Surgical implant imaging method and imaging system

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 entitled "Surgical implant imaging method and imaging system," the entire contents of which are incorporated herein by reference.

[0002] This application relates to the field of surgical imaging, and more particularly to methods and systems for imaging surgical implants. [Background technology]

[0003] Conventional spine surgery electron microscopes require a very short working distance between the surgical field and the microscope objective lens during spine surgery. This results in an uncomfortable viewing angle for the entire surgical team and limits visualization of the surgery. The short working distance and uncomfortable viewing angle also restrict the free movement of surgical instruments, hindering the surgery. As the surgery progresses, the observation axis must be adjusted to visualize different parts of the surgical cavity. This process of adjusting the visualization axis is usually very tedious, and in many cases, surgeons are unable to achieve optimal placement, making visualization within the surgical cavity increasingly difficult. Therefore, an urgent solution to this problem is needed. Summary of the Invention

[0004] In view of this, the present application provides a surgical implant imaging method and imaging system, which enables the imaging device to perform imaging remotely from the working area, further facilitating visualization into the surgical cavity by the surgical team, and facilitating 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 freely rotatable by being moved by the robot arm, for acquiring and imaging the optical signal reflected by the object of observation, wherein the optical signal reflected by the object of observation is transmitted through the surgical incision via a channel formed by the retractor, and the lens of the imaging device may 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 attached to the bracket, for transmitting a part or all of the provided light signal to the observation object through the surgical incision and reflecting it back to the imaging device to assist imaging by the imaging device; The present invention provides 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 reflected light signals, 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 present embodiment, the imaging device is controlled by a robot arm, and a light source is remotely provided to the imaging device by a light source providing device, so that the imaging device can clearly capture an image of the object to be observed even when it is relatively far away. Compared with conventional microscopes, the light source of the present invention is installed relatively close to the surgical position, which greatly improves the illumination efficiency. Even if the working distance between the microscope lens and the surgical work area is more than one meter, it is still possible to clearly capture an image of the object to be observed, which is convenient for the progress of 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 direction of the retractor and adjusts its attitude so that the imaging device can accurately acquire the optical signal reflected from the channel created by the retractor, and adjusts the attitude of the robot arm in the air based on the position and direction 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, wherein the filter separates 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 allows the robot arm to rotate freely in space, avoids obstructing the surgical field and the line of sight of the surgeon when adjusting, and allows the imaging device to move to better capture an image of the object being observed.

[0011] As one example of the first aspect of the present application, the bracket includes a fixed frame and a support frame having a first end connected to the fixed frame and a second end extending outward away from the fixed frame, the second end connected to the 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] In 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 in the retractor.

[0014] In one embodiment of the first aspect of the present application, the light source 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 a channel. This structure not only facilitates the introduction of light into the surgical incision and increases the illumination brightness within the surgical incision, making the surgeon's operation easier, but also allows the imaging device to clearly capture an 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 operation by the surgical team.

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

[0018] According to a second aspect, the present application further discloses a method for imaging a surgical implant used in an imaging system including a robotic arm, an imaging device connected to the robotic arm, and a controller electrically connected to the robotic arm and the imaging device, the method including the steps of: the controller acquiring a position and orientation of a retractor for creating a channel to assist imaging by the imaging device; the controller adjusting the position and orientation of the robotic arm based on the position and orientation of the retractor so as to align the 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 the optical signal for imaging.

[0019] According to the imaging method of the present embodiment, the robot arm is controlled to move the imaging device to capture an image of the object to be observed, and the light source providing device remotely provides a light source to the imaging device, so that the imaging device can capture a clear image of the object to be observed even when it is relatively far away. Compared with conventional microscopes, the light source of the present invention is installed relatively close to the surgical position, greatly improving the illumination efficiency. Even if the working distance between the microscope lens and the surgical work area is more than one meter, it is still possible to capture a clear image of the object to be observed, which is convenient for the progress of 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] In one embodiment of the second aspect of the present application, the imaging system further includes a light source provider that emits light signals and transmits some or all of the light signals to an object to be observed through a channel, so that the imaging device acquires the light signals 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 screen orientations of at least two or more, 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 displaying images corresponding to the object of observation on the plurality of displays having different orientations.

