Surgical systems and decompression systems

Abstract

This invention discloses a surgical system and a decompression system. [Solution] The surgical system includes a surgical navigation module, a robotic arm, surgical tools, a sleeve tube mirror, multiple detection markers, a navigation image capture device, and a display device. The surgical tools have force sensors and are capable of measuring current applied force data. The display device is used by the user to plan the surgical route and also displays a patient tissue model, the planned surgical route, and images of the surgical site captured by the camera. During the system operation process, the surgical navigation module determines the driving method of the robotic arm based on the current applied force vector, the sleeve tube mirror axis vector, and the planned surgical route, so that it moves along the planned surgical route when the user operates the surgical tools.

Description

Technical Field

[0001] The present invention relates to a surgical system and a decompression system.

Background Art

[0002] Spinal decompression surgery (also referred to as spinal decompression) is a surgery for treating intervertebral disc herniation and other spinal diseases. During the surgical procedure, the surgeon makes a small incision near the affected area on the back, uses surgical instruments through the incision, and repairs or removes a part of the intervertebral disc to relieve the compression on the nerve.

[0003] In order to improve the accuracy and safety of the surgery, during the surgical procedure, a sleeve tube mirror is inserted into the patient's body from the incision, and an endoscope lens is used to take images of internal organs. This provides a clear view for the doctor and facilitates the implementation of the surgery.

[0004] However, during the surgical procedure, it is difficult to accurately determine the relative positional relationship between the surgical instrument and the sleeve tube mirror. As a result, a problem occurs where the surgical instrument collides with the sleeve tube, and the tip of the sleeve tube mirror is damaged.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The technical problem to be solved by the present invention is to provide a surgical system and a decompression system that improve the drawbacks of the prior art.

Means for Solving the Problems

[0006] To solve the aforementioned technical problems, one technical solution employed by the present invention is to provide a surgical system. The surgical system includes a surgical navigation module, a robotic arm, surgical tools, a sleeve tube mirror, a plurality of detection marks, a navigation image capture device, and a display device. The robotic arm is electrically connected to the surgical navigation module. The surgical tools are mounted on the robotic arm and have a force sensor. The force sensor is configured to measure the current force acting on the surgical tools. The sleeve tube mirror is mounted on a movable support arm and has a lens axis and at least one camera. The plurality of detection marks are placed on the surgical tools, the sleeve tube mirror, and the patient, respectively. The navigation image capture device is electrically connected to the surgical navigation module and is configured to capture images of the detection marks. The display device is electrically connected to the surgical navigation module and is used by the user to plan the planned surgical route, displaying a tissue model of the patient, the planned surgical route, and images of the surgical site captured by at least one camera. The surgical navigation module is configured to calculate the sleeve tube mirror axis vector of the sleeve tube mirror based on the detection marks and to calculate the current force vector of the surgical tool based on the current force data. In the system operation process, after the surgical tool has been operated and positioned on the planned surgical route aligned with the lens axis, the surgical navigation module determines the drive method of the robotic arm based on the current force vector, sleeve tube mirror axis vector and planned surgical route, so that the robotic arm moves along the planned surgical route when the user operates the surgical tool.

[0007] To solve the technical problems described above, another technical solution employed by the present invention is to provide a decompression system. The decompression system includes a surgical navigation module, a robotic arm, a surgical tool, a sleeve tube mirror, a plurality of detection marks, and an image capture device. The robotic arm is electrically connected to a processor. The surgical tool has a force sensor, which is configured to measure the current force acting on the surgical tool. The sleeve tube mirror has a lens axis. A plurality of detection marks are placed on the surgical tool, the sleeve tube mirror, and the patient, respectively. The image capture device is electrically connected to the surgical navigation module and is configured to capture images of the detection marks. The surgical navigation module is configured to calculate the sleeve tube mirror axis vector of the sleeve tube mirror based on the plurality of marked positions of the detection marks and to calculate the current force vector of the surgical tool based on the current force data. In the system operation process, after the surgical tool is manipulated and positioned on the planned surgical route aligned with the lens axis, the surgical navigation module determines the drive mode of the robotic arm based on the current force vector, sleeve tube mirror axis vector, and planned surgical route, so that it moves along the planned surgical route when the user manipulates the surgical tool.

