Navigation guide cannula, robot thereof and surgical system

Abstract

The utility model relates to a navigation guide sleeve, a robot thereof and an operation system, and belongs to the field of operation navigation, the navigation guide sleeve is used for assisting needle-shaped radio frequency to position partial resection of nucleus pulposus, the guide sleeve comprises a positioning ring, and a locking section is arranged at the upper end of the positioning ring; a first through hole is formed in the locking section, a plurality of locking blocks distributed circumferentially are arranged on the end face of the locking section, the elastic locking blocks are fan-shaped, and abutting arc surfaces are arranged on the inner sides of the elastic locking blocks; the distance between the axis of the locking section and the nearest point of the abutting arc face is smaller than the radius of a needle-shaped radio frequency puncture outfit sheath, the high-precision navigation guiding sleeve is combined with a robot control system, the motion path of the tail end of a robot in the operation process can be monitored in real time and accurately controlled, and therefore the accuracy of the operation is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of surgical navigation, and in particular relates to a navigation-guided cannula and its robot and surgical system. Background Technology

[0002] Spinal diseases, especially lumbar disc herniation and degenerative disc disease, have become one of the most significant health problems affecting the global population. These diseases often cause severe lower back pain, lower limb numbness, and motor dysfunction, seriously impacting patients' quality of life. Traditional treatments include conservative and surgical approaches, with partial resection of the nucleus pulposus using needle-like radiofrequency ablation becoming an effective treatment method.

[0003] However, despite the significant therapeutic effects of radiofrequency ablation, its successful implementation depends on precise needle positioning and manipulation during the procedure. In current technologies, traditional positioning methods typically rely on image guidance, such as CT scans or X-rays. While this provides relatively clear positioning information, it also presents several challenges. First, image-guided procedures require multiple radiation exposures for the patient, especially during CT scans, where both the doctor and patient bear a certain radiation risk. Second, traditional image-guided systems often fail to provide sufficient real-time feedback, resulting in limited precision in needle position control during the procedure, potentially affecting surgical outcomes.

[0004] However, the shape and size of navigation and positioning devices vary depending on the surgical procedure. In practice, navigation and positioning devices are often of a single size and are mostly simple sleeves with generally low precision; and for small-diameter, high-precision nucleolysis procedures requiring locking functionality, there are currently no good options.

[0005] Based on the above problems, a navigation-guided cannula and its robot and surgical system are proposed. Summary of the Invention

[0006] The purpose of this invention is to provide a navigation-guided cannula and its robot and surgical system to solve the problem of poor positioning accuracy in partial resection of the nucleus pulposus using needle radiofrequency ablation.

[0007] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0008] A navigation guide cannula for assisting in the positioning of partial nucleus pulposus resection using needle-like radiofrequency ablation, the device comprising a support body and a guide cannula;

[0009] The support body is equipped with a support arm, and a sleeve installation groove is opened on the support arm; a guide sleeve is installed in the sleeve installation groove;

[0010] The guide sleeve includes a positioning ring, and the upper end of the positioning ring is provided with a locking section;

[0011] The locking section is provided with a first through hole, and multiple circumferentially distributed locking blocks are provided on the end face of the locking section. The elastic locking blocks are fan-shaped and have a contact arc surface on their inner side. The distance from the axis of the locking section to the nearest point of the contact arc surface is less than the radius of the sheath of the needle-shaped radiofrequency puncture device.

[0012] On the other hand, to solve the above-mentioned technical problems, a navigation and positioning robot can be adopted, characterized in that the robot includes a robotic arm, and the end effector is equipped with a navigation and positioning device.

[0013] On the other hand, to solve the above-mentioned technical problems, a navigation and positioning surgical system can be adopted, characterized in that the surgical system includes: a display operation module; for displaying images and surgical path planning; a navigation and positioning robot; equipped with a navigation and positioning device; and a control system; for the movement of the navigation and positioning robot.

[0014] Beneficial effects:

[0015] This invention combines a high-precision navigation and positioning device with a robot control system, enabling real-time monitoring and precise control of the robot's end effector's movement path during surgery. This significantly improves surgical accuracy, reduces risks caused by human error, and enhances surgical safety and efficacy.

[0016] This invention enables real-time navigation and positioning during surgery, eliminating the need for frequent use of X-rays or other imaging equipment. This significantly reduces the risk of radiation exposure for doctors and patients during surgery, and is especially suitable for patients who require long-term surgical procedures.

