Neurosurgical robotic system

Abstract

The utility model discloses a neurosurgery robot, include: archway mechanism, at least one sliding roller positioning mechanism, at least one second rotation mechanism, first Z axial linear plane moving mechanism and second Z axial linear plane moving mechanism. The utility model provides neurosurgery robot can carry out conventional neurosurgery in addition, still can provide the freedom of rotation around Y axle through setting up a plurality of sliding roller positioning mechanism on archway body and cooperating first Z axial linear plane moving mechanism and second Z axial linear plane moving mechanism and carry out the non - synchronous movement, realizes the coordinated work of multiple surgical tools. The archway mechanism in the utility model can avoid the jamming phenomenon, the utility model will be used for providing the second rotation mechanism of rotation freedom around X axle and moves to the base, can reduce the load of execution end, and can reduce the length and weight of cantilever structure formed by sliding roller positioning mechanism, can improve the stability of system.

Description

Technical Field

[0001] This utility model relates to the field of medical robots, and in particular to a neurosurgical robot compatible with magnetic resonance imaging (MRI) environments. Background Technology

[0002] Stereotactic neurosurgery is a minimally invasive surgical procedure that uses three-dimensional image-guided techniques and tools to assist surgeons in locating target lesions in the brain. Stereotactic neurosurgery encompasses a variety of applications, including electrode implantation, biopsy, laser surgery, radiotherapy, and thermal ablation, to treat functional brain disorders such as Parkinson's disease, dystonia, tremor, and epilepsy, as well as glioblastomas based on real-time MRI-based thermal dose monitoring. Typically, stereotactic neurosurgery utilizes preoperative CT / MRI (computed tomography / magnetic resonance imaging) to identify the target lesion and calculate the linear trajectory required to reach it. Because CT imaging struggles to provide high-contrast images of brain soft tissue and exposes patients and clinicians to ionizing radiation, MRI offers high soft tissue resolution and image contrast without ionizing radiation, and can identify lesions that are difficult to detect on CT. Furthermore, MRI has the inherent ability to monitor and label the temperature of the target area, which can be used to monitor ablation procedures. Therefore, MRI is particularly suitable for neurosurgery, fully leveraging the advantages of visualizing the brain's structure and function, and monitoring treatment effectiveness.

[0003] Currently, the integration of minimally invasive surgical robotics into neurosurgery has greatly improved surgical precision, flexibility, and efficiency. These robots not only possess the ability to combine intraoperative images (such as MRI) with fusion technology to achieve real-time compensation for brain tissue deformation or drift, but also facilitate higher levels of control constraints, such as limiting displacement and velocity in maximum space, to improve surgical safety. However, MRI-compatible and MRI-guided neurosurgical robots are still very rare on the market, with most remaining in the research and development stage. The main challenges stem from: 1) Operating space limitations. Since most currently used are horizontal closed-aperture MRI scanners with a 60cm aperture, performing surgery in such a confined space is extremely difficult; 2) Material compatibility limitations. High-density, ferromagnetic, and conductive materials are generally incompatible with MRI scanners; 3) Drive method limitations. The surgical robot's movement should not interfere with the normal operation of the MRI scanner or produce image artifacts; similarly, the MRI scanner's operation should not affect the robot's operation; 4) Precision limitations. The insertion accuracy of surgical instruments (such as electrodes or puncture needles) must meet high requirements because the target location is usually at the millimeter level for an insertion depth of 15 to 20 cm.

[0004] To date, several neurosurgical robotic systems have been developed that meet MRI compatibility requirements and can address the aforementioned issues to some extent, but all have limitations. For example, the NeuroArm robot from Canada is the world's first MRI-guided neurosurgical robot combining microsurgery and image-guided biopsy. It features two dexterous, piezoelectric motor-driven robotic arms for stereotactic localization and microsurgery; however, NeuroArm's manipulation and MRI imaging are intermittent, thus limiting its ability to provide real-time MRI-guided intervention. The ROSA robotic arm, developed by Medtech in France, can assist in various neurosurgical brain and spinal surgeries, including deep brain stimulation (DBS) for Parkinson's disease, but this system suffers from incompatibility with MRI and the inability to provide real-time monitoring. For example, the NeuroBlate system from Monteris Medical in Canada can be used to treat brain tumors and epilepsy. It is currently the only MRI-guided robotic laser ablation system for neurosurgery. Another example is the ClearPoint system developed by ClearPoint Neuro (CLPT) in the United States. It is an MRI-guided system designed to place catheters, electrodes, and laser fibers to treat various neurological diseases and conditions, as well as to perform biopsies. However, these systems still have drawbacks such as limited freedom of movement, small working space, large errors, and long processing time. In particular, they cannot meet the requirement of simultaneous implantation of dual electrodes (DBS requires the implantation of dual electrodes).

