Method and system for surgical implant imaging - Patent application

Abstract

The present invention relates to a method and an imaging system for imaging a surgical implant, the imaging system (100) includes a bracket (10), a robot arm (20) having a first end rotatably connected to the bracket, an imaging device (40) connected to a second end of the robot arm (20) and moved by the robot arm to rotate freely, for acquiring an optical signal reflected from an observation target and performing imaging, a light source providing device having one end mounted on the bracket (10) and transmitting a part or all of the provided optical signal to the observation target through a surgical incision and reflected by the observation target to the imaging device (40), a retractor (30) placed in the surgical incision to create a surgical channel so that the optical signal reflected by the observation target is acquired by the imaging device, and a controller (50) electrically connected to the robot arm (20) and the imaging device (40), for adjusting the posture based on the position and direction of the retractor, and for controlling the robot arm (20) to move and freely rotate the imaging device (40). The imaging system allows imaging at long distances, which is beneficial for the progress of surgery.

Description

[Technical field]

[0001] This application claims priority to a Chinese patent application filed on April 14, 2022, bearing application number "202210389241.4" and titled "Surgical implant imaging method and imaging system," the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the field of surgical imaging, and in particular to a method and system for imaging surgical implants. [Background technology]

[0003] Conventional spinal surgery electron microscopes require a very short working distance between the surgical field and the objective lens of the microscope during spinal surgery. This causes the viewing angle of the entire surgical team to be uncomfortable, and the visualization of the surgery is limited. The short working distance and uncomfortable viewing angle also restrict the free movement of surgical instruments, hindering the operation. As the operation progresses, the observation axis needs to be adjusted to visualize different parts of the surgical cavity. The process of adjusting the visualization axis is usually very cumbersome, and in many cases, the surgeon cannot achieve the optimal installation, which makes the visualization problem in the surgical cavity more and more severe. Therefore, such a problem needs to be solved immediately. Summary of the Invention

[0004] In view of this, the present application provides a surgical implant imaging method and imaging system, which enables an imaging device to perform imaging remotely from the working area, and further facilitates visualization into the surgical cavity by the surgical team, and facilitates the progress of the surgery.

[0005] To solve the above technical problems, the present application provides an imaging system for surgical implants.

[0006] According to a first aspect, an embodiment of the present application is an imaging system for a surgical implant, comprising: A bracket and a robotic arm having a first end rotatably connected to the bracket; an imaging device connected to the second end of the robot arm, which is moved by the robot arm to freely rotate, for acquiring the optical signal reflected by the object to be observed and imaging the optical signal reflected by the object to be observed and transmitted from the surgical incision through a channel formed by the retractor, the lens of which can be a combination of an optical zoom and a digital zoom camera, thereby realizing a larger zoom magnification; a light source providing device, one end of which is mounted on a bracket, for transmitting a part or all of the provided light signal to an observation object through a surgical incision and for reflecting the light signal to an imaging device by the observation object to assist imaging by the imaging device; Provided is an imaging system for surgical implants, comprising: a controller electrically connected to a robot arm, a light source providing device, and an imaging device, which acquires the position and direction of the surgical incision and adjusts the posture so that the imaging device can accurately acquire a reflected light signal, and which adjusts the posture of the robot arm in the air based on the position and direction of a surgical instrument.

[0007] According to the imaging system of the embodiment of the present application, the imaging device is controlled by the robot arm, and the light source providing device remotely provides the light source to the imaging device, so that the imaging device can clearly obtain the image of the observation object even if it is at a relatively long distance. Compared with the conventional microscope, the present application installs the light source relatively close to the surgical position, greatly improving the illumination efficiency, and even if the working distance between the microscope lens and the surgical working area is more than 1 meter, the image of the observation object can still be clearly obtained, which is convenient for the progress of the surgery.

[0008] As one embodiment of the first aspect of the present application, the imaging system further includes a retractor that is placed within the surgical incision to create a transmission channel inside and outside the surgical incision, and the controller acquires the position and orientation of the retractor and adjusts the attitude so that the imaging device can accurately acquire the optical signal reflected from the channel established by the retractor, and adjusts the aerial attitude of the robot arm based on the position and orientation of the retractor.

[0009] In one embodiment of the first aspect of the present application, an imaging device includes a filter for separating optical signals of a predetermined wavelength, and an imaging camera for acquiring and imaging wavelengths within a predetermined range, the filter being capable of separating infrared light from visible light to realize imaging and infrared navigation functions in different bands.