[0017] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an overall structural diagram of an embodiment of the present disclosure;

[0020] Figure 2 This is an installation diagram of the guide sleeve according to an embodiment of the present disclosure;

[0021] Figure 3 This is an internal view of the guide sleeve according to an embodiment of the present disclosure;

[0022] Figure 4 This is a structural diagram of the locking slider according to an embodiment of the present disclosure;

[0023] Figure 5 This is a structural diagram of the supporting body in an embodiment of this disclosure;

[0024] Figure 6 This is a schematic diagram of the angle of the mounting groove for the supporting body sleeve in an embodiment of this disclosure;

[0025] Figure 7 This is a structural diagram of the supporting body for an embodiment of this disclosure. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] like Figures 1-7 As shown, this invention discloses a navigation-guided cannula for assisting in the localization of partial nucleus pulposus resection using needle-like radiofrequency ablation, such as... Figure 1 An example of the navigation and positioning device of this disclosure is shown in an assembled view. A surgeon can, for example, mount the device at the end of a surgical robot during a nucleus pulposus decompression surgery to insert a needle-like radiofrequency trocar through a guide cannula 2 for puncture positioning; as... Figure 1 As shown, the navigation and positioning device includes a support body 1 and a guide sleeve 2;

[0028] The support body 1 is generally L-shaped, including a connecting end 11 and a support arm 12;

[0029] The connecting end 11 is used to connect to the end of the surgical robot, and the connection method can be bolt fixing.

[0030] like Figure 5 As shown, the support arm 12 is located on the side of the connecting end 11 and is curved in shape. The end of the support arm 12 away from the connecting end 11 is provided with a sleeve installation groove 13, and the guide sleeve 2 is installed in the sleeve installation groove 13.

[0031] It is understandable that medical personnel can use different guide cannulas 2 as needed when using this device; the problem to be solved in this disclosure is the positioning and guidance of needle-like radiofrequency ablation during nucleolysis decompression surgery; specifically as follows Figures 2-3As shown, the guide sleeve 2 includes a positioning ring 20. The upper and lower ends of the positioning ring 20 are provided with a locking section 21 and a positioning section 22 in sequence. The guide sleeve 2 is made of plastic injection molding and is used as a disposable consumable. At the same time, the injection-molded plastic product has a certain elasticity, which can better complete the positioning and locking.

[0032] The locking section 21 is provided with a first through hole 214, and the front end of the first through hole 214 is provided with a guide groove 212. The front end of the locking section 21 is provided with multiple circumferentially distributed locking blocks 211 by means of a slot. The locking blocks 211 are fan-shaped and have a contact arc surface 213 on their inner side. The distance from the axis of the locking section 21 to the nearest point of the contact arc surface 213 is less than the radius of the sheath of the needle-shaped radiofrequency puncture device. The locking section 21 is provided with an external thread, and an adjusting nut 3 is installed on the external thread.

[0033] Understandably, during use, the needle-shaped radiofrequency puncture cannula, along with the puncture needle, is inserted through the guide groove 212 and the first through hole 214 for puncture. After the puncture is in place, the adjusting nut 3 is rotated to move it towards one end of the guide groove 212. Due to the restrictive effect of the adjusting nut 3, multiple locking blocks 211 cannot move out of position. The locking section 21 is then locked to the puncture cannula by the pressure of the abutting arc surface 213. After completion, the puncture needle is withdrawn, and the needle-shaped radiofrequency is inserted into the puncture cannula to perform the ablation and removal of the lesion. For example, the number of locking blocks 211 is six.

[0034] The positioning segment 22 is provided with multiple circumferentially distributed positioning blocks 221. Each positioning block 221 is fan-shaped with a positioning arc surface 224 on its inner side. The distance from the axis of the positioning segment 22 to the nearest point of the positioning arc surface 224 is the same as the radius of the sheath of the needle-shaped radiofrequency trocar. Three positioning blocks 221 are provided. This arrangement is advantageous during nucleolysis decompression surgery, especially when using radiofrequency technology for partial nucleolysis. Through the guiding function of this positioning segment, the surgeon can ensure that the puncture needle and radiofrequency device are precisely aligned with the target area, reducing complications or damage caused by improper operation and improving the accuracy and safety of the surgery. In use, the needle-shaped radiofrequency trocar cannula, along with the puncture needle, enters the positioning segment 22 through the first through-hole 214 from the guide groove 212. The three positioning arc surfaces 224 contact the outer wall of the puncture cannula at three points to achieve centering and guidance. The main function of the positioning segment 22 is to ensure that during the operation, the guide cannula 2 can accurately guide the position of the needle-shaped radiofrequency trocar, thereby ensuring that the radiofrequency trocar can reach the predetermined nucleus pulposus site for partial resection.