[0008] To further illustrate the features and technical content of the invention, please refer to the detailed description and accompanying drawings below. However, the accompanying drawings provided are for reference and illustrative purposes only and are not intended to limit the scope of the claims of the present invention. [Effects of the Invention]

[0009] A beneficial effect of the present invention lies in the fact that multiple safety mechanisms are designed in the surgical system and decompression system provided. [Brief explanation of the drawing]

[0010] [Figure 1]This is a schematic diagram illustrating embodiments of the surgical system and decompression system according to the present invention. [Figure 2] This is a schematic diagram of the navigation interface. [Figure 3] This is a first flowchart of the system operation process of the surgical system according to the present invention. [Figure 4] This is a detailed flowchart of step S17. [Figure 5] This is a second flowchart of the system operation process of the surgical system according to the present invention. [Figure 6] This is a schematic top view of surgical tools and a sleeve tube mirror. [Figure 7] This is a detailed flowchart of step S27. [Modes for carrying out the invention]

[0011] Embodiments of the "surgical system and decompression system" disclosed herein are described below. Those skilled in the art will be able to understand the merits and effects of the present invention from the published content herein. The present invention can be carried out or applied by other different embodiments. Each detailed description herein can also be modified and altered equally, based on various viewpoints or applications, without departing from the spirit of the invention. Furthermore, the drawings of the present invention are for simple and schematic purposes only and do not represent actual dimensions. Further technical details of the present invention will be described in the following embodiments, but the published content does not limit the present invention. Furthermore, the term "or" as used herein may include any one or more combinations of the relevant items, depending on the actual situation.

[0012] Figure 1 is a schematic diagram showing an embodiment of a surgical system and a decompression system according to the present invention. Referring to Figure 1, in this embodiment, a surgical system SS is provided. The surgical system SS includes a decompression system 1 and a display device DD. The decompression system 1 may include a surgical navigation module 10, a robotic arm 11, a surgical tool 12, a sleeve tube mirror 13, a plurality of detection marks 14 and a navigation image capture device 15.

[0013] In the embodiment shown in Figure 1, the decompression system 1 is basically arranged around a mobile carriage 2. The mobile carriage 2 may include a base 20 and support columns 21. Multiple moving mechanisms (e.g., wheels) are installed at the bottom of the base 20, providing a platform for mounting the support columns 21. A robotic arm 11 is mounted at the top of the support columns 21, and the base 20 and support columns 21 function as fixed parts supporting the robotic arm 11. The robotic arm 11 is connected to a robotic device, for example, a parallel mechanism. For example, an end effector based on a Stewart platform, having multiple degrees of freedom and driven by multiple motors. The robotic arm 11 can grasp surgical tools 12, such as drill bits, trocar needles, or saw blades, via adapters, for example. The surgical tools 12 are mounted on the robotic arm 11 and have a force sensor 120. The force sensor 120 is, for example, a six-axis force gauge and is used to measure current force data acting on the surgical tool 12. The data includes the magnitude and direction of the force. Furthermore, the decompression system 1 includes a first operating interface electrically connected to the surgical navigation module 10. For example, a first pedal 22 extending from the bottom of the base 20 is provided and used to switch the surgical tool 12 into or out of drive mode. For example, pressing the first pedal 22 can control the start of rotation of a drill bit or saw blade.

[0014] In some embodiments, the drive mechanism of the robot arm 11 can employ, for example, a parallel mechanism having six degrees of freedom. This parallel mechanism includes a total of six sets of actuator units and six corresponding sets of arms. Each actuator unit may include a motor, coupling, lead screw, and slide rod. When the actuator units drive the arms, they work together to move the surgical instruments on the adapter to a set position or orientation. The parallel mechanism described above is an application of the design of the Stewart platform, which is widely known in the art, and its details are omitted here. In addition to the robotic apparatus with the parallel mechanism described above, the robot arm 11 can also be configured to be connected to a robotic apparatus with a series mechanism. The robot arm 11 is operated by the user, and by guiding the robot arm 11 to move along a specific route during the operation process, the position and orientation of the surgical tool 12 can be precisely controlled.

[0015] Meanwhile, a movable support arm 17 is installed on the support column 21 of the trolley 2. The movable support arm 17 has a plurality of link structures 170 that are pivotally connected to each other, and a sleeve tube mirror 13 is installed at its end. The link structures 170 are fixed by a locking mechanism 172 (e.g., an adjustment knob), thereby fixing the movable part of the movable support arm 17 together with the sleeve tube mirror 13. The decompression system 1 further includes a second operating interface electrically connected to the surgical navigation module 10. For example, a second pedal 23 is provided extending from the bottom of the base 20 to control the locking or unlocking of the movable support arm 17. For example, when the user steps on the second pedal 23, the movable support arm 17 is released, and the user can manually move the movable support arm 17, and the sleeve tube mirror 13 moves accordingly to a specific position. When the user takes their foot off the second pedal 23, the movable support arm 17 is locked and becomes stationary.