[0010] In one embodiment of the first aspect of the present application, the robot arm has at least six joints to realize a rotation angle with at least six degrees of freedom, which can realize the free rotation of the robot arm in space, avoid the surgical area and the obstruction of the line of sight of the surgical operator when adjusting, and move the imaging device to better obtain the image of the observation object.

[0011] As one embodiment of the first aspect of the present application, the bracket comprises a fixed frame and a support frame having a first end connected to the fixed frame and a second end extending outwardly away from the fixed frame, the second end being connected to a robot arm, thereby increasing the spatial range in which the robot arm can operate.

[0012] In one embodiment of the first aspect of the present application, the bracket further includes a connecting member fixed to the second end of the support frame for connecting the first support arm and the support frame.

[0013] As one embodiment of the first aspect of the present application, the light source providing device is attached to a fixed frame, its light emitting surface and the robot arm are located on the same side of the fixed frame, and the light source providing device includes a light emitting diode LED for transmitting light to an object to be observed through a channel formed by the retractor.

[0014] In one embodiment of the first aspect of the present application, the light source providing device further includes a light pipe, one end of which is disposed opposite to the LED and the other end of which is connected to the retractor, for transmitting the light signal emitted from the LED to the retractor so that the light signal reaches the observation object through the channel. This structure not only facilitates the introduction of light into the surgical incision, increases the illumination brightness in the surgical incision, and facilitates the doctor's operation, but also allows the imaging device to clearly capture the image of the observation object.

[0015] In one embodiment of the first aspect of the present disclosure, the imaging system further comprises a display coupled to the controller for displaying images acquired by the imaging device.

[0016] In one embodiment of the first aspect of the present application, there are at least three displays, and at least two of the at least three displays have different orientations, allowing surgical personnel to view images from different positions, which is convenient for highly accurate manipulation by the surgical team.

[0017] In one embodiment of the first aspect of the present application, an imaging system includes: The vehicle further includes a base to which the bracket is fixed and below which a plurality of wheels are provided.

[0018] According to a second aspect, the present application further discloses an imaging method for a surgical implant used in an imaging system including a robot arm, an imaging device connected to the robot arm, and a controller electrically connected to the robot arm and the imaging device, the imaging method including the steps of: the controller acquiring a position and orientation of a retractor for creating a channel to assist imaging of the imaging device; the controller adjusting the position and orientation of the robot arm based on the position and orientation of the retractor so as to align an acquisition end of the imaging device with the channel created by the retractor; and the imaging device acquiring an optical signal reflected by an object to be observed through the channel and using it for imaging.

[0019] According to the imaging method of the embodiment of the present application, the robot arm is controlled to move the imaging device to obtain an image of the observation object, and the light source providing device remotely provides a light source to the imaging device, so that the imaging device can clearly obtain an image of the observation object even if it is relatively far away. Compared with the conventional microscope, the light source of the present application is installed relatively close to the surgical position, which greatly improves the illumination efficiency, and realizes that even if the working distance between the microscope lens and the surgical working area is more than 1 meter, the image of the observation object can still be clearly obtained, which is convenient for the progress of the surgery.

[0020] In one embodiment of the second aspect of the present disclosure, the imaging method further includes the step of obtaining an optical signal of a predetermined wavelength from the reflected optical signal by an imaging device, and performing imaging based on the optical signal of the predetermined wavelength.

[0021] As one embodiment of the second aspect of the present application, the imaging system further includes a light source provider that emits an optical signal and transmits some or all of the optical signal to an object to be observed through a channel, so that the imaging device acquires the optical signal reflected by the object to be observed.

[0022] As one embodiment of the second aspect of the present application, the imaging system further includes a plurality of displays having at least two or more screen orientations, and the method further includes a step of the controller acquiring imaging data acquired by the imaging device and transmitting the imaging data to the plurality of displays, thereby causing the displays having the different orientations to display images corresponding to the object to be observed.

