Reference frame for electromagnetic navigation device of surgical robot, and electromagnetic navigation device

Abstract

The present application relates to a reference frame for electromagnetic navigation of a surgical robot, the surgical robot having a robotic arm. The reference frame comprises: a reference frame body; a holder, the holder being operably connected to the reference frame body, and drivable, so as to fixedly maintain the reference frame body on a rigid tissue closest to a target area; a drive member used to drive the holder. An accommodation portion, used to detachably mount an electromagnetic sensing device used for electromagnetic navigation, and multiple visible bodies, capable of displaying coordinate positions in imaging device images, are arranged on the reference frame body.

Description

Reference frame and electromagnetic navigation device for surgical robot

[0001] For all purposes, this application claims priority to Chinese Application No. 202310717945.4 filed on June 16, 2023 and Chinese Application No. 202321552596.7 filed on June 16, 2023, which are incorporated herein by reference in their entireties. Technical Field

[0002] The present application relates to a reference frame for electromagnetic navigation of a surgical robot having a robotic arm, an electromagnetic navigation device and an electromagnetic navigation system for the surgical robot. Background Art

[0003] A navigation device for a surgical robot is used to track the position of one or more objects during surgery, and the surgical robot is adapted to hold one or more surgical instruments during surgery and can operate autonomously (e.g., without any human input during surgery), semi-autonomously (e.g., with some human input during surgery), or non-autonomously (e.g., only as directed by human input).

[0004] Currently, surgical robotic systems are widely used in surgical procedures. These systems typically include a trolley, a robotic arm mounted on the trolley, an optical navigation device, an imaging device, an operating table, and other structures. The patient undergoes surgery on the operating table, and the navigation device can determine the posture (position and orientation) of one or more targets during the procedure to detect the target's movement, such as the movement of the robotic arm, the movement of surgical tools, or the movement of the patient's anatomy. To accurately determine the target's posture, a reference frame is typically required on the target. The reference frame's main body is equipped with multiple reflective balls. The reflective balls on the reference frame's main body can be used to collect the target's reference coordinate information during surgery and direct the robotic arm's operation. Because navigation in known surgical robotic systems is achieved by aligning the imaging device coordinates, infrared optical positioning coordinates, and surgical instrument coordinates using an infrared optical navigation device, this infrared navigation device is easily obstructed by objects during surgery. Therefore, the navigation effect of such optically navigated surgical robotic systems can be adversely affected.

[0005] Summary of the Invention

[0006] The technical problem to be solved by the present application is to provide an improved reference frame for an electromagnetic navigation device of a surgical robot, an electromagnetic navigation device having the reference frame, and an electromagnetic navigation system, which can avoid the disadvantage of the optical navigation of the surgical robot in the prior art that it is easily blocked by objects and achieve high-precision navigation.

[0007] According to a first aspect of the present disclosure, the above-mentioned technical problem is solved by a reference frame for electromagnetic navigation of a surgical robot. The surgical robot has a robotic arm. According to the first aspect of the present disclosure, the reference frame comprises: a reference frame body; a retaining member operably connected to the reference frame body and capable of being driven to securely hold the reference frame body in a fixed position on rigid tissue proximal to a target area; and a driving member for driving the retaining member. The reference frame, particularly the reference frame body, comprises a receiving portion for removably mounting an electromagnetic sensing device for electromagnetic navigation and a plurality of developing bodies arranged thereon, capable of displaying coordinate positions in an imaging device image. By securing the electromagnetic sensing device and the developing bodies to the same component, namely the reference frame, particularly the reference frame body, the relative position of the electromagnetic sensing device and the developing bodies is secured, thereby ensuring sufficiently high accuracy for electromagnetic navigation of the surgical robot. Alternatively, the electromagnetic sensing device and the developing bodies may be arranged on the retaining member or the driving member.

[0008] In an expanded technical solution of the present disclosure, the reference frame body includes a distal wall portion that is positioned away from the rigid tissue during surgery, and a leg portion extending from the distal wall portion toward the rigid tissue. The distal wall portion enables interconnection between the retaining member and the reference frame body, thereby reliably transmitting the driving force from the drive rod, thereby ensuring that the reference frame is securely held on the rigid tissue.