[0016] The sleeve tube mirror 13 is mounted on a movable support arm 17 and includes a lens cylinder 130 and at least one camera 134 positioned within the lens cylinder 130. For example, the lens cylinder 130 is a cylindrical housing extending along a lens axis 132, and the camera 134 is mounted on the inner wall of the cylindrical housing. During the surgical procedure, when the sleeve tube mirror 13 is inserted into the incision, the camera 134 acquires an image of the surgical site and provides it to the surgeon. This allows the surgeon to perform precise and accurate surgery in an extremely narrow workspace, avoiding damage to nerve tissue and unnecessary removal of normal tissue. Furthermore, one or more light sources for surgical illumination can be installed within the lens cylinder 130. In addition, after the sleeve tube mirror 13 is positioned at the surgical site, the movable part of the movable support arm 17 can be fixed by operating the locking mechanism 172.

[0017] Multiple detection marks 14 are placed on the surgical tool 12, the sleeve tube mirror 13, and the patient, respectively. These are used to assist in detecting the position and orientation of the surgical tool 12 and the sleeve tube mirror 13 relative to the patient's surgical site using any known positioning method, such as optical positioning, electromagnetic positioning, or inertial positioning. Furthermore, the detection marks 14 include multiple markings that emit electromagnetic signals, sound waves, heat, or other detectable signals, and can be placed on the surgical tool 12, the sleeve tube mirror 13, and the patient, respectively, at specific directions and angles. In embodiments of the present invention, since optical positioning is employed, the detection marks 14 can be, for example, reflective spheres or marking devices that actively emit detectable signals. Multiple detection marks can also be placed near the surgical site (for example, on a dynamic reference plate fixed near the surgical site).

[0018] The surgical navigation module 10 is a computing device including, for example, a processor, a memory, an input / output interface, and an image processor. The surgical navigation module 10 is electrically connected to a robotic arm 11, a surgical tool 12, a sleeve tube mirror 13, a navigation image capture device 15, and a display device DD. The navigation image capture device 15 is, for example, a camera and is configured to capture an image of a detection mark 14.

[0019] The decompression system 1 can further include one or more power supply devices. The power supply device is used to supply power to the surgical navigation module 10, the robotic arm 11, the surgical tool 12, the sleeve tube mirror 13, a plurality of detection marks 14, the navigation image capture device 15, and the like.

[0020] The display device DD is, for example, a display with a touch function and is used for a user to plan a planned surgical route SP as shown in FIG. 2. The display device DD also displays a tissue model of a patient, the planned surgical route SP, and an image of a surgical site captured by a camera 134.

[0021] Please refer to FIG. 3. FIG. 3 is a first flowchart in the system operation process of the surgical system according to the present invention. As shown in FIG. 3, the system operation process includes the following steps.

[0022] Step S10: Install the decompression system 1 and execute initialization.

[0023] In this step, the mobile trolley 2 is moved next to the operating table, and the power is turned on to initialize the decompression system 1. During the initialization process, the surgical navigation module 10 is configured to check the power status and communication status of the robot arm 11, surgical tool 12, sleeve tube mirror 13, and navigation image capture device 15, and to determine whether they are able to operate normally. Furthermore, via the navigation image capture device 15, it is determined whether all of the detection marks 14 are detectable and whether they are placed in the correct positions. For example, it is checked whether the detection marks 14 are properly positioned on the surgical tool 12, sleeve tube mirror 13, and patient.

[0024] After the system has functioned correctly, proceed to step S11. In this step, operate the second operating interface to release the movable support arm 17. Then, pull out the movable support arm 17 and adjust the sleeve tube mirror 13 over the surgical site. For example, insert the sleeve tube mirror 13 into the incision.

[0025] Step S12: The surgical navigation module 10 determines whether the position of the sleeve tube mirror 13 is on the surgical navigation plan position.

[0026] Specifically, multiple detection marks 14 are placed near the surgical site, and computed tomography (CT) or magnetic resonance imaging (MRI) scans are performed on the area near the patient's surgical site. The surgical navigation module 10 acquires images of the detection marks 14 near the surgical site via a navigation image capture device 15, and further integrates previously acquired CT or MRI images to construct a three-dimensional virtual model of the surgical site and internal skeleton. The positions of the detection marks are then mapped within the virtual model. The constructed three-dimensional virtual model is processed and rendered by an image processor, and then displayed on the navigation interface via a display device DD.