[0023] The beneficial effects of the above technical means of the present application are as follows:

[0024] According to the imaging system for surgical implants of the present application, by setting up a robot arm, an imaging device, a controller and the connection relationship between each component, the imaging device is controlled by the robot arm based on the imaging system of the present application, and a light source providing device provides a remote light source to the imaging device, so that the imaging device can clearly capture an image of the observation object even if it is relatively far away. Compared with the conventional microscope, the present application sets up the light source relatively close to the surgical position, greatly improving the illumination efficiency, and even if the working distance between the microscope lens and the surgical working area is more than 1 meter, the image of the observation object can still be clearly captured, which is convenient for the progress of the surgery. [Brief description of the drawings]

[0025] [Figure 1] FIG. 1 is a diagram showing a three-dimensional structure of an imaging system for a surgical implant according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a front view of an imaging system for surgical implants according to one embodiment of the present application. [Diagram 3] FIG. 3 is a left side view of an imaging system for surgical implants according to one embodiment of the present application. [Figure 4] FIG. 4 is a right side view of an imaging system for a surgical implant according to one embodiment of the present application. [Diagram 5] FIG. 5 is a diagram showing a three-dimensional structure of a retractor according to one embodiment of the present invention. [Figure 6] FIG. 6 is a front view of a retractor according to one embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing a cross-sectional structure of a retractor according to one embodiment of the present invention. [Figure 8] FIG. 8 is a system configuration diagram of an imaging system for surgical implants according to one embodiment of the present application. [Figure 9] FIG. 9 is a flow chart of a method for imaging a surgical implant according to one embodiment of the present application.

[0026] Drawing symbols Imaging system for surgical implants 100; Bracket 10, fixed frame 11, connecting member 12, support frame 13, Robot arm 20, joint 21, Retractor 30, first channel 31, second channel 32, Imaging device 40, Controller 50, First display 61, second display 62, third display 63, Light emitting diode 70, Base 80, wheels 81. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] In order to make the objectives, technical means and advantages of the embodiments of the present application clearer, the technical means of the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by those skilled in the art from the described embodiments of the present application are all within the scope of protection of the present application.

[0028] In order to facilitate understanding of the technical solution of the present application, the technical problem that the present application is to solve will first be described.

[0029] During surgery, imaging is always required during surgery. For example, when imaging with a C-arm machine, due to the structure and layout of the traditional surgical microscope, the distance between the lens and the surgical field is very short, so that during surgery, before imaging, the microscope must be carried to a place to be imaged by the C-arm machine, and after imaging, the C-arm machine must be carried to a place to be imaged and the microscope must be returned, which is complicated and slows down the progress of surgery. In addition, traditional microscopes require a very short working distance between the surgical field and the microscope objective lens, which makes the imaging operation during surgery complicated, which makes the viewing angle of the entire surgical team uncomfortable, and the visualization of surgery is limited, which affects the surgical effect.

[0030] The imaging system 100 for surgical implants according to the present embodiment will now be described in detail with reference to the accompanying drawings.

[0031] As shown in FIGS. 1 to 4, a surgical implant imaging system 100 according to an embodiment of the present invention includes a bracket 10, a robot arm 20, an imaging device 40, a light source providing device, and a controller 50.

[0032] Specifically, a first end of the robot arm 20 is rotatably connected to the bracket 10, and a second end is connected to the imaging device 40. When the robot arm 20 moves, the imaging device 40 can be moved, which facilitates the imaging device 40 to acquire and image the optical signal reflected by the observation object. Here, the observation object may refer to tissue inside the human body, a surgical instrument, etc. The optical signal reflected by the observation object is transferred from within the surgical incision (i.e., the surgical cavity) to the imaging device 40. In the embodiment of the present application, the surgical incision may be channeled with the aid of a surgical instrument, for example, a retractor 30.

[0033] One end of the light source providing device is mounted on the bracket 10, and some or all of the light signals provided from the light source providing device are transmitted to the object to be observed through a channel (which may be understood as a surgical incision) formed in the retractor 30, and are reflected by the object to the imaging device 40 and used to assist the imaging of the imaging device 40.

[0034] The controller 50 is electrically connected to the robot arm 20, the light source providing device, and the imaging device 40. During surgery, the controller 50 controls the light source providing device to provide a light source. The timing of controlling the provision of the light source may be before or after adjusting the position of the robot arm 20. This is not limited. In some embodiments, the light source providing device is not controlled by the controller 50, and may be operated only manually, or may be operated manually or may be operated and controlled by the controller.