[0005] Some surgical robot systems utilize pneumatic or hydraulic propulsion to meet MRI compatibility requirements. However, pneumatic propulsion suffers from relatively low speed stability and positional accuracy, while hydraulic propulsion can generate eddies or fluid leakage, and the entire propulsion system may be quite large. Furthermore, some neurosurgical robots, limited by the narrow space of the MRI obturator, can typically only determine the position and orientation of surgical instruments (such as needles or electrodes) under MRI guidance, making it difficult to complete the entire surgical procedure, such as needle insertion or electrode implantation, in real-time within the MRI obturator. In such cases, needle insertion or electrode implantation must be done manually by the surgeon after the patient has moved out of the MRI obturator to avoid contact interference between the standard-length needle or electrode and the obturator wall. In certain specific situations, the insertion of surgical instruments can be completed within the obturator; however, to avoid interference, the needle or electrode length is shorter, resulting in a very limited insertion depth.

[0006] Therefore, it is desirable to provide a neurosurgical robotic system compatible with MRI environments, which allows for real-time synchronous image scanning and surgical instrument insertion, eliminating the need for patients to repeatedly move in and out of the scanner for imaging and instrument insertion. This would improve surgical precision, shorten surgical time, and reduce safety risks. Furthermore, the ability to achieve real-time synchronous collaborative operation of multiple surgical instruments, such as the simultaneous implantation of dual electrodes during DBS surgery, would significantly improve efficiency and be highly beneficial.

[0007] Patent CN115607288A discloses a minimally invasive surgical robot compatible with MRI and CT environments. It can adapt to the size of the obturator cavity of standard MRI and CT scanners and can accurately adjust the position and posture of the puncture needle in the obturator cavity, thereby ensuring that the puncture needle is inserted into the human skin according to the planned path. This minimally invasive surgical robot allows image scanning and robot movement to be synchronized in real time. During the operation, it is not necessary to repeatedly move the patient into or out of the obturator cavity of MRI or CT, which can reduce the operation time and improve the accuracy of the operation. This minimally invasive surgical robot has multiple degrees of freedom and supports automatic implantation, which can solve the above problems to a certain extent. However, it still has at least the following shortcomings: (1) It drives the arch module and the puncture needle positioning module to move back and forth in the Z-axis direction through the synchronous movement of two Z1 translation mechanisms. When the two Z1 translation mechanisms are not completely synchronized, there is a risk of jamming between the two Z1 translation mechanisms and the arch body of the arch module; (2) This minimally invasive surgical robot can only perform single electrode implantation and still cannot achieve synchronous implantation of dual electrodes. (3) The main power mechanism (puncture needle positioning module) in this scheme is installed on the arch structure and driven by the arch slider mechanism, which has a large load. In addition, the puncture needle positioning module with a large length will form a similar cantilever structure on the arch structure, which will pose a great challenge to the support strength of the arch and the stability of the overall structure.

[0008] Therefore, it is necessary to improve existing technologies to provide a more reliable solution. Utility Model Content

[0009] The technical problem to be solved by this utility model is to provide a neurosurgical robot that addresses the shortcomings of the prior art.

[0010] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a neurosurgical robot, comprising:

[0011] An arch mechanism, comprising an arch body and a first support and a second support respectively disposed at two ends of the arch body;

[0012] At least one sliding roller positioning mechanism includes a sliding roller assembly that can move autonomously along an arc trajectory on the arch body, a first rotating mechanism and an implantation module disposed on the sliding roller assembly, the first rotating mechanism being used to drive the implantation module to rotate about the Z-axis, and the implantation module being used to perform surgical tool (such as electrode) implantation operation.

[0013] At least one second rotating mechanism is provided for driving the arch body to rotate about the X-axis relative to the first and second supports.

[0014] The first Z-axis linear translation mechanism has its output end rotatably connected to the first bracket, and the rotation direction is around the Y-axis. The first Z-axis linear translation mechanism is used to drive the first bracket to move linearly along the Z-axis.

[0015] And a second Z-axis linear translation mechanism, the output end of which is connected to the second bracket. The second bracket can rotate around the Y-axis and slide along the X-axis relative to the output end of the second Z-axis linear translation mechanism. The second Z-axis linear translation mechanism is used to drive the second bracket to move linearly along the Z-axis.

[0016] Preferably, the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism have the same structure, both including:

[0017] The mounting base, Z-axis translation motor, screw shaft connected to the Z-axis translation motor and arranged along the Z-axis direction, nut sleeved on the screw shaft, and at least one nut guide rod parallel to the screw shaft on the mounting base, wherein the nut has a guide hole for the nut guide rod to pass through.