[0027] Next, the user can set the planned surgical site within the three-dimensional virtual model displayed on the display device DD. Then, the area above the planned surgical site can be planned as the surgical navigation plan position, which is a suitable position for fixing the sleeve tube mirror 13. Furthermore, the user can also plan the surgical route. For example, the surgical route can be defined based on the location of the proliferated intervertebral disc portion that is compressing the nerve to be removed. Once the surgical route planning is complete, the surgical navigation module 10 simultaneously displays the surgical navigation plan position and the surgical route on the navigation interface and directs the user to the surgical position. This allows the sleeve tube mirror 13 to be moved along the surgical route and guided above the site where the surgery will be performed, i.e., to the surgical navigation plan position. This enables the user to proceed along a stable surgical route during the procedure.

[0028] Therefore, in step S12, the surgical navigation module 10 determines whether the sleeve tube mirror 13 is in the surgical navigation plan position and displays the determination result on the display device DD.

[0029] If the surgical navigation module 10 determines that the position of the sleeve tube mirror 13 is not the surgical navigation plan position, it notifies the user via the display device DD and repeats step S11.

[0030] On the other hand, if the surgical navigation module 10 determines that the sleeve tube mirror 13 is in the surgical navigation plan position, it notifies the user via the display device DD and proceeds to step S13.

[0031] Step S13: The user operates the second operating interface to lock the movable support arm 17. Then, the user operates the locking mechanism 172 to fix the movable part of the movable support arm 17. For example, the user fixes the movable support arm 17 by releasing the second pedal 23 and tightening the adjustment knob, and consequently, the sleeve tube mirror 13 is also fixed to the movable support arm 17.

[0032] Step S14: Perform initialization of the sleeve tube mirror 13.

[0033] In this step, the surgical navigation module 10 activates the camera 134 and the light source, and displays the image captured by the camera 134 on the display device DD after enlarging it.

[0034] Step S15: The robot arm 11 is moved to the planned navigation route. In this step, the robot arm 11 connected to the surgical tool 12 is operated by the user to position the surgical tool 12 on the planned surgical route SP aligned with the lens axis 132, ensuring that it does not come into contact with other parts. For example, if the sleeve tube mirror 13 is placed at the planned surgical navigation position, the planned surgical route SP can be a virtual route that coincides with the lens axis 132. After the surgical tool 12 is positioned on the planned surgical route SP aligned with the lens axis 132, the system operation process proceeds to step S16. Step S16: The surgical navigation module 10 is configured to lock multiple degrees of freedom of the robot arm 11, allowing the user to move the surgical tool 12 only along the lens axis 132. For example, by considering the lens axis 132 as the Z-axis and locking the degrees of freedom of the robot arm 11 to allow movement only in the Z-axis direction, stability is improved when the user operates the surgical tool 12.

[0035] After step S16, the robot arm 11 enters standby mode and waits for manual operation by the user.

[0036] Step S17: The surgical navigation module 10 determines the drive mode of the robot arm 11 based on the current force vector v1, the sleeve tube mirror axis vector u1, and the planned surgical route SP, so that it moves along the planned surgical route SP when the user operates the surgical tool 12.

[0037] More specifically, the surgical navigation module 10 is configured to calculate the components of the current force vector v1 along the direction of the sleeve tube mirror axis vector u1 and to determine whether the components exceed a first force threshold.

[0038] Figure 4 is a detailed flowchart of step S17. Please refer to Figure 4. Step S17 involves performing the following processes via the surgical navigation module 10.

[0039] Step S170: Based on the detection mark 14, the position and orientation of the sleeve tube mirror 13 in space are detected, and the sleeve tube mirror axis vector u1 (e.g., unit vector) of the sleeve tube mirror 13 is calculated.

[0040] Step S171: Calculate the current force vector v1 of the surgical tool 12 based on the current force data measured by the force sensor 120.

[0041] Step S172: Calculate the dot product of the applied force vector v1 and the sleeve tube mirror axis vector u1, and calculate the force component of the current applied force vector v1 along the direction of the sleeve tube mirror axis vector u1.

[0042] Step S173: Determine whether the dot product of the applied force vector v1 and the sleeve tube mirror axis vector u1 exceeds a first threshold.

[0043] If it is determined in step S173 that the applied force component exceeds the first applied force threshold, the process proceeds to step S174. Step S174: The robot arm 11 is driven to move the surgical tool 12 to the surgical site along the planned surgical route SP.