[0035] The controller 50 first acquires the position and direction of the surgical incision. For example, the controller 50 may acquire the position and direction of the retractor 30 (which may be understood as the position and direction corresponding to the surgical incision). In the following embodiment, the surgical incision, i.e., the channel inside and outside the surgical cavity, will be described as an example of a channel created by a retractor. In the present application, the position and direction of the retractor 30 may be identified by a conventional identification method, for example, by a position sensor or by an image acquired by the imaging device 40. Here, the present invention is not limited to these.

[0036] The controller 50 adjusts the position and direction of the robot arm 20 according to the position and direction of the retractor 30, so that the imaging device 40 can accurately acquire the optical signal reflected from the channel established by the retractor 30. Thus, when the position and direction of the retractor 30 change, the robot arm 20 can follow the position and direction of the retractor 30 and adjust the air posture, for example, by moving horizontally, moving vertically, adjusting the depression angle, the elevation angle, etc., which is convenient for the imaging device 40 to capture the observation object, and also realizes multi-angle imaging, facilitating the progress of the surgery.

[0037] In the present application, the details of the position identification and direction identification of the retractor 30 may refer to the prior art, and will not be described in detail here. The details of the retractor will be described in detail in the next embodiment with reference to Figs. 5 to 7.

[0038] According to the imaging system for surgical implants 100 of the embodiment of the present application, the adjustment and positioning of the direction and position of the surgical channel can be realized by installing the robot arm 20 and the imaging device 40, and the air posture of the robot arm 20 can be adjusted according to the position and posture of the retractor 30, so that the imaging device 40 connected to the robot arm 20 can easily take pictures, which is convenient for the progress of surgery. In addition, the light source providing device provides a remote light source to the imaging device 40, so that even if the imaging device 40 is at a relatively long distance, the image of the observation object can be clearly obtained. Compared with the conventional microscope, the light source is installed relatively close to the surgical position, which greatly improves the illumination efficiency, and even if the working distance between the microscope lens and the surgical working area is more than 1 meter, the image of the observation object can still be clearly obtained, which is convenient for the progress of surgery.

[0039] In one embodiment of the present application, the imaging system 100 may include a retractor 30 .

[0040] 5 to 7, the retractor 30 may have a tubular structure. One end of the retractor 30 has a trumpet-like structure that spreads outward from the axis, and a first channel 31 is provided in the middle of the retractor 30, and a second channel 32 is provided at the trumpet-like end, and the second channel 32 finally communicates with the first channel 31. By exposing the human tissue in the surgical cavity through the channel, the optical signal reflected by the observation target (such as a part of the human tissue or a surgical instrument) is acquired by the imaging device 40, making it easier to image it.

[0041] In the above examples, the position and orientation of the retractor referred to may be the orientation of one end of the retractor that exhibits a flared shape, and the relative spatial position of the flared shape, or the position from the bracket, etc.

[0042] During surgery, the retractor 30 may be placed in the surgical incision to widen the incision, forming channels that connect the outside to the surgical cavity inside the human body, such as a first channel 31 and a second channel 32 shown in FIG. 8. The first channel 31 may be a channel for the surgeon to operate and a channel for the light reflected by the observation object. The second channel 32 draws the outside light into the first channel 31, causes it to enter the surgical incision, illuminates the observation object, and the light reflected by the observation object is reflected by the first channel 31 and finally acquired by the imaging device 40.

[0043] In some embodiments, the second channel 32 may be provided in a plurality of places, for example, the present application takes as an example an embodiment having two second channels 32. In other embodiments of the present application, there may be a plurality of channels, which facilitates the incidence of light from multiple directions and is convenient for illumination, and is not limited thereto.

[0044] As shown in FIG. 1, in one embodiment of the present application, the robot arm 20 has at least six joints 21, and each joint 21 can rotate freely, so that the robot arm 20 has a rotation angle of at least six degrees of freedom, which allows more freedom when taking pictures and is beneficial for the progress of the surgery without any restrictions on the surgery.

[0045] According to an embodiment of the present application, the imaging device 40 includes a filter and an imaging camera, and the filter can obtain the optical signal reflected by the object of observation and select the optical signal corresponding to a predetermined wavelength from the optical signal. For example, the filter can separate visible light and infrared light, thereby realizing the collection of optical signals of different bands, which is convenient for imaging by band and for realizing optical navigation. It is also convenient for imaging at a long distance.