[0009] In a further embodiment of the present disclosure, the reference frame body further comprises a plurality of web portions connected between the leg portions, thereby facilitating the machining of holes for mounting the joint axis. Preferably, two opposing webs are provided to prevent the retaining member from moving longitudinally of the reference frame body, thereby further facilitating the transmission of the retaining force used to secure the reference frame to the rigid tissue.

[0010] In a further expanded technical solution of the present disclosure, it is stipulated that the reference frame body at least partially accommodates the retaining member, especially so that the retaining member can be freely converted between its different operating states, thereby ensuring that the operating state of the retaining member can be easily changed, especially ensuring that the retaining member can be freely converted between its retaining state and the expanded state.

[0011] In a further expanded technical solution of the present disclosure, it is provided that the plurality of developing bodies are respectively arranged on the proximal end region of the leg portion. In particular, the developing bodies can be arranged in different numbers according to application requirements.

[0012] In a further development of the present disclosure, the retaining member comprises at least two retaining arms for retaining the rigid tissue and a joint axis, with the at least two retaining arms being articulated about the joint axis. This facilitates retaining the reference frame on the rigid tissue closest to the patient's surgical site while ensuring that the driving force is advantageously converted into a retaining force.

[0013] A further embodiment of the present disclosure provides for multiple through-holes in the reference frame body, arranged in different portions of the reference frame body. Alternatively, the multiple through-holes may be provided in the drive rod or retaining member. By providing multiple through-holes in different portions of the reference frame body, such as the distal wall portion or the leg portion, coupling between different components of the reference frame and the electromagnetic sensing device is ensured, while also facilitating machining and assembly.

[0014] In a further expanded technical solution of the present disclosure, it is stipulated that one of the multiple through holes is a first through hole for passing the driving member, and two of the multiple through holes are second through holes for installing the joint shaft, wherein the first through hole and the second through hole are oriented perpendicular to each other, thereby enabling the various parts of the reference frame body to be coupled to each other in an advantageous manner, especially the driving member and the retaining member to be coupled to the reference frame body in an advantageous manner, and at the same time achieving the conversion of the driving force into a retaining force for retaining the reference frame on the rigid tissue in an advantageous manner.

[0015] In a further expanded technical solution of the present disclosure, it is provided that the first through hole has an internal thread and is formed in the distal wall portion, and the second through hole is formed in the web portion. This facilitates machining of the through holes into the reference frame body and also makes assembly of the reference frame easier.

[0016] In a further expanded technical solution of the present disclosure, it is stipulated that the driving member includes a screw and a boss, the screw having a distal section, a middle section and a proximal section, wherein a limiting device for limiting the longitudinal movement of the boss along the screw is provided in the proximal section, and an external thread is provided in the middle section, and the driving member engages with the internal thread of the first through hole through the external thread.

[0017] In a further expanded technical solution of the present disclosure, it is stipulated that the limiting device includes a stopper close to the external thread and a retaining ring away from the external thread, and the retaining ring and the stopper are spaced apart along the longitudinal direction of the screw.

[0018] In a further expanded technical solution of the present disclosure, it is provided that the stopper protrudes radially outward from the outer circumference of the screw. The stopper can be designed to be annular or arc-shaped.

[0019] In a further development of the present disclosure, it is provided that the distal end section of the drive element is designed with a polygonal outer cross section, which can be rotated by a screwing tool.

[0020] In a further expanded technical solution of the present disclosure, it is provided that at least two holding arms respectively have a distal end and a proximal end, the distal end contacts the driving member when driven by the driving member, and the proximal end contacts the rigid tissue when holding the rigid tissue.

[0021] In a further developed technical solution of the present disclosure, it is provided that a plurality of protrusions facing each other are respectively provided on the inner sides of the proximal ends of at least two holding arms.

[0022] In a further expanded technical solution of the present disclosure, it is provided that the receiving portion is designed as a hole with an internal thread for threaded connection with the electromagnetic sensing device.

[0023] In a further expanded technical solution of the present disclosure, it is stipulated that calibration coordinate points for image registration of an imaging device are also provided on the reference frame body.