[0018] The mounting base includes a mounting base plate and two mounting vertical plates spaced apart on the mounting base plate along the Z-axis direction. The screw shaft and the nut guide rod are both connected between the two mounting vertical plates.

[0019] A connecting shaft is provided at the upper end of the nut.

[0020] Preferably, the first bracket includes a first U-shaped frame and a connecting seat connected to the bottom of the first U-shaped frame, the connecting seat having a first connecting hole, and the side of the first U-shaped frame having a first shaft hole;

[0021] The connecting shaft on the nut in the first Z-axis linear translation mechanism is rotatably inserted into the first connecting hole.

[0022] Preferably, the second bracket includes a second U-shaped frame, two fixed supports connected to the bottom of the second U-shaped frame and spaced apart along the X-axis, two support guide rods connected between the two fixed supports and arranged along the X-axis, and a sliding support slidably mounted on the two support guide rods. The bottom of the sliding support is provided with a second connecting hole, and the side of the second U-shaped frame is provided with a second shaft hole.

[0023] The connecting shaft on the nut in the second Z-axis linear translation mechanism is rotatably inserted into the second connecting hole.

[0024] Preferably, each end of the arch body is provided with a pivot, which is rotatably connected to the first shaft hole on the first U-shaped frame in the first Z-axis linear translation mechanism and the second shaft hole on the second U-shaped frame in the second Z-axis linear translation mechanism, respectively.

[0025] Preferably, the neurosurgical robot includes a second rotating mechanism, which is mounted on the first or second support and driven to a pivot at the end of the arch body.

[0026] Preferably, the neurosurgical robot includes two second rotating mechanisms, which are respectively mounted on the first support and the second support, and the two second rotating mechanisms are respectively driven connected to the rotating shafts at both ends of the arch body.

[0027] Preferably, one of the inner and outer contour surfaces of the arch body is a gear contour and the other is an arc-shaped guide rail.

[0028] The sliding roller assembly includes a sliding mounting bracket movably fitted onto the arch body, a drive gear rotatably mounted on the sliding mounting bracket and meshing with the gear profile, at least one roller rotatably mounted on the sliding mounting bracket and in contact with the arc-shaped guide track surface of the arch body, and a sliding roller drive motor mounted on the sliding mounting bracket for driving the drive gear to rotate.

[0029] Preferably, an interface plate is connected to the sliding mounting bracket, the first rotating mechanism is connected to the interface plate, and the implantation module is connected to the first rotating mechanism and driven by the output shaft of the first rotating mechanism.

[0030] Preferably, the neurosurgical robot further includes a base plate and a head frame disposed on the base plate, wherein the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism are spaced apart on the base plate along the X direction, and the head frame is located between the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism.

[0031] The head frame includes two outer fixing blocks spaced apart on the base plate along the X direction, a middle fixing base plate disposed between the two outer fixing blocks, and two movable side plates symmetrically disposed on both sides of the middle fixing base plate. Two side plate slide rods are connected between the middle fixing base plate and each outer fixing block. The movable side plates are slidably connected to the side plate slide rods and are located between the middle fixing base plate and the outer fixing blocks.

[0032] The beneficial effects of this utility model are:

[0033] In the neurosurgical robot provided by this utility model, one bottom end of the arch body is rotatably connected to a nut in the first Z-axis linear translation mechanism via a first U-shaped frame (rotatable around the Y-axis), and the other bottom end of the arch body is rotatably connected to a nut in the second Z-axis linear translation mechanism via a second U-shaped frame (rotatable around the Y-axis). The second U-shaped frame can also slide relative to the nut in the second Z-axis linear translation mechanism along the X-axis, thereby making the operation and control of the robot system more convenient and reliable. That is, when the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism are not completely synchronized, the arch body can adaptively generate rotation around the Y-axis by means of the rotation of both ends of the arch body and the left and right sliding of one bottom end of the arch body along the X-axis, thus avoiding jamming.

[0034] This invention, besides enabling the insertion / implantation of a single surgical tool (as is currently the case in all DBS surgeries where a single electrode is implanted sequentially), can also achieve synchronous implantation or collaborative operation of two surgical tools in some embodiments by setting two sliding roller positioning mechanisms on the arch body. These mechanisms, in conjunction with a first Z-axis linear translation mechanism and a second Z-axis linear translation mechanism, provide the necessary degree of freedom for rotation around the Y-axis during asynchronous movement, thus greatly improving surgical efficiency. For example, by setting two sliding roller positioning mechanisms, synchronous implantation of two electrodes during DBS surgery can be achieved. In fact, provided there is sufficient space for movement, multiple sliding roller positioning mechanisms and implantation modules can be simultaneously set on the arch body, enabling the collaborative operation of multiple surgical tools to meet different usage needs.

