direction. The touch display device 1 is arranged between the robotic arm and the end tool 2. When the robotic arm drives the end tool 2 to rotate around the first direction, the touch display device 1 will also rotate around the first direction, and the screen assembly 11 will rotate along with the touch display device 1. In the embodiment of the present invention, the screen assembly 11 is arranged around the first direction. When the screen assembly 11 rotates around the first direction, even if a part of the screen assembly 11 rotates to the blind spot of the doctor's field of view, a part of the screen assembly 11 can also be located in a position convenient for the doctor to view / operate, thereby improving the reliability of the touch display device 1.

[0091] It should be noted that, referring to Figure 1 and Figure 4 The screen assembly 11 may be arranged around the first direction in such a manner that a plurality of screen assemblies 11 are provided, and the plurality of screen assemblies 11 are spaced apart around the first direction, or the screen assembly 11 may be constructed as a curved structure arranged around the first direction. The present invention is not limited to this.

[0092] It should also be noted that the screen assembly 11 can be a curved screen, a flexible screen, or a straight screen, and the present invention does not limit this, nor does the present invention limit the size of the screen assembly 11.

[0093] In some embodiments, the first control module 13 is communicatively connected to the robotic arm so that the first control module 13 can obtain the angle of rotation of the end of the robotic arm around the first direction, so that the screen assembly 11 can adjust the picture displayed by the screen assembly 11 according to the angle of rotation of the end of the robotic arm around the first direction, to prevent the displayed picture from being inverted with the doctor, ensure the correctness of the display orientation, and further improve the reliability of the touch display device 1.

[0094] In some embodiments, the housing 12 is constructed as a columnar structure extending along a first direction. The cross-section of the housing 12 in the first direction may be circular, rectangular, or polygonal, which is not limited in the present invention.

[0095] In some embodiments, a plurality of screen assemblies 11 are provided, and the plurality of screen assemblies 11 are spaced apart and distributed around the first direction.

[0096] In the embodiment of the present invention, multiple screen assemblies 11 are provided. No matter how the end of the robotic arm rotates around the first direction, there is at least one screen assembly 11 located in a position convenient for the doctor to view and operate. At the same time, the design also takes into account the convenience of operation of the doctor in different standing positions, effectively improving the reliability of the touch display device 1.

[0097] Reference Figure 4 In some specific embodiments, two screen assemblies 11 are provided, and the two screen assemblies 11 are symmetrically arranged on both sides of the first direction.

[0098] In the embodiment of the present invention, only two screen assemblies 11 are provided, which simplifies the structure of the touch display device 1 and reduces the cost of the surgical navigation device. It should be understood that in other embodiments, the number of screen assemblies 11 can also be three, four, five, or other numbers, and the present invention is not limited to this.

[0099] It should be understood that the two screen assemblies 11 may also be arranged asymmetrically, and the present invention is not limited to this.

[0100] Reference Figure 1 In other embodiments, the screen assembly 11 is constructed as a curved structure arranged around the first direction.

[0101] In the embodiment of the present invention, because the screen assembly 11 has a curved structure, only one screen assembly 11 is required, which simplifies the structure of the touch display device 1 and improves the assembly efficiency of the touch display device 1 .

[0102] In some further embodiments, the screen assembly 11 is constructed as a curved structure arranged around a first direction. On a cross section in the first direction, the two ends of the screen assembly 11 are point A and point B respectively, the center of the screen assembly 11 is point O, and the central angle ∠AOB of the screen assembly 11 is greater than 180°.

[0103] In the implementation of this application, the extension range of the screen assembly 11 in the circumferential direction of the housing 12 is limited, which reduces the possibility of the screen assembly 11 being completely rotated to the blind spot of the doctor's field of view, and improves the reliability of the touch display device 1.

[0104] In some specific embodiments, the screen assembly 11 is constructed as a curved structure arranged around a first direction, and the central angle ∠AOB of the screen assembly is 190°, 200°, 210° or other degrees, which is not limited in the present invention.

[0105] In some specific application scenarios of the present invention, before surgery, the doctor secures a marker on the patient and specifies the needle insertion point and pre-calibration points on the marker in the software. The doctor then places the touchscreen display device 1 and the robotic arm into a sterile hood 3, and then attaches the end tool 2 to the touchscreen display device 1. After the end tool 2 is attached, all subsequent intraoperative procedures can be completed on the touchscreen display device 1.

[0106] First, the doctor selects a pre-calibration point on the touch display device 1 and controls the robot arm to move to the pre-calibration point to observe the needle insertion accuracy. If there is a deviation in the accuracy, the accuracy can be calibrated through the fine-tuning interface on the touch display device 1.