[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 invention, by installing a robot arm, an imaging device, a controller, and the connections between each component, the imaging system of the present invention controls the imaging device using the robot arm, and provides a remote light source to the imaging device using a light source providing device, so that the imaging device can clearly capture images of the object to be observed even when the imaging device is relatively far away. Compared to conventional microscopes, the light source of the present invention is installed relatively close to the surgical position, greatly improving the illumination efficiency. Even when the working distance between the microscope lens and the surgical work area is greater than one meter, it is still possible to clearly capture images of the object to be observed, which is convenient for the progress of surgery. [Brief explanation of the drawings]

[0025] [Figure 1] FIG. 1 is a diagram showing the three-dimensional structure of an imaging system for surgical implants according to one embodiment of the present invention. [Figure 2] FIG. 2 is a front view of an imaging system for surgical implants according to one embodiment of the present application. [Figure 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 surgical implants according to one embodiment of the present application. [Figure 5] FIG. 5 is a diagram showing the 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 invention. [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 INVENTION

[0027] In order to clarify the purpose, technical means and advantages of the embodiments of the present application, 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, but not all of the embodiments. Any other embodiments that those skilled in the art can obtain from the described embodiments of the present application are also within the scope of protection of the present application.

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

[0029] During surgery, imaging is always required. For example, when imaging with a C-arm machine, due to the structure and layout of a conventional surgical microscope, the distance between the lens and the surgical field is very short. During surgery, before imaging, the microscope must be carried out and moved out of the way to perform imaging with the C-arm machine, and after imaging, the C-arm machine must be carried out and moved out of the way to return the microscope, which complicates operations and slows down the progress of surgery. In addition, conventional microscopes require a very short working distance between the surgical field and the microscope objective lens, which complicates imaging operations during surgery, making the viewing angle uncomfortable for the entire surgical team and limiting surgical visualization, thereby affecting surgical outcomes.

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

[0031] As shown in FIGS. 1 to 4, the imaging system 100 for surgical implants according to the 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, thereby facilitating the imaging device 40 to acquire and image an optical signal reflected from an observation object. Here, the observation object may refer to tissue inside the human body, a surgical instrument, or the like. The optical signal reflected from the observation object is transmitted from within the surgical incision (i.e., the surgical cavity) to the imaging device 40. In the present embodiment, the surgical incision may be a channel formed with the aid of a surgical instrument, for example, a retractor 30.

[0033] One end of the light source providing device is attached to 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 to assist in imaging by 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 light. 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 to this. 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 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 embodiments, the surgical incision, i.e., the channel inside and outside the surgical cavity, will be described as 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. However, the present invention is not limited to these.

[0036] The controller 50 adjusts the position and direction of the robot arm 20 based on the position and direction of the retractor 30 so that the imaging device 40 can accurately acquire the optical signal reflected from within the channel established by the retractor 30. In this way, when the position and direction of the retractor 30 change, the robot arm 20 follows the position and direction of the retractor 30, and realizes adjustment of the aerial posture, for example, horizontal movement, vertical movement, depression angle, elevation angle adjustment, etc., which is convenient for the imaging device 40 to photograph the observation object, and also realizes multi-angle imaging, facilitating the progress of 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 surgical implant imaging system 100 of the present embodiment, by installing the robot arm 20 and the imaging device 40, it is possible to adjust and position the direction and position of the surgical channel. Furthermore, by adjusting the aerial posture of the robot arm 20 according to the position and posture of the retractor 30, it is possible for the imaging device 40 connected to the robot arm 20 to easily capture images, which facilitates the progress of surgery. In addition, by providing a remote light source to the imaging device 40 using a light source providing device, it is possible to clearly capture images of the object to be observed even when the imaging device 40 is located at a relatively long distance. Compared to conventional microscopes, the present invention installs the light source relatively close to the surgical position, greatly improving illumination efficiency. Therefore, even when the working distance between the microscope lens and the surgical work area is greater than one meter, it is possible to still clearly capture images of the object to be observed, which facilitates the progress of surgery.