[0024] According to another aspect of the present disclosure, the aforementioned technical problem is solved by an electromagnetic navigation device for a surgical robot with a robotic arm. According to the provisions of the present disclosure, the electromagnetic navigation device includes: the aforementioned reference frame; a plurality of electromagnetic sensing devices, one of which is a first electromagnetic sensing device for sensing the real-time posture of the rigid tissue, which is detachably mounted on the reference frame, and the other is a second electromagnetic sensing device for sensing the real-time posture of the end effector of the robotic arm, which is fixed on the robotic arm; an electronic control unit configured to control a magnetic field generating device to generate a magnetic field to obtain the position of a first electromagnetic sensor set on the reference frame; a magnetic field generating device configured to generate a magnetic field covering the first sensing device and the second sensing device above the target area to be operated on; an imaging device configured to perform intraoperative scanning of the target area and the reference frame body to obtain the coordinate position of the target area and the developing body on the reference frame based on the imaging device coordinate system.

[0025] In an extended technical solution of the present disclosure, it is stipulated that the first electromagnetic sensing device has a connector with external threads for detachably fixing to the reference frame, a first electromagnetic sensor and a cable, through which the first electromagnetic sensor on the reference frame is coupled to the electronic control unit, and the first electromagnetic sensor is arranged in the connector.

[0026] According to another aspect of the present disclosure, the aforementioned technical problem is solved by an electromagnetic navigation system for a surgical robot. According to the provisions of the present disclosure, the electromagnetic navigation system has: the aforementioned electromagnetic navigation device; a trolley device for fixing the robotic arm relative to the target object and an electronic control unit for placing the electromagnetic navigation device; a display device for displaying intraoperative imaging results and providing an operation interface; a robotic arm for guiding the movement of the end effector, which is fixedly connected to the trolley device; and an end effector for performing surgical operations on the target area, which is fixedly connected to the proximal end of the robotic arm.

[0027] Further details and advantages of the examples described in detail below will become apparent from the following detailed description of the examples in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG1 is a schematic diagram of an electromagnetic navigation system for a surgical robot in a spinal surgery situation according to a non-limiting embodiment of the present disclosure;

[0029] FIG2 is a schematic diagram of a local area A related to the reference frame in FIG1 ;

[0030] FIG3 is a view of the reference frame held on the spinous process as viewed from the right in FIG2 ;

[0031] FIG4 is a view of an end region of the first electromagnetic sensing device connected to a reference frame body;

[0032] FIG5 is a perspective schematic diagram of a reference frame body according to a non-limiting embodiment of the present disclosure;

[0033] FIG6 is a perspective view of a drive member of a reference frame according to a non-limiting embodiment of the present disclosure;

[0034] 7 is a perspective view of a holder of a reference frame according to a non-limiting embodiment of the present disclosure;

[0035] FIG8 is a longitudinal sectional view of the reference frame in FIG3 in a holding state;

[0036] FIG9 is a longitudinal sectional view of the reference frame in FIG3 in an expanded state.

[0037] Referring to the accompanying drawings, in which like reference numerals refer to like parts throughout the several views, the present disclosure generally relates to a reference frame for electromagnetic navigation of a surgical robot, an electromagnetic navigation apparatus for a surgical robot, and an electromagnetic navigation system for a surgical robot. DETAILED DESCRIPTION

[0038] It should also be understood that the specific devices, apparatuses, and systems shown in the accompanying drawings and described in the following specification are merely exemplary of the present disclosure. Therefore, specific dimensions and other physical characteristics related to the examples disclosed herein should not be considered as limiting.

[0039] When the term "distal" is used with respect to a component of a reference frame, electromagnetic navigation device and system for a surgical robot (such as a holder, a screw, a reference frame body), the term "distal" refers to the side of the component farthest from the patient. When the term "proximal" is used with respect to a component of a reference frame, electromagnetic navigation device and system for a surgical robot (such as a holder, a screw, a reference frame body), the term "proximal" refers to the side of the component closest to the patient. When the term "distal" is used with respect to a component of a reference frame, electromagnetic navigation device and system for a surgical robot (such as a holder, a screw, a reference frame body), the term "distal" refers to the end area of ​​the component farthest from the patient. When the term "proximal" is used with respect to a component of a reference frame, electromagnetic navigation device and system for a surgical robot (such as a holder, a screw, a reference frame body), the term "proximal" refers to the end area of ​​the component closest to the patient. Furthermore, within the scope of this disclosure, the term "target object" refers to a patient on whom a surgical robot is to perform surgery, the term "target area" refers to the part of the patient's body involved in the surgical procedure performed using a surgical instrument, and the term "held object" refers to rigid tissue near the aforementioned body part, particularly bony tissue such as the spinous process. The terms "above," "below," "left," and "right" for orientation are all with reference to the corresponding drawings of this disclosure. The terms "first" and "second" merely indicate that they are not the same component and do not limit the order.