[0035] This invention moves the second rotation mechanism, which provides the degree of freedom of rotation around the X-axis, to the base (bottom of the arch body), which can reduce the load on the actuator (sliding roller positioning mechanism) and reduce the length and weight of the cantilever structure formed by the sliding roller positioning mechanism, thereby improving the stability of the system.

[0036] This novel neurosurgical robot not only allows for real-time synchronous MRI image scanning and robot control, but also eliminates the need to repeatedly move the patient into or out of the MRI obturator during surgery, reducing surgical time and improving surgical precision. The robot can be equipped with either a manual or automatic insertion module. This neurosurgical robot can be used to perform various neurosurgical procedures, including electrode implantation, biopsy, laser surgery, radiotherapy, and thermal ablation, to treat functional brain disorders (such as Parkinson's disease, dystonia, tremor, and epilepsy) and glioblastoma based on real-time MRI thermal dose monitoring.

[0037] The neurosurgical robot of this invention can also be used for minimally invasive surgery on other organs or parts of the body after the head frame is removed.

[0038] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it according to the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. The specific implementation methods of this utility model are given in detail in the following embodiments and their accompanying drawings. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall structure of the neurosurgical robot in Example 1;

[0040] Figure 2 This is a schematic diagram of the exploded structure of the neurosurgical robot in Example 1;

[0041] Figure 3 This is a schematic diagram of the overall structure of the arch mechanism and the sliding roller positioning mechanism in Example 1 (the implantation module is omitted);

[0042] Figure 4 This is an exploded structural diagram of the arch mechanism and sliding roller positioning mechanism in Example 1 (the implantation module is omitted);

[0043] Figure 5 This is a schematic diagram of the mounting structure of the first Z-axis linear translation mechanism, the second Z-axis linear translation mechanism, and the head frame on the substrate in Example 1.

[0044] Figure 6 This is a schematic diagram of the first Z-axis linear translation mechanism in Example 1;

[0045] Figure 7 This is a schematic diagram of the structure of the first support in Example 1;

[0046] Figure 8 This is a schematic diagram of the overall structure of the second support in Example 1;

[0047] Figure 9 This is an exploded structural diagram of the second support in Example 1;

[0048] Figure 10 This is a schematic diagram of the sliding roller assembly in Example 1;

[0049] Figure 11 This is a schematic diagram of the overall structure of the first rotating mechanism in Embodiment 1;

[0050] Figure 12 This is an exploded structural diagram of the first rotating mechanism in Example 1;

[0051] Figure 13 This is a schematic diagram of the neurosurgical robot in Example 1 mounted on an MRI scanning table in preparation for or during neurosurgical procedures.

[0052] Figure 14 This is a schematic diagram of the arch mechanism and sliding roller positioning mechanism of the neurosurgical robot in Example 1 rotating to another angle;

[0053] Figure 15 This is a schematic diagram of the neurosurgical robot in Example 1 when the head frame is removed;

[0054] Figure 16 A schematic diagram of the neurosurgical robot in Example 1 equipped with an automated implantation module;

[0055] Figure 17 This is a schematic diagram of the overall structure of the neurosurgical robot in Example 2;

[0056] Figure 18 This is an exploded structural diagram of the neurosurgical robot in Example 2;

[0057] Figure 19 This is a schematic diagram of the overall structure of the neurosurgical robot in Example 3.

[0058] Explanation of reference numerals in the attached figures:

[0059] 1—Arch mechanism;

[0060] 11—Arch body; 12—First support; 13—Second support; 111—Rotating shaft; 112—Gear profile; 113—Arc-shaped guide rail; 121—First U-shaped frame; 122—Connecting seat; 123—First connecting hole; 124—First shaft hole; 1211—First L-shaped support; 1212—First flat plate; 131—Second U-shaped frame; 132—Fixed support; 133—Support guide rod; 134—Sliding support; 135—Second connecting hole; 136—Second shaft hole; 1311—Second L-shaped support; 1312—Second flat plate;

[0061] 2—Sliding roller positioning mechanism;

[0062] 21—Sliding roller assembly; 22—First rotating mechanism; 23—Implant module; 24—Interface board; 211—Sliding mounting bracket; 212—Drive gear; 213—Roller; 214—Sliding roller drive motor; 221—Mounting block; 222—Turbine; 223—Worm gear; 224—Rotary motor; 225—Drive shaft;

[0063] 3—Second rotating mechanism;

[0064] 4—First Z-axis linear translation mechanism;

[0065] 41—Mounting base; 42—Z-axis linear motor; 43—Screw shaft; 44—Nut; 45—Nut guide rod; 411—Mounting base plate; 412—Mounting vertical plate; 441—Connecting shaft;

[0066] 5—Second Z-axis linear translation mechanism;

[0067] 6—Substrate;

[0068] 7—Headframe; 71—Outer fixing block; 72—Intermediate fixed base plate; 73—Modible side plate; 74—Side plate slide bar; 75—Locking threaded hole;

[0069] 8—MRI scanning bed. Detailed Implementation

[0070] The present invention will be further described in detail below with reference to the embodiments, so that those skilled in the art can implement it based on the description.