[0044] If it is determined in step S173 that the applied force component does not exceed the first applied force threshold, the process proceeds to step S175. Step S175: The robot arm 11 is kept in standby mode.

[0045] Therefore, in the system operation process, after the surgical tool 12 is manipulated and positioned on the planned surgical route SP aligned with the lens axis 132, the surgical navigation module 10 determines whether to drive the robot arm 11 based on the current force vector v1, the sleeve tube mirror axis vector u1, and the planned surgical route SP, and decides whether to move the surgical tool 12 along the planned surgical route SP. Furthermore, by setting a first force threshold, the surgical tool 12 is made movable only when the force exceeds a certain magnitude. For example, let the first force threshold be fth. If the current force vector v1 is a downward vector (e.g., in the negative Z-axis direction) and the sleeve tube mirror axis vector u1 is also a downward vector, then the dot product of the two, |u1| × |v1| × cos(0 degrees), is a positive value. If this positive value exceeds fth, it is determined that the condition that the force component exceeds the first force threshold is met.

[0046] Please refer to Figure 3 again. The system operation process further includes step S18. Step S18: The surgical navigation module 10 determines whether the lens axis 132 and the tool axis 122 of the surgical tool 12 coincide. For example, if the surgical tool 12 is a cutting drill, the tool axis 122 will be the axis of the drill. By applying this safety mechanism, the surgical tool 12 can be kept aligned with the lens axis 132 as the robot arm 11 moves.

[0047] If it is determined in step S18 that the lens axis 132 and the tool axis 122 do not coincide, the process proceeds to step S19. Step S19: Reset the robot arm 11. In step S19, the robot arm 11 is returned to a predetermined position. This predetermined position can be, for example, the initial position "before it is determined that the applied force component exceeds the first applied force threshold, and before the robot arm 11 begins to move toward the surgical site."

[0048] If it is determined in step S18 that the lens axis 132 and the tool axis 122 are aligned, the process proceeds to step S20. Step S20: It is determined whether the robot arm 11 has reached the planned surgical position where it is permitted to switch the surgical tool 12 into drive mode.

[0049] Similarly, the planned treatment location can be planned within a three-dimensional virtual model displayed on the display device DD, along with the surgical route. The surgical navigation module 10 can then provide instructions to the user by displaying the planned treatment location on the navigation interface. For example, the system may only allow the user to control the rotation of the drill when the drill bit reaches the planned treatment location.

[0050] If it is determined in step S20 that the robot arm 11 has not reached the planned treatment position, step S17 is repeated.

[0051] If it is determined in step S20 that the robot arm 11 has reached the planned surgical position, the process proceeds to step S21. Step S21: The user operates the first operating interface to put the surgical tool 12 into drive mode. For example, the user operates the surgical tool 12 (cutting drill) and presses the first pedal 22 to start the rotation of the drill bit.

[0052] Please refer to Figure 5. Figure 5 is a second flowchart of the system operation process of the surgical system according to the present invention.

[0053] Step S21 is performed, and at the same time, step S22 is performed. Step S22: Determine whether the distance between the surgical tool 12 and the sleeve tube mirror 13 is less than a predetermined distance.

[0054] Please refer to Figure 6. Figure 6 is a schematic top view of the surgical tool and sleeve tube mirror. As shown in the figure, when the robot arm 11 reaches the planned surgical position, a portion of the surgical tool 12 passes through the lens cylinder 130 (for example, a cylindrical housing extending along the lens axis 132). At this time, it is necessary to determine whether the distance D1 between the portion of the surgical tool 12 inserted into the lens cylinder 130 and the inner wall of the lens cylinder 130 is smaller than a predetermined distance (for example, a pre-designed safety distance D2). This determination prevents the surgical tool 12 from colliding with the lens cylinder 130 and damaging the camera 134. In addition, the risk of uncertainty due to vibration during the surgical process can be reduced by preventing the surgical tool 12 and the sleeve tube mirror 13 from coming too close together.

[0055] If, in step S22, it is determined that the distance between the surgical tool 12 and the sleeve tube mirror 13 is less than a predetermined distance, the process proceeds to step S23. Step S23: Disable the surgical tool 12 and release the drive mode. For example, the power to the surgical tool 12 is forcibly cut off to stop operation.

[0056] If, in step S22, it is determined that the distance between the surgical tool 12 and the sleeve tube mirror 13 is not less than a predetermined distance, the process proceeds to step S24. Step S24: Allow the surgical tool 12 to maintain its drive mode.

[0057] In the system operation process, when it is detected that the user has released the surgical tool 12 and operated the first operating interface to release the surgical tool 12 from drive mode, the process proceeds to step S25. Step S25: The surgical navigation module 10 controls the robot arm 11 to return to its predetermined position.