[0046] In the embodiment of the present application, in order to enhance the imaging effect of the imaging camera, the imaging camera is a lens with a high zoom ratio. For example, the lens of the imaging camera can be a combination of an optical zoom and a digital zoom camera, realizing a larger zoom ratio, so that the imaging camera can clearly capture the image of the observation object within a range of 1 meter. Compared with the prior art, the distance between the lens and the working area can be increased, and the imaging device 40 can avoid blocking the line of sight of other necessary imaging devices during surgery (such as C-arm machines, etc.) and the surgical operator, which is convenient for the progress of surgery.

[0047] In one embodiment of the present application, the light source providing device can provide a light beam with variable intensity and can also realize remote control, for example, the controller 50 is connected to the light source providing device, and a remote computer is connected to the controller 50 via a network to realize remote control of the light source intensity.

[0048] 1 and 2, the light source providing device may include a light emitting diode (LED) 70 and a light pipe (not shown). The LED is attached to the bracket 10, and one end of the light pipe is installed facing the LED, and the other end is used for connection to the retractor 30. The light signal emitted from the LED is transmitted to the retractor 30, and the light signal reaches the observation target through the channel.

[0049] In the embodiment of the present application, as shown in Fig. 7, the end of the light pipe is connected to the second channel 32, and the light can be incident on one end of the retractor 30 and emitted from the other end to be irradiated on the observation object. The inner wall of the retractor 30 can be an inner surface with high reflectivity, so that the light incident from the light pipe can be easily irradiated on the observation object.

[0050] In some embodiments, the light pipe may be a fiber optic light guide, and the light pipe can collect the light emitted from the LED lamp and introduce the light into the retractor 30, and the inner surface of the retractor 30 has a highly reflective inner surface, which reflects the light signal introduced from the light pipe to the observation object. The light emitted from the LED is a certain distance away from the surgical operation area, so that the light emitted from the LED does not affect the surgery, for example, no shadows are generated. In addition, the use of the light pipe makes it easy to introduce a light source from a long distance into the retractor 30, and the light source can be accurately irradiated on the observation object, which is convenient for the imaging device 40 to perform imaging.

[0051] As shown in Fig. 1, the bracket 10 may include a fixed frame 11 and a support frame 13. The fixed frame 11 and the support frame 13 may be made of steel. A first end of the support frame 13 is connected to the fixed frame 11 and extends along a direction away from the fixed frame 11, for example, the farthest end of the support frame 13 away from the fixed frame 11 (corresponding to the second end of the support frame). This structure allows the robot arm 20 connected to the second end to cover a relatively large spatial range as much as possible, making it easier to leave the surgical area far away during surgery, and avoiding blocking the line of sight of the surgeon.

[0052] The fixed frame 11 and the support frame 13 in this application may be two connected bodies or may be one integral piece.

[0053] When positioning, first adjust the approximate position of the fixed frame 11, point the farthest end of the support frame 13 toward the operating table (away from the fixed frame 11), position the farthest end of the support frame 13 above the center line of the operating table (and even directly above the patient), and connect the farthest end to the robot arm 20, thereby positioning the imaging device 40 on the robot arm 20 above the patient, facilitating imaging of the object being observed.

[0054] As shown in FIG. 1, a connecting member 12 is connected to the farthest end of the support frame 13, and the support frame 13 and the robot arm 20 are connected via the connecting member 12. This structure facilitates the connection between the robot arm 20 and the support frame and facilitates the movable connection of the joint 21 of the robot arm 20.

[0055] As shown in Figures 1 and 2, the imaging system 100 further includes a display, which is connected to the controller 50, which transmits image data of the object to be observed acquired by the imaging device 40 to the display, and the display further displays an image corresponding to the image data, thereby making it convenient for surgical team members to analyze and operate on the image displayed on the display.

[0056] Preferably, there are at least three displays, and at least two of the at least three displays have different orientations. As shown in FIG. 1, the displays include a first display 61, a second display 62, and a third display 63, and the first display 61 is fixed to the host computer (including the controller 50) and is installed with the screen facing upward, so that the medical staff standing near the host computer can easily observe from this angle. The second display 62 and the third display 63 are provided on both sides of the bracket 10, respectively, and are installed symmetrically, so that the medical staff positioned on both sides of the bracket 10 observe the screen. This allows different medical staff to observe the same observation object from different angles, which is convenient for the team to cooperate in completing surgery.