[0035] For example, the guide sleeve 2 can be installed and fixed by means of threads, snaps, etc.

[0036] It is understandable that the connecting end 11 and the support arm 12 can be machined as a single piece or welded separately.

[0037] like Figure 6 As shown, in some embodiments, the angle between the axis of the cannula mounting groove 13 and the plane of the connecting end 11 is 25°-35°. The purpose of this design is to ensure that the optimal puncture angle is when the navigation and positioning device is horizontal, thus providing medical staff with better operating space and reducing the requirements for the position control of the surgical robot.

[0038] like Figure 3 As shown, in some embodiments, the positioning ring 20 is provided with a clearance space groove 201. The clearance space groove 201 can ensure the elasticity of the positioning block 221, which can balance the smoothness and centering effect when the puncture cannula is inserted.

[0039] like Figure 3 , Figure 5 As shown, in some embodiments, the positioning ring 20 is provided with a first positioning cone surface 202 on the side near the positioning section 22, and a second positioning cone surface 132 that cooperates with the first positioning cone surface 202 is provided above the sleeve mounting groove 13. In this way, positioning guidance through the cone surface can ensure installation accuracy and smooth installation insertion.

[0040] In some embodiments, the positioning segment 22 has two positioning opening slots 222 and one positioning locking slot 223 on its side, and the two positioning opening slots 222 and one positioning locking slot 223 are circumferentially distributed.

[0041] The sleeve mounting groove 13 is provided with two positioning bosses 131 that cooperate with the positioning opening groove 222. When the guide sleeve 2 is installed, the positioning bosses 131 are inserted into the positioning opening groove 222 to complete the positioning.

[0042] Furthermore, the side of the sleeve mounting groove 13 is provided with a locking slider mounting groove 14. The front end of the locking slider mounting groove 14 is connected to the sleeve mounting groove 13 through a guide boss 141. The guide boss 141 is positioned to guide the locking groove 223 when the sleeve 2 is installed. The locking slider mounting groove 14 is provided with a guide groove 142 on the side near the sleeve mounting groove 13. Multiple linearly arranged stop grooves 143 are provided below the guide groove 142.

[0043] A locking slider 4 is installed in the locking slider mounting slot 14; for example Figure 4As shown, the locking slider 4 includes a slider support body 42 and a locking positioning rod 41; the locking positioning rod 41 is located at the front end of the slider support body 42; when installing the guide sleeve 2, the locking positioning rod 41 is inserted into the positioning locking groove 223, and locking is completed by contact. At the same time, the locking positioning rod 41 and the positioning boss 131 complete the three-point centering of the positioning section 22 to ensure its installation accuracy; it can be understood that the locking slider 4 can be operated by spring, thread, direct push, etc.

[0044] The slider support body 42 has a V-shaped opening groove 43, and an elastic plate 44 is above the opening groove 43. A guide slider 46 is provided on the upper surface of the elastic plate 44, and an unlocking button 47 is provided on the upper end of the guide slider 46. The elastic plate 44 has two arc-shaped protrusions 45, which are located on both sides of the guide slider 46.

[0045] When the locking slider 4 is installed in the locking slider mounting slot 14, as the locking slider 4 moves forward, the arc boss 45 will be engaged in the stop slot 143. The locking slider 4 is positioned and locked by the stop slot 143 restricting the axis of the arc boss 45.

[0046] In some embodiments, a weight-reducing groove 15 is provided on the connecting end 11 to reduce the weight of the device.

[0047] One solution to the technical problem of this disclosure is a navigation and positioning robot, the robot comprising robotic arms. The navigation and positioning robot consists of robotic arms with multiple degrees of freedom, capable of flexible movement in three-dimensional space. The joints of each robotic arm are controlled by high-precision motors, enabling accurate positioning and movement. The end effector is equipped with the navigation and positioning device mentioned in this disclosure.