[0071] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0072] Example 1

[0073] Reference Figure 1-12 This embodiment provides a neurosurgical robot, including:

[0074] An arch mechanism 1 includes an arch body 11 and a first support 12 and a second support 13 respectively disposed at two ends of the arch body 11.

[0075] A sliding roller positioning mechanism 2 includes a sliding roller assembly 21 that can move autonomously along an arc trajectory on the arch body 11, a first rotating mechanism 22 and an implantation module 23 disposed on the sliding roller assembly 21. The first rotating mechanism 22 is used to drive the implantation module 23 to rotate around the Z-axis, and the implantation module 23 is used to perform the implantation operation of surgical tools (such as electrodes).

[0076] A second rotating mechanism 3 is used to drive the arch body 11 to rotate about the X-axis relative to the first support 12 and the second support 13.

[0077] The first Z-axis linear translation mechanism 4 has its output end rotatably connected to the first support 12, and the rotation direction is around the Y-axis. The first Z-axis linear translation mechanism 4 is used to drive the first support 12 to reciprocate linearly along the Z-axis.

[0078] The output end of the second Z-axis linear translation mechanism 5 is connected to the second bracket 13. The second bracket 13 can rotate around the Y-axis and slide along the X-axis relative to the output end of the second Z-axis linear translation mechanism 5. The second Z-axis linear translation mechanism 5 is used to drive the second bracket 13 to reciprocate linearly along the Z-axis.

[0079] substrate 6;

[0080] The head frame 7 is disposed on the substrate 6. The first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 are disposed at intervals along the X direction on the substrate 6, and the head frame 7 is located between the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5.

[0081] Reference Figure 1 The neurosurgical robot has at least five degrees of freedom: two linear movements V1 and V2 along the Z-axis, a circular motion R1 along the outer contour of the arch body 11, a rotation R2 about the X-axis, and a rotation R3 about the Z-axis.

[0082] The first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 can both be a screw mechanism, a piston-cylinder device, or a linear transmission mechanism. In this embodiment, the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 have the same structure (see reference). Figure 6 All include:

[0083] Mounting base 41, Z-axis linear motor 42, screw shaft 43 connected to Z-axis linear motor 42 and arranged along the Z-axis direction, nut 44 sleeved on screw shaft 43, and at least one nut guide rod 45 parallel to screw shaft 43 set on mounting base 41, the nut 44 having a guide hole for nut guide rod 45 to pass through.

[0084] The mounting base 41 includes a mounting base plate 411 and two mounting vertical plates 412 spaced apart on the mounting base plate 411 along the Z-axis direction. The screw shaft 43 and the nut guide rod 45 are both connected between the two mounting vertical plates 412. A connecting shaft 441 is provided at the upper end of the nut 44.

[0085] Working principle: The Z-axis linear motor 42 drives the screw shaft 43 to rotate. Under the restriction of the nut guide rod 45, the nut 44 cannot rotate but can only move linearly along the length direction of the screw shaft 43 and the nut guide rod 45, thus providing the reciprocating linear movement function of the nut 44 along the Z-axis.

[0086] Reference Figure 7 In this embodiment, the first support 12 includes a first U-shaped frame 121 and a connecting seat 122 connected to the bottom of the first U-shaped frame 121. The connecting seat 122 has a first connecting hole 123, and the side of the first U-shaped frame 121 has a first shaft hole 124. The connecting shaft 441 on the nut 44 in the first Z-axis linear translation mechanism 4 is rotatably inserted into the first connecting hole 123. The first U-shaped frame 121 includes a first L-shaped support 1211 and a first plate 1212 connected thereto. The side of the first L-shaped support 1211 and the first plate 1212 both have first shaft holes 124.

[0087] Reference Figure 8-9 In this embodiment, the second support 13 includes a second U-shaped frame 131, two fixed supports 132 connected to the bottom of the second U-shaped frame 131 and spaced apart along the X-axis, two support guide rods 133 connected between the two fixed supports 132 and arranged along the X-axis, and a sliding support 134 slidably mounted on the two support guide rods 133. A second connecting hole 135 is provided at the bottom of the sliding support 134, and a second shaft hole 136 is provided on the side of the second U-shaped frame 131. The connecting shaft 441 on the nut 44 in the second Z-axis linear translation mechanism 5 is rotatably inserted into the second connecting hole 135. The second U-shaped frame 131 includes a second L-shaped support 1311 and a second plate 1312 connected thereto. Second shaft holes 136 are provided on the side of the second L-shaped support 1311 and on both the second plate 1312.