[0058] Step S26: The surgical navigation module 10 locks multiple degrees of freedom of the robotic arm 11, so that the user can move the surgical tool 12 only along the lens axis 132. In particular, the order of steps S26 and S25 can be adjusted according to the user's requirements. For example, it is possible to set it so that step S26 is performed first, and then step S25 is performed.

[0059] After step S26, the robot arm 11 enters standby mode and waits for manual operation by the user.

[0060] Step S27: The surgical navigation module 10 determines the drive mode of the robot arm 11 based on the current force vector v1, the sleeve tube mirror axis vector u1, and the planned surgical route SP, so that it moves along the planned surgical route SP when the user operates the surgical tool 12.

[0061] More specifically, the surgical navigation module 10 is configured to calculate the force component of the current force vector v1 along the direction of the sleeve tube mirror axis vector u1 and to determine whether that force component is smaller than a second force threshold.

[0062] Figure 7 is a detailed flowchart of step S27. Please refer to Figure 7. Step S27 involves performing the following processes via the surgical navigation module 10.

[0063] Step S270: The surgical navigation module 10 determines whether the force component is smaller than the second force threshold.

[0064] If, in step S270, the force component is determined to be smaller than the second force threshold, the process proceeds to step S271. Step S271: The surgical navigation module 10 drives the robotic arm 11 to move the surgical tool 12 away from the surgical site along the planned surgical route SP.

[0065] If it is determined in step S270 that the applied force component is not smaller than the second applied force threshold, the process proceeds to step S272. Step S272: The robot arm 11 is kept in standby mode.

[0066] For example, let the second force threshold be -fth. If the current force vector v1 is an upward vector (for example, in the positive Z-axis direction) and the sleeve tube mirror axis vector u1 is a downward vector, then the dot product of the two, |u1| × |v1| × cos(180 degrees), will be a negative value. If this negative value is smaller than -fth, that is, if the absolute value of the dot product is larger than |-fth|, then the condition that the force component is smaller than the second force threshold is satisfied. This means that a force greater than a certain amount is acting to move the robot arm 11 upward.

[0067] Please refer to Figure 5 again. The system operation process further includes step S28. Step S28: The surgical navigation module 10 determines whether the lens axis 132 and the tool axis 122 of the surgical tool 12 coincide. For example, if the surgical tool 12 is a cutting drill, the tool axis 122 will be the axis of the drill. By applying this safety mechanism, the surgical tool 12 can be kept aligned with the lens axis 132 as the robot arm 11 moves.

[0068] If it is determined in step S28 that the lens axis 132 and the tool axis 122 do not coincide, the process proceeds to step S29. Step S29: Reset the robot arm 11. Step S29 is similar to step S19 and is configured to return the robot arm 11 to its predetermined position.

[0069] If it is determined in step S28 that the lens axis 132 and the tool axis 122 are aligned, the process proceeds to step S30. Step S30: The user operates the second operating interface to release the movable support arm 17. Then, the user operates the locking mechanism 172 to release the movable part of the movable support arm 17. For example, the user presses the second pedal 23 and loosens the adjustment knob to make the movable support arm 17 movable, and the sleeve tube mirror 13 also becomes movable relative to the movable support arm 17. After that, the sleeve tube mirror 13 is removed and the movable support arm 17 is folded.

[0070] After step S30, the camera 134 and light source of the sleeve tube mirror 13 are turned off, followed by the power to the surgical navigation module 10.

[0071] [Beneficial effects of the embodiment] One of the beneficial effects of the present invention is that multiple safety mechanisms are designed in the surgical system and decompression system provided.

[0072] Specifically, this includes functions to lock the degrees of freedom of the robot arm under various specific conditions, to determine the robot arm's drive method based on the current force vector, sleeve tube mirror axis vector, and planned surgical route, to determine the alignment of the lens axis of the sleeve tube mirror with the tool axis of the surgical tool, and to determine whether the distance between the surgical tool and the sleeve tube mirror is less than the safety distance. This ensures that the surgical tool can only move when a certain level of force is applied, improving stability when the user operates the surgical tool. Furthermore, it reduces the risk of the surgical tool colliding with the lens cylinder and damaging the camera, and reduces uncertainty caused by vibrations during surgery due to the surgical tool and sleeve tube mirror being too close together.