[0107] After the pre-calibration is completed, continue to select the pre-planned needle insertion position on the touch display device 1, and control the robotic arm to perform the needle insertion operation. After the needle insertion is completed, the robotic arm teaching operation can be completed through the touch display device 1, the robotic arm can be lifted, the needle insertion position can be switched to continue to perform subsequent operations.

[0108] During the movement of the robotic arm throughout the entire process, the image displayed on the touch display device 1 can be fine-tuned according to the posture of the robotic arm, and important information such as the main information, parameters, position, accuracy, etc. of the intraoperative equipment are all displayed on the touch display device 1. Common intraoperative operations such as stopping the surgical navigation equipment, releasing the alarm, and clearing the fault can be completed through the touch display device 1 at any time during the operation.

[0109] The entire process mentioned above can be completed by a single doctor. During the operation, the doctor no longer needs to go back and forth between the bed and the operating table, which greatly improves the efficiency of the operation.

[0110] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the illustrative use of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0111] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A surgical navigation device, characterized in that: include: Robotic arm and end tooling (2); A touch display device (1) is provided between the robotic arm and the end tool (2), the touch display device (1) comprises a housing (12), a screen assembly (11) and a first control module (13), the screen assembly (11) is provided in the housing (12) and comprises a touch function and a display function, the display function is used to display intraoperative information, the touch function is used to control the operating state of the surgical navigation device, and the first control module (13) is provided in the housing (12) and is electrically connected to the screen assembly (11).

2. The surgical navigation device according to claim 1, characterized in that: A connecting cavity (122) is provided in the housing (12), and at least a portion of the mechanical arm extends into the connecting cavity (122) and is connected to an inner wall of the connecting cavity (122).

3. The surgical navigation device according to claim 2, characterized in that: An installation cavity (121) is provided in the housing (12), the installation cavity (121) and the connection cavity (122) are spaced apart, the first control module (13) is provided in the installation cavity (121), and the first control module (13) is electrically connected to the robotic arm.

4. The surgical navigation device according to claim 3, characterized in that: In a first direction, the touch display device (1) is arranged between the robotic arm and the end tool (2), and the connecting cavity (122) and the installation cavity (121) are arranged along the first direction.

5. The surgical navigation device according to claim 3, characterized in that: It also includes a connecting wire (14), which is arranged in the housing (12), one end of the connecting wire (14) is electrically connected to the first control module (13), and the other end of the connecting wire (14) is electrically connected to the robotic arm.

6. The surgical navigation device according to claim 5, characterized in that: The inner surface of the housing (12) is provided with a first wiring channel (1212) for guiding the connecting wire (14), and the first wiring channel (1212) is communicated with the connecting cavity (122) and the installation cavity (121) respectively.

7. The surgical navigation device according to claim 6, characterized in that: The surface of the housing (12) is provided with an avoidance groove (125) communicating with the connecting cavity (122), and the avoidance groove (125) is used to avoid a part of the structure of the mechanical arm.

8. The surgical navigation device according to claim 7, characterized in that: The first wiring channel (1212) is in communication with the avoidance groove (125) so that at least a portion of the connecting wire (14) is located outside the housing (12).

9. The surgical navigation device according to claim 8, characterized in that: Also includes: A shielding cover (124) is connected to the housing (12) and is used to shield the portion of the connecting wire (14) located outside the housing (12).

10. The surgical navigation device according to claim 3, characterized in that: The first control module (13) is provided with a communication antenna, which is suitable for communicating with the host of the surgical navigation device. The installation cavity (121) is provided with an installation opening (1211) for installing the first control module (13). The housing (12) is provided with a second connecting piece (123) for connecting the end tool (2). The second connecting piece (123) closes the installation opening (1211). The second connecting piece (123) is constructed as a non-metallic part.

11. The surgical navigation device according to claim 3, characterized in that: The first control module (13) is connected to the screen assembly (11) via a second wiring harness, and a second wiring channel (1213) for guiding the wiring of the second wiring harness is provided in the housing (12).

12. The surgical navigation device according to any one of claims 1 to 11, characterized in that: In a first direction, the touch display device (1) is disposed between the mechanical arm and the end tool (2), and the screen assembly (11) is arranged around the first direction.

13. The surgical navigation device according to claim 12, characterized in that: A plurality of the screen assemblies (11) are provided, and the plurality of the screen assemblies (11) are distributed at intervals around the first direction.

14. The surgical navigation device according to claim 12, characterized in that: The screen assembly (11) is constructed as a curved structure arranged around the first direction.

15. The surgical navigation device according to claim 14, characterized in that: On a cross section in a first direction, the two ends of the screen assembly (11) are point A and point B respectively, the center of the screen assembly (11) is point O, and the center angle ∠AOB of the screen assembly (11) is greater than 180°.

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