[0088] Continue to refer to Figure 1-4The bottom right end of the arch body 11 is rotatably connected (rotatable about the Y-axis) to the nut 44 in the first Z-axis linear translation mechanism 4 via the first U-shaped frame 121. The bottom left end of the arch body 11 is rotatably connected (rotatable about the Y-axis) to the nut 44 in the second Z-axis linear translation mechanism 5 via the second U-shaped frame 131. The second U-shaped frame 131 can also slide relative to the nut 44 in the second Z-axis linear translation mechanism 5 along the X-axis. Therefore, when the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 are not completely synchronized, the rotation of both ends of the arch body 11 and the left and right sliding of the bottom left end of the arch body 11 along the X-axis enable the arch body 11 to adaptively rotate about the Y-axis, thereby avoiding jamming.

[0089] Simultaneously, by autonomously controlling the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 to perform asynchronous movements (different directions of movement along the Z-axis, or the same direction of movement but different speeds), the arch body 11 can rotate around the Y-axis. This provides the sliding roller positioning mechanism 2 with rotational freedom around the Y-axis, further increasing the flexibility of the neurosurgical robot and enabling better application of the neurosurgical robot in dual-implantation procedures (further explained in subsequent embodiment 3). For example, referring to... Figure 1 The motions along the Z-axis provided by the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 are denoted as U1 and U2 respectively. If U1 is along the positive direction of the Z-axis and U2 is along the negative direction of the Z-axis, then the arch body 11 rotates clockwise around the Y-axis.

[0090] In this embodiment, each of the two ends of the arch body 11 is provided with a rotating shaft 111, which is rotatably connected to the first shaft hole 124 on the first U-shaped frame 121 in the first Z-axis linear translation mechanism 4 and the second shaft hole 136 on the second U-shaped frame 131 in the second Z-axis linear translation mechanism 5.

[0091] In this embodiment, only one second rotating mechanism 3 is included, which is mounted on the first support 12 and is drivenly connected to the rotating shaft 111 at the end of the arch body 11.

[0092] In this embodiment, the inner contour surface of the arch body 11 is a gear contour 112, and the outer contour surface forms an arc-shaped guide track 113.

[0093] Reference Figure 10The sliding roller assembly 21 includes a sliding mounting bracket 211 movably mounted on the arch body 11, a drive gear 212 rotatably mounted on the sliding mounting bracket 211 and meshing with the gear profile 112, at least one roller 213 rotatably mounted on the sliding mounting bracket 211 and in contact with the surface of the arc-shaped guide rail 113 of the arch body 11, and a sliding roller drive motor 214 mounted on the sliding mounting bracket 211 for driving the drive gear 212 to rotate.

[0094] The sliding roller drive motor 214 drives the drive gear 212 to rotate. The drive gear 212 meshes with the gear profile 112. The roller 213 can roll and contact the arc-shaped guide rail 113 to play a guiding role. Therefore, when the drive gear 212 rotates, the sliding roller assembly 21 as a whole will make circular motion along the arc-shaped guide rail 113 of the arch body 11.

[0095] In this embodiment, an interface plate 24 is connected to the sliding mounting bracket 211, a first rotating mechanism 22 is connected to the interface plate 24, and an implantation module 23 is connected to the first rotating mechanism 22 and driven to the output shaft of the first rotating mechanism 22. The first rotating mechanism 22 drives the implantation module 23 connected to it to rotate around the Z-axis.

[0096] In this embodiment, both the first rotating mechanism and the second rotating mechanism are conventional worm gear mechanisms, as shown in the reference. Figure 11-12 Taking the first rotating mechanism 22 as an example, its main structure includes:

[0097] The assembly comprises a mounting block 221, a turbine 222 rotatably mounted on the mounting block 221, a worm gear 223 rotatably mounted on the mounting block 221 and meshing with the turbine 222, and a rotary motor 224 mounted on the mounting block 221 for driving the worm gear 223 to rotate. The mounting block 221 is connected to the sliding mounting bracket 211 of the sliding roller assembly 21 via an interface plate 24. The implantation module 23 is driven and connected to the drive shaft 225 of the turbine 222. The working principle is as follows: the rotary motor 224 drives the turbine 222 to rotate via the worm gear 223, and then drives the implantation module 23 to rotate around the Z-axis via the drive shaft 225 on the turbine 222.