[0048] One solution to the technical problem disclosed herein can be a navigation and positioning surgical system, specifically including the following modules:

[0049] Display Operation Module: This module displays real-time images of the patient, such as CT or MRI scans, on a high-resolution screen. It can also display a surgical path planning diagram to help surgeons plan entry points and pathways during surgery, ensuring surgical precision.

[0050] Image display: The system renders the patient's medical images in real time, displays the patient's anatomical structure on the screen, and overlays the planned surgical path and target area.

[0051] Path planning: The surgical path is generated by the surgical navigation software. The system will automatically analyze the patient's specific situation, calculate the optimal surgical path, and display it on the screen in real time, allowing medical staff to make modifications and selections.

[0052] Navigation and Positioning Robot: The surgical system includes a navigation and positioning robot equipped with a navigation and positioning device. This robot assists the surgeon in performing surgical procedures through precise motion control and real-time feedback. During the surgery, the robot performs precise operations along a predetermined path and corrects its trajectory under the guidance of the control system.

[0053] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do 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 one or more embodiments or examples.

[0054] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A navigation-guided cannula for assisting needle-like radiofrequency ablation in the localization of partial nucleus pulposus resection, characterized in that, The guide sleeve is installed on the support body; The support body is provided with a support arm, and a sleeve mounting groove is opened on the support arm, and a guide sleeve is provided in the sleeve mounting groove. The guide sleeve includes a positioning ring, and the upper end of the positioning ring is provided with a locking section; The locking section is provided with a first through hole, and multiple circumferentially distributed locking blocks are provided on the end face of the locking section. The elastic locking blocks are fan-shaped and have a contact arc surface on their inner side. The distance from the axis of the locking section to the nearest point of the contact arc surface is less than the radius of the sheath of the needle-shaped radiofrequency puncture device.

2. The navigation guide sleeve according to claim 1, characterized in that, The locking section is provided with a through external thread, and an adjusting nut is installed on the external thread.

3. The navigation guide sleeve according to claim 1, characterized in that, The lower end of the positioning ring is provided with a positioning section; The positioning section has three circumferentially distributed positioning blocks. The positioning blocks are fan-shaped and have a positioning arc surface on their inner side. The distance from the axis of the positioning section to the nearest point of the positioning arc surface is the same as the radius of the sheath of the needle-shaped radiofrequency puncture device.

4. The navigation guide sleeve according to claim 1, characterized in that, The positioning ring has a first positioning cone surface on the side away from the locking section, and a second positioning cone surface that cooperates with the first positioning cone surface is provided above the sleeve mounting groove.

5. A navigation guide sleeve according to claim 3, characterized in that, The positioning section has two positioning opening slots on its side, and the sleeve mounting slot has two positioning bosses that cooperate with the positioning opening slots.

6. The navigation guide sleeve according to claim 5, characterized in that, The side of the positioning section is provided with a positioning locking groove, and two positioning opening grooves and one positioning locking groove are distributed in a circle. The side of the sleeve mounting groove is provided with a locking slider mounting groove. The front end of the locking slider mounting groove is connected to the sleeve mounting groove through a guide boss. The guide boss is set to position the locking groove when installing the sleeve. The locking slider is installed in the locking slider mounting slot. The locking slider includes a slider support body and a locking positioning rod. The locking positioning rod is located at the front end of the slider support body. When installing the guide sleeve, the locking positioning rod is engaged into the positioning locking slot.

7. A navigation guide sleeve according to claim 6, characterized in that, The locking slider mounting groove is provided with a guide groove on the side near the sleeve mounting groove, and a plurality of linearly aligned stop grooves are provided below the guide groove; The slider support body has a V-shaped opening groove, and above the opening groove is an elastic plate. The upper surface of the elastic plate is provided with a guide slider. The elastic plate is provided with two arc-shaped bosses, which are located on both sides of the guide slider.

8. A navigation and positioning robot, characterized in that, The robot includes a robotic arm, the end effector of which is equipped with a navigation guide sleeve as described in any one of claims 1-7.

9. A navigation and positioning surgical system, characterized in that, The surgical system includes; Display operation module; used to display images and surgical path planning; A navigation and positioning robot; equipped with the navigation guidance sleeve as described in any one of claims 1-7; Control system; used for the movement of the navigation and positioning robot.

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