[0057] In one embodiment of the present application, a base 80 for fixing the host computer and the bracket 10 may be provided below the bracket 10, and a roller 81 may be provided below the base, and preferably, the automatic roller 81 may be selected, which makes it convenient to move and position the entire imaging system 100.

[0058] Hereinafter, a schematic diagram of the system configuration of the imaging system 100 of the embodiment of the present application will be described with reference to FIG. 8. As shown in FIG. 8, the configuration diagram includes a processor 810 (corresponding to the controller 50, the processor may be a part of the controller 50), a control unit 820 (corresponding to the robot arm 20) of the robot arm 20 connected to the processor 810, an imaging unit 850 (corresponding to the imaging device 40 in FIG. 1), a light source control unit 830 (corresponding to the light source providing device), and a display unit 840 (corresponding to the display). The control unit 820 of the robot arm 20 may be a combination of the robot arm 20 and a plurality of driving units, for example, the driving unit may belong to a part of the robot arm 20. The processor 810 further realizes the adjustment of the free angle of the robot arm 20 by controlling the driving unit. The driving unit may be a driving unit such as an electric motor, a cylinder, a motor, etc. The imaging unit 850 may include an imaging camera, etc. The light source providing device may include an LED lamp. The display unit 840 may also include a display controller 50 and a display screen, where the display controller 50 is connected to a processor, which acquires image data of the object captured by the imaging unit and transmits it to the display controller 50, which processes and renders the image, and finally displays the image corresponding to the object on the display screen.

[0059] The present application further discloses a surgical implant imaging method, which is used in the surgical implant imaging system 100 described in the above embodiment, and the specific structure of the imaging system 100 has already been described in detail in the above embodiment, so it will not be described here again.

[0060] As shown in FIG. 9, the method specifically includes S910 to S940.

[0061] S910, the controller 50 acquires the position and direction of the retractor 30. In an embodiment of the present application, the position and direction of the retractor 30 may be acquired by a distance sensor, such as an infrared sensor, or by collecting an image using a depth camera, etc. The present application is not limited thereto.

[0062] At S920, the controller 50 aligns the acquisition end of the imaging device 40 with the channel created by the retractor 30 by adjusting the position and orientation of the robotic arm 20 based on the position and orientation of the retractor 30.

[0063] S930: The imaging device 40 acquires the optical signal reflected by the object through the channel and uses it for imaging.

[0064] According to the imaging method for surgical implants of the present embodiment, the direction and position of the robot arm 20 are automatically controlled, so that the imaging device 40 follows the position and direction of the retractor 30 to take pictures, which is convenient for obtaining images, and the robot arm can avoid the surgical area, which is convenient for the progress of the surgery.

[0065] In one embodiment of the present application, the imaging device 40 obtains an optical signal of a predetermined wavelength from the reflected optical signal, and performs imaging based on the optical signal of the predetermined wavelength.

[0066] According to one embodiment of the present application, the light source provider emits an optical signal and transmits some or all of the optical signal to the object of observation through a channel, so that the imaging device 40 acquires the optical signal reflected by the object of observation to improve the clarity of the image, and transmits the optical signal remotely to avoid the light from affecting the surgeon.

[0067] Moreover, the controller 50 acquires imaging data acquired by the imaging device 40 and transmits the imaging data to a plurality of displays, thereby displaying images corresponding to the observation target on the displays, making it easier for medical staff to observe the images. The displays may be installed in different positions, so that medical staff in different positions can easily observe images of the same observation target on different displays, which is beneficial for the progress of surgery.

[0068] Since the functions of each component and the imaging process have been described in the above embodiment, reference can be made to the description of the imaging system 100 for details, and no further description will be given here.

[0069] According to the imaging method of the embodiment of the present application, the robot arm is controlled to move the imaging device 40 to obtain an image of the observation object, and a light source providing device remotely provides a light source to the imaging device 40, so that the imaging device 40 can clearly obtain an image of the observation object even at a relatively long distance. Compared with the conventional microscope, the present application greatly improves the illumination efficiency by installing the light source relatively close to the surgical position, and realizes that even if the working distance between the microscope lens and the surgical working area is more than 1 meter, the image of the observation object can still be clearly obtained, which is convenient for the progress of the surgery.

[0070] Unless otherwise defined, technical or scientific terms used herein shall have their ordinary meaning as understood by a person of ordinary skill in the field to which the present application pertains. The terms "first", "second" and similar terms used herein do not denote any order, quantity or importance, but are only used to distinguish different components. The terms "connected" or "connected" and similar terms are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right" and the like are only used to indicate relative positional relationships, and after the absolute positions of the described objects are changed, the relative positional relationships will change accordingly.