[0073] Furthermore, the surgical system and decompression system provided by the present invention apply optical navigation technology to sleeve tube mirrors and surgical tools, enabling physicians to more easily understand the relationship between the sleeve tube mirror and the surgical tool, as well as their relative positions in space. In addition, real-time monitoring of the lens axis of the sleeve tube mirror and the tool axis of the surgical tool improves surgical safety. A mechanism automatically shuts off the power supply when the surgical tool approaches the inner wall of the lens cylinder, further enhancing safety during the use of the surgical tool.

[0074] The information disclosed above represents only preferred embodiments of the present invention and does not limit the scope of the claims. Therefore, all equivalent technical modifications made based on the specifications and accompanying drawings of the present invention are included within the scope of the claims. [Explanation of Symbols]

[0075] SS Surgical System 1. Decompression System DD display device 10 Surgical Navigation Modules 11 Robot Arm 12 Surgical Tools 120 Force detector 122 Tool Axis 13 Sleeve Tube Mirror 130 Lens Cylinder 132 Lens axis 134 Cameras 14. Multiple detection marks 15 Navigation Image Capture Device 17. Movable support arm 170 Link Structures 172 Locking mechanism 2. Running bogie 20 base 21 Support column 22 First pedal 23. Second pedal DD display device u1 Sleeve tube mirror axis vector v1 Force vector D1 Distance D2 Safety distance SP Scheduled Surgical Route Steps S10-S30, S170-S175, S270-S272

Claims

1. Surgical navigation module, A robotic arm electrically connected to the surgical navigation module, A surgical tool installed on the robot arm and having a force sensor, wherein the force sensor is configured to measure the current force data acting on the surgical tool, A sleeve tube mirror mounted on a movable support arm, having a lens axis and at least one camera, The surgical tool, the sleeve tube mirror, and a plurality of detection marks placed on the patient, respectively, A navigation image capture device is electrically connected to the surgical navigation module and configured to capture images of the detection marks. A display device electrically connected to the surgical navigation module and used by the user to plan the planned surgical route, which displays the patient's tissue model, the planned surgical route, and images of the surgical site captured by at least one camera, Equipped with, The surgical navigation module is configured to calculate the sleeve tube mirror axis vector of the sleeve tube mirror based on the detection marks and to calculate the current force vector of the surgical tool based on the current force data. In the system operation process, after the surgical tool is operated and positioned on the planned surgical route aligned with the lens axis, the surgical navigation module determines the drive mode of the robotic arm based on the current force vector, the sleeve tube mirror axis vector, and the planned surgical route, so that the robotic arm moves along the planned surgical route when the user operates the surgical tool. A surgical system characterized by the following features.

2. The surgical system according to claim 1, further comprising a first operating interface and a second operating interface electrically connected to the surgical navigation module, wherein the first operating interface is used to switch the surgical tool into or out of drive mode, and the second operating interface is used to lock or release the movable support arm.

3. The surgical navigation module is configured to calculate the force component of the current force vector along the direction of the sleeve tube mirror axis vector, and to determine whether the force component exceeds a first force threshold, and if it is determined that the force component exceeds the first force threshold, the surgical navigation module drives the robot arm to move the surgical tool to the surgical site along the planned surgical route, according to claim 2.

4. The surgical navigation module is further configured to determine whether the force component is less than a second force threshold, and if it is determined that the force component is less than the second force threshold, the surgical navigation module drives the robotic arm to move the surgical tool away from the surgical site along the planned surgical route, according to claim 3.

5. The surgical navigation module is configured to calculate the dot product of the applied force vector and the sleeve tube mirror axis vector, and to calculate the applied force component, according to claim 4.

6. In the system operation process, the surgical navigation module is configured to determine whether the robot arm has reached a planned treatment position in which the surgical tool can be switched to drive mode, and if it is determined that the robot arm has reached the planned treatment position and the first operation interface is operated to switch the surgical tool to drive mode, the surgical navigation module determines whether the distance between the surgical tool and the sleeve tube mirror is less than a predetermined distance, and if it is determined that the distance between the surgical tool and the sleeve tube mirror is less than a predetermined distance, the surgical navigation module disables the surgical tool and releases it from drive mode, and if it is determined that the distance between the surgical tool and the sleeve tube mirror is greater than or equal to the predetermined distance, the surgical system according to claim 2.

7. The surgical system according to claim 1, wherein, in the system operation process, after the sleeve tube mirror is positioned at the surgical site and the surgical tool is operated to position itself on the planned surgical route aligned with the lens axis, the surgical navigation module is configured to lock multiple degrees of freedom of the robotic arm, so that the user can move the surgical tool only along the lens axis.