[0098] The headrest 7 is used to hold and fix the patient's head, and can be adjusted in real time according to the size of the patient's head. (See reference...) Figure 5In this embodiment, the head frame 7 includes two outer fixing blocks 71 spaced apart along the X direction on the base plate 6, a middle fixing base plate 72 disposed between the two outer fixing blocks 71, and two movable side plates 73 symmetrically disposed on both sides of the middle fixing base plate 72. Two side plate slide rods 74 connect the middle fixing base plate 72 and each outer fixing block 71. The movable side plates 73 are slidably connected to the side plate slide rods 74 and are located between the middle fixing base plate 72 and the outer fixing blocks 71. The two outer fixing blocks 71 and the middle fixing base plate 72 remain fixed, while the two movable side plates 73 can slide relative to each other on the side plate slide rods 74. The two movable side plates 73 are slid according to the patient's head size to adjust to an appropriate position, clamping and fixing the patient's head, and then locking the two movable side plates 73. The locking structure can adopt a conventional mechanism, for example, referring to... Figure 5 In one optional embodiment, the bottom edge of the movable side plate 73 has a locking thread hole 75, into which a locking screw (not shown in the figure) is inserted. After the positions of the two movable side plates 73 are adjusted, the locking screw is screwed in, which goes deep into the locking thread hole 75 and presses against the base plate 6 below, thereby fixing the movable side plate 73.

[0099] Reference Figure 13 This is a schematic diagram of the neurosurgical robot of this embodiment being mounted on the MRI scanning table 8 in preparation for or during neurosurgical procedures.

[0100] Reference Figure 14 This is a schematic diagram of the arch mechanism 1 and the sliding roller positioning mechanism 2 rotating to another angle in the neurosurgical robot of this embodiment.

[0101] Reference Figure 15 This is a schematic diagram of the neurosurgical robot in this embodiment when the head frame 7 is removed. After the head frame 7 is removed, the robot can also be used for minimally invasive surgery on other organs or parts, and it has wide applicability.

[0102] In this embodiment, the implantation module 23 can hold surgical tools (such as electrodes or puncture needles) and manipulate them to pass through the insertion point on the skull to the target location. The implantation module 23 can be a conventional manual implantation module or a conventional automatic implantation module (e.g., the automatic puncture needle insertion mechanism in patent CN115607288A), see reference... Figure 16 .

[0103] All power devices (such as motors) used in this embodiment are magnetically compatible, and other electrical components and mechanical parts are also magnetically compatible conventional products to ensure that the neurosurgical robot is compatible with the MRI environment.

[0104] Example 2

[0105] Reference Figure 17-18 As a further improvement on Embodiment 1, this embodiment includes two second rotating mechanisms 3, respectively mounted on the first support 12 and the second support 13. The two second rotating mechanisms 3 are respectively driven connected to the rotating shafts 111 at the two ends of the arch body 11. The two second rotating mechanisms 3 can provide a stronger and more stable driving force to drive the entire arch mechanism 1 to rotate around the X-axis.

[0106] Example 3

[0107] Reference Figure 19 As a further improvement on Embodiment 1, the arch mechanism 1 in this embodiment includes two sliding roller positioning mechanisms 2. These two mechanisms enable the simultaneous positioning of two implantation modules 23, allowing for dual implantation (i.e., simultaneous implantation of two implantation modules 23 at two locations, such as simultaneously implanting two electrodes). When the two implantation sites are within the same XOY plane, the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 provide Z-direction displacement with the same direction and speed, eliminating the need for rotation around the Y-axis.

[0108] When the two implantation sites are not in the same XOY plane, the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 are used to provide rotation around the Y-axis, so that the projection of the line connecting the ends of the puncture needles on the two implantation modules 23 in the XOZ plane coincides with the projection of the line connecting the two implantation sites in the XOZ plane. In other words, by controlling the movement of the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5, the arch body 11 is rotated around the Y-axis, so that the two implantation modules 23 can simultaneously reach directly above the two implantation sites. Combined with the control of the other degrees of freedom of the neurosurgical robot, the two implantation modules 23 can be positioned simultaneously, thus achieving synchronous dual implantation.

[0109] Therefore, when the two implantation sites are not in the same XOY plane, since the two implantation modules 23 are on the same arch body 11, they can only rotate together around the X-axis, which will affect the flexibility to a certain extent. However, by cooperating with the first Z-axis linear translation mechanism 4 and the second Z-axis linear translation mechanism 5 to perform asynchronous movements to provide the required degree of freedom of rotation around the Y-axis, the dual implantation operation can still be achieved at this time.

[0110] The above are merely preferred embodiments of this utility model and are not intended to limit the utility model in any way. Those skilled in the art can readily implement this utility model based on the accompanying drawings and the description above. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the utility model's technical solution, utilizing the disclosed technical content, are equivalent embodiments of this utility model. Furthermore, any equivalent changes, alterations, or variations made to the above embodiments based on the essential technology of this utility model are still within the protection scope of this utility model's technical solution.