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

[0040] 5 to 7, the retractor 30 may have a tubular structure. One end thereof has a horn-shaped structure that flares 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 horn-shaped end, and the second channel 32 ultimately communicates with the first channel 31. By exposing the human tissue in the surgical cavity through the channel, an optical signal reflected by the object of observation (such as a portion 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 embodiment, the position and direction of the retractor mentioned may be the orientation of one end of the retractor that exhibits a flaring shape, and the relative spatial position of the flaring shape, or the position from the bracket, etc.

[0042] During surgery, the retractor 30 may be placed within the surgical incision to widen the incision, thereby forming channels that connect the outside to the surgical cavity within the human body, such as the first channel 31 and second channel 32 shown in FIG. 8. The first channel 31 may be a channel for operation by the surgical operator and a channel for light reflected from the observation object. The second channel 32 draws external light into the first channel 31, causing it to enter the surgical incision and illuminate 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, multiple second channels 32 may be installed, and for example, the present application will be described as having two second channels 32. In other embodiments of the present application, multiple channels may be installed, which makes it easier for light to be incident from multiple directions and is convenient for illumination, and the present application 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, thereby providing the robot arm 20 with a rotation angle of at least six degrees of freedom, which allows for more freedom when taking images and facilitates the progress of the surgery without any restrictions on the surgery.

[0045] According to one embodiment of the present application, the imaging device 40 includes a filter and an imaging camera. The filter can capture optical signals reflected by an object to be observed and select optical signals corresponding to a predetermined wavelength from the optical signals. For example, the filter can separate visible light and infrared light, thereby realizing the collection of optical signals of different wavelengths, which is convenient for imaging by wavelength and optical navigation. It is also convenient for long-distance imaging.

[0046] In the present embodiment, to enhance the imaging effect of the imaging camera, the imaging camera has a lens with a high zoom magnification. For example, the imaging camera lens may be a combination of an optical zoom and a digital zoom camera, achieving a larger zoom magnification so that the imaging camera can clearly capture an image of the observation object within a range of one meter. Compared to the prior art, the distance between the lens and the working area can be increased, preventing the imaging device 40 from blocking the line of sight of other necessary imaging devices during surgery (e.g., a C-arm machine) 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 variable intensity light 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 object to be observed through the channel.

[0049] 7, the end of the light pipe may be connected to the second channel 32, and light may enter one horn-shaped end of the retractor 30 and exit from the other end to be irradiated onto the object to be observed. The inner wall of the retractor 30 may have a highly reflective inner surface, which makes it easier for the light entering from the light pipe to be irradiated onto the object to be observed.

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

[0051] 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 in a direction away from the fixed frame 11, for example, to 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, making it easier to move away from the surgical area during surgery and avoiding blocking the surgeon's line of sight.

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

[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 on 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, making it easier to image 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 allows for 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, and the controller 50 transmits image data of the object of observation acquired by the imaging device 40 to the display, which 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 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. The first display 61 is fixed to the host computer (including the controller 50) and is installed with the screen facing upward, making it easy for medical staff standing near the host computer to observe from this angle. The second display 62 and the third display 63 are respectively provided on both sides of the bracket 10 and are installed symmetrically, so that medical staff positioned on both sides of the bracket 10 can observe the screen. This allows different medical staff to observe the same observation object from different angles, making it convenient for teams to work together to complete 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, preferably an automatic roller 81, which makes it convenient to move and position the entire imaging system 100.