8. The surgical system according to claim 2, wherein, in the system operation process, if the user releases the surgical tool and the first operation interface is operated to detect that the surgical tool has been released from drive mode, the surgical navigation module controls the robotic arm and returns it to a predetermined position.

9. The surgical system according to claim 8, wherein in the system operation process, the surgical navigation module is configured to determine whether the lens axis and the tool axis of the surgical tool coincide, and if it is determined that the lens axis and the tool axis do not coincide, the robot arm is reset and returned to the predetermined position.

10. The surgical system according to claim 1, wherein the movable support arm further has a locking mechanism, and in the system operation process, after the sleeve tube mirror is placed at the surgical site, the locking mechanism is operated to fix the movable portion of the movable support arm.

11. Surgical navigation module, A robotic arm electrically connected to the surgical navigation module, A surgical tool having a force sensor configured to measure current force data acting on the surgical tool, A sleeve tube mirror having a lens axis, The surgical tool, the sleeve tube mirror, and a plurality of detection marks placed on the patient, respectively, An image capture device electrically connected to the surgical navigation module and configured to capture images of the detection marks, Equipped with, The surgical navigation module is configured to calculate the sleeve tube mirror axis vector of the sleeve tube mirror based on the multiple marked positions of the detection marks, and to calculate the current force vector of the surgical tool based on the current force data. In the system operation process, after the surgical tool is operated and positioned on the planned surgical route aligned with the lens axis, the surgical navigation module determines the drive mode of the robotic arm based on the current force vector, the sleeve tube mirror axis vector, and the planned surgical route, so that the robotic arm moves along the planned surgical route when the user operates the surgical tool. A pressure reduction system characterized by the following features.

12. The decompression system according to claim 11, further comprising a first operating interface and a second operating interface electrically connected to the surgical navigation module, wherein the first operating interface is used to switch the surgical tool into or out of drive mode, and the second operating interface is used to lock or release a movable support arm supporting the sleeve tube mirror.

13. The decompression system according to claim 12, wherein the surgical navigation module is configured to calculate the force component of the current force vector along the direction of the sleeve tube mirror axis vector, and to determine whether the force component exceeds a first force threshold, and if it is determined that the force component exceeds the first force threshold, the surgical navigation module drives the robot arm to move the surgical tool along the planned surgical route to the surgical site.

14. The decompression system according to claim 13, wherein the surgical navigation module is further configured to determine whether the force component is less than a second force threshold, and if it is determined that the force component is less than the second force threshold, the surgical navigation module drives the robotic arm to move the surgical tool away from the surgical site along the planned surgical route.

15. The decompression system according to claim 14, wherein the surgical navigation module is configured to calculate the dot product of the applied force vector and the sleeve tube mirror axis vector, and to calculate the applied force component.

16. In the system operation process, the surgical navigation module is configured to determine whether the robot arm has reached a planned treatment position in which the surgical tool can be switched to drive mode, and if it is determined that the robot arm has reached the planned treatment position and the first operation interface is operated to switch the surgical tool to drive mode, the surgical navigation module determines whether the distance between the surgical tool and the sleeve tube mirror is less than a predetermined distance, and if it is determined that the distance between the surgical tool and the sleeve tube mirror is less than a predetermined distance, the surgical navigation module disables the surgical tool and releases it from drive mode, and if it is determined that the distance between the surgical tool and the sleeve tube mirror is greater than or equal to the predetermined distance, the surgical navigation module allows the surgical tool to maintain drive mode, the decompression system according to claim 12.

17. The decompression system according to claim 11, wherein, in the system operation process, after the sleeve tube mirror is placed at the surgical site and the surgical tool is operated and positioned on the planned surgical route aligned with the lens axis, the surgical navigation module is configured to lock multiple degrees of freedom of the robotic arm so that the user can move the surgical tool only along the lens axis.

18. The decompression system according to claim 12, wherein, in the system operation process, if the user releases the surgical tool and the first operation interface is operated to detect that the surgical tool has been released from drive mode, the surgical navigation module controls the robot arm and returns it to a predetermined position.

19. The decompression system according to claim 18, wherein in the system operation process, the surgical navigation module is configured to determine whether the lens axis and the tool axis of the surgical tool coincide, and if it is determined that the lens axis and the tool axis do not coincide, the robot arm is reset and returned to the predetermined position.

20. The decompression system according to claim 12, wherein the movable support arm further has a locking mechanism, and in the system operation process, after the sleeve tube mirror is placed at the surgical site, the locking mechanism is operated to fix the movable portion of the movable support arm.

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