Claims

1. A neurosurgical robot, characterized in that, include: An archway mechanism, comprising an archway body and a first support and a second support respectively disposed at two ends of the archway body; At least one sliding roller positioning mechanism includes a sliding roller assembly that can move autonomously along an arc trajectory on the arch body, a first rotating mechanism and an implantation module disposed on the sliding roller assembly, the first rotating mechanism being used to drive the implantation module to rotate around the Z-axis, and the implantation module being used to perform an implantation operation; At least one second rotating mechanism is provided for driving the arch body to rotate about the X-axis relative to the first and second supports. The first Z-axis linear translation mechanism has its output end rotatably connected to the first bracket, and the rotation direction is around the Y-axis. The first Z-axis linear translation mechanism is used to drive the first bracket to move linearly along the Z-axis. And a second Z-axis linear translation mechanism, the output end of which is connected to the second bracket. The second bracket can rotate around the Y-axis and slide along the X-axis relative to the output end of the second Z-axis linear translation mechanism. The second Z-axis linear translation mechanism is used to drive the second bracket to move linearly along the Z-axis.

2. The neurosurgical robot according to claim 1, characterized in that, The first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism have the same structure, both including: The mounting base, Z-axis translation motor, screw shaft connected to the Z-axis translation motor and arranged along the Z-axis direction, nut sleeved on the screw shaft, and at least one nut guide rod parallel to the screw shaft on the mounting base, wherein the nut has a guide hole for the nut guide rod to pass through. The mounting base includes a mounting base plate and two mounting vertical plates spaced apart on the mounting base plate along the Z-axis direction. The screw shaft and the nut guide rod are both connected between the two mounting vertical plates. A connecting shaft is provided at the upper end of the nut.

3. The neurosurgical robot according to claim 2, characterized in that, The first bracket includes a first U-shaped frame and a connecting seat connected to the bottom of the first U-shaped frame. The connecting seat has a first connecting hole, and the side of the first U-shaped frame has a first shaft hole. The connecting shaft on the nut in the first Z-axis linear translation mechanism is rotatably inserted into the first connecting hole.

4. The neurosurgical robot according to claim 3, characterized in that, The second bracket includes a second U-shaped frame, two fixed supports connected to the bottom of the second U-shaped frame and spaced apart along the X-axis, two support guide rods connected between the two fixed supports and arranged along the X-axis, and a sliding support slidably mounted on the two support guide rods. The bottom of the sliding support is provided with a second connecting hole, and the side of the second U-shaped frame is provided with a second shaft hole. The connecting shaft on the nut in the second Z-axis linear translation mechanism is rotatably inserted into the second connecting hole.

5. The neurosurgical robot according to claim 4, characterized in that, Both ends of the arch body are provided with a rotating shaft, which is rotatably connected to the first shaft hole on the first U-shaped frame in the first Z-axis linear translation mechanism and the second shaft hole on the second U-shaped frame in the second Z-axis linear translation mechanism, respectively.

6. The neurosurgical robot according to claim 5, characterized in that, It includes a second rotating mechanism, which is mounted on the first or second support and is driven to the rotating shaft at the end of the arch body.

7. The neurosurgical robot according to claim 5, characterized in that, It includes two second rotating mechanisms, which are respectively mounted on the first support and the second support, and the two second rotating mechanisms are respectively driven connected to the rotating shafts at both ends of the arch body.

8. The neurosurgical robot according to claim 1, characterized in that, Of the inner and outer contour surfaces of the arch body, one surface is a gear contour and the other surface forms an arc-shaped guide track. The sliding roller assembly includes a sliding mounting bracket movably fitted onto the arch body, a drive gear rotatably mounted on the sliding mounting bracket and meshing with the gear profile, at least one roller rotatably mounted on the sliding mounting bracket and in contact with the arc-shaped guide track surface of the arch body, and a sliding roller drive motor mounted on the sliding mounting bracket for driving the drive gear to rotate.

9. The neurosurgical robot according to claim 8, characterized in that, The sliding mounting bracket is provided with an interface plate, the first rotating mechanism is connected to the interface plate, and the implantation module is connected to the first rotating mechanism and driven by the output shaft of the first rotating mechanism.

10. The neurosurgical robot according to any one of claims 1-9, characterized in that, It also includes a substrate and a head frame disposed on the substrate. The first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism are disposed at intervals along the X direction on the substrate, and the head frame is located between the first Z-axis linear translation mechanism and the second Z-axis linear translation mechanism. The head frame includes two outer fixing blocks spaced apart on the base plate along the X direction, a middle fixing base plate disposed between the two outer fixing blocks, and two movable side plates symmetrically disposed on both sides of the middle fixing base plate. Two side plate slide rods are connected between the middle fixing base plate and each outer fixing block. The movable side plates are slidably connected to the side plate slide rods and are located between the middle fixing base plate and the outer fixing blocks.

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