[0058] A schematic diagram of the system configuration of the imaging system 100 of this embodiment will be described below with reference to FIG. 8. As shown in FIG. 8, the configuration diagram includes a processor 810 (corresponding to the controller 50, which may be part of the controller 50), a control unit 820 (corresponding to the robot arm 20) for the robot arm 20, which are 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 for the robot arm 20 may be a combination of the robot arm 20 and multiple driving units. For example, the driving units may be part of the robot arm 20. The processor 810 controls the driving units to further adjust the free angle of the robot arm 20. The driving units may be electric motors, cylinders, motors, 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, and the display controller 50 is connected to a processor, which acquires image data of the object of observation captured by the imaging unit and sends it to the display controller 50, which processes and renders the image, and finally displays the image corresponding to the object of observation 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 further described here.

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

[0061] In S910, the controller 50 acquires the position and orientation of the retractor 30. In an embodiment of the present application, the position and orientation 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] In step 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 surgical implant imaging method 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 images, which is convenient for obtaining images and also allows the robot arm to avoid the surgical area, which is convenient for progressing the surgery.

[0065] In one embodiment of the present application, the imaging device 40 acquires 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] Furthermore, the controller 50 acquires imaging data acquired by the imaging device 40 and transmits the imaging data to multiple 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 locations, so that medical staff in different locations 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, the description of the imaging system 100 can be referred to specifically, and no further details will be given here.

[0069] According to the imaging method of the present embodiment, the robot arm is controlled to move the imaging device 40 to capture an image of the object of observation, and a light source providing device is remotely provided to the imaging device 40, so that the imaging device 40 can clearly capture an image of the object of observation even at a relatively long distance. Compared to conventional microscopes, the present invention installs the light source relatively close to the surgical position, greatly improving the illumination efficiency. Even if the working distance between the microscope lens and the surgical work area is greater than one meter, it is still possible to clearly capture an image of the object of observation, which is convenient for the progress of surgery.

[0070] Unless otherwise defined, technical or scientific terms used herein shall have their ordinary meanings as understood by a person of ordinary skill in the field to which this application pertains. The terms "first," "second," and similar terms used herein do not denote any order, quantity, or importance, but are merely used to distinguish different components. Similar terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to denote relative positional relationships, and after the absolute positions of the described objects change, the relative positional relationships also 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 to be within the scope of protection 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 from an observation object to perform imaging, wherein the optical signal reflected from the observation object is transferred from within the surgical incision; a light source providing device, one end of which is attached to the bracket, for transmitting a part or all of the provided light signal to the observation object through the surgical incision and for reflecting the light signal back to the imaging device by the observation object to assist imaging by the imaging device; a retractor for placement within the surgical incision to create transfer channels inside and outside the surgical incision; 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 retractor and adjusting its attitude so that the imaging device can accurately acquire a reflected light signal, and for adjusting the attitude of the robot arm in the air based on the position and direction of the retractor.

2. The imaging device includes: a filter for separating optical signals of predetermined wavelengths; 2. The imaging system according to claim 1, further comprising: an imaging camera for acquiring wavelengths within the predetermined range and performing imaging.

3. 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.

4. 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 outward away from the fixed frame, the second end connected to the robot arm to increase the spatial range in which the robot arm can operate.

5. The bracket is 5. The imaging system of claim 4, further comprising a connecting member fixed to a second end of the support frame for connecting the robot arm and the support frame.

6. The light source providing device includes:

6. The imaging system of claim 5, 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 rays to an object to be observed.

7. The light source providing device includes:

7. The imaging system of claim 6, further comprising a light pipe, one end of which is positioned opposite the LED and the other end of which is directed into the surgical incision to transmit a light signal to the object of observation.

8. 8. The imaging system of claim 7, further comprising a display for displaying images acquired by the imaging device, wherein there are at least three displays, and at least two of the at least three displays have different orientations.

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

Images