[0071] The above is a preferred embodiment of the present application, and it should be noted that those skilled in the art may further make some improvements and modifications without departing from the principles described in the present application, and these improvements and modifications shall also be considered as falling within the protection scope of the present application.

Claims

1. In imaging systems for surgical implants, A bracket and a robotic arm having a first end rotatably connected to the bracket; an imaging device connected to a second end of the robot arm, being moved by the robot arm to freely rotate, for acquiring an optical signal reflected by an observation object and performing imaging, the optical signal reflected by the observation object being transferred from within a surgical incision; a light source providing device, one end of which is attached to the bracket, for transmitting a part or all of a provided light signal to the observation object through a surgical incision and for reflecting the light signal by the observation object to the imaging device to assist imaging by the imaging device; a controller electrically connected to the robot arm, the light source providing device, and the imaging device, for acquiring a position and direction of the surgical incision and adjusting a posture so that the imaging device can accurately acquire a reflected light signal, and for adjusting the posture of the robot arm in the air based on the position and direction of the surgical instrument.

2. a retractor for placement within the surgical incision to create transfer channels inside and outside the surgical incision; The imaging system of claim 1, wherein the controller acquires a position and direction of a retractor and adjusts its attitude so that the imaging device can accurately acquire an optical signal reflected from a channel established by the retractor, and adjusts the attitude of the robot arm in the air based on the position and direction of the retractor.

3. The imaging device comprises: a filter for isolating optical signals of predetermined wavelengths; 2. The imaging system of claim 1, further comprising: an imaging camera for acquiring wavelengths within the predetermined range and imaging the wavelengths.

4. 3. The imaging system according to claim 1, wherein the robot arm has at least six joints to realize a rotation angle having at least six degrees of freedom.

5. The bracket is A fixed frame and 2. The imaging system of claim 1, further comprising: a support frame having a first end connected to the fixed frame and a second end extending outwardly away from the fixed frame, the second end connected to the robot arm to increase a spatial range in which the robot arm can operate.

6. The bracket is 6. The imaging system of claim 5, further comprising a connecting member fixed to a second end of the support frame for connecting the robot arm and the support frame.

7. The light source providing device includes:

7. The imaging system of claim 5 or 6, further comprising a light-emitting diode LED attached to the fixed frame, the light-emitting surface of which and the second end of the support frame are located on the same side of the fixed frame, for transmitting light to an object to be observed.

8. The light source providing device includes:

8. The imaging system of claim 7, further comprising a light pipe, one end of which is positioned opposite the LED and the other end of which is for transmitting a light signal toward the subject through a surgical incision.

9. 10. The imaging system of claim 8, further comprising a display for displaying an image acquired by the imaging device, the display comprising at least three displays, the display comprising at least two of the at least three displays having different orientations.

10. The imaging system according to claim 1 , further comprising a base to which the bracket is fixed and below which a plurality of wheels are provided.

11. 1. A method for imaging a surgical implant for use with an imaging system having a robotic arm, an imaging device, and a controller, comprising: the controller acquiring a position and orientation of a retractor for creating internal and external channels of a surgical incision to assist in the imaging of the surgical incision; the controller adjusting a position and orientation of the robotic arm based on a position and orientation of the retractor so as to align a capture end of the imaging device with a channel created by the retractor; and a step of the imaging device acquiring an optical signal reflected by the object to be observed through the channel and using the optical signal for imaging the object to be observed.

12. The imaging method according to claim 11 , further comprising the step of: obtaining an optical signal of a predetermined wavelength from the reflected optical signal; and performing imaging based on the optical signal of the predetermined wavelength.

13. The imaging method according to claim 11 or 12, characterized in that the imaging system further comprises a light source provider, the light source provider emitting a light signal, and transmitting a part or all of the light signal to the object through the channel, so that the imaging device acquires a light signal reflected by the object.

14. The imaging system further comprises a plurality of displays having at least two or more screen orientations; The method comprises: The imaging method of claim 11, further comprising a step of: the controller acquiring imaging data acquired by the imaging device and transmitting the imaging data to a plurality of the displays, thereby causing the displays in a plurality of different orientations to display images corresponding to the object of observation.

Images