[0040] FIG1 is a schematic diagram of an electromagnetic navigation system for a surgical robot in a spinal surgery setting, according to a non-limiting embodiment of the present disclosure. The system includes a trolley 100, a display device 200, a robotic arm 300, an end effector 400, and an electromagnetic navigation device 500 for the surgical robot. The electromagnetic navigation device is particularly useful for intraoperative navigation. In the present disclosure, the robotic arm 300 is preferably a multi-axis robotic arm. One end of the robotic arm 300 can be secured to the trolley 100, while the other end of the robotic arm 300 can be secured to the end effector 400 and used to guide the movement of the end effector 400. The trolley 100 is configured to secure the robotic arm 300 relative to a target object, i.e., a patient undergoing surgery, and to house an electronic control unit 510. Alternatively, the trolley 100 can secure the robotic arm 300 relative to the operating table. The trolley is preferably equipped with lockable rollers to enhance the flexibility of the robotic surgical system of the present disclosure. The display device 200 is configured to display imaging results from intraoperative imaging equipment to the surgeon and provide an operator interface. The display device can be, for example, a liquid crystal display. The end effector 400 is a surgical instrument used to perform surgical operations on a target area. In a non-limiting embodiment, it is a spinal surgical instrument, such as a nail placement tool or a drilling tool. It is fixedly connected to the proximal end of the robotic arm 300. The end effector 400 can be removably mounted on the robotic arm 300 via a multi-purpose surgical instrument connector. The electromagnetic navigation device 500 used in the surgical robot, as a core component of the electromagnetic navigation system, is primarily responsible for real-time positioning and navigation of the target area and the end effector 400 during surgery. The electromagnetic navigation device 500 is further described below.

[0041] In a non-limiting embodiment, the electromagnetic navigation device 500 for a surgical robot includes a reference frame 550, multiple electromagnetic sensing devices, an electronic control unit 510, a magnetic field generating device 520 and an imaging device not shown in the accompanying drawings, in particular a three-dimensional imaging device. One of the multiple electromagnetic sensing devices is a first electromagnetic sensing device 530 for sensing rigid tissue, such as a spinous process, and thereby obtaining the real-time posture of the target area to be operated on by means of its relative position relationship with the target area to be operated on. The first electromagnetic sensing device 530 is detachably mounted on the reference frame 550 (to be further described below). The other electromagnetic sensing device is a second electromagnetic sensing device 540 for sensing the real-time posture of the end effector 400 of the robotic arm 300. The second electromagnetic sensing device 540 is fixed to the proximal region of the robotic arm 300, and this fixation can be performed in particular through a surgical instrument connector. The electronic control unit 510 can control the magnetic field generating device 520 to generate a magnetic field, especially a three-dimensional magnetic field, to obtain the position of the first electromagnetic sensor set on the reference frame 550. The magnetic field generating device 520 can generate a magnetic field above the target area to be operated on, covering the first electromagnetic sensor (not shown) on the reference frame 550 and the second electromagnetic sensor on the robotic arm. The imaging device can perform intraoperative scanning of the target area and the reference frame 550, especially a three-dimensional scan, to obtain the coordinate position of the target area based on the imaging device coordinate system and the developing body 5514 on the reference frame 550, which will be further explained below, especially the three-dimensional coordinate position. In a non-limiting embodiment, the imaging device is preferably designed as a CT scanner.

[0042] The working principle of the electromagnetic navigation device according to the present disclosure is preferably but not limited to: first, an intraoperative three-dimensional CT scan of the target area and the reference frame 550 is performed by a CT scanner not shown to obtain the coordinate position of the target area and the developing body 5514 on the reference frame 550 based on the CT coordinate system; then, the electronic control unit 510 controls the magnetic field transmitting device 520 to generate a three-dimensional magnetic field to obtain the position of the first electromagnetic sensor on the reference frame 550; since the relative position of the developing body 5514 on the reference frame 550 and the first electromagnetic sensor on the reference frame 550 is known, the CT coordinates and the electromagnetic field coordinates can be matched according to the relative position relationship; in addition, the positional relationship between the second electromagnetic sensor on the robotic arm 300 and the free end of the end effector is known, and the electromagnetic field coordinates and the coordinates of the robotic arm 300 can be matched through this positional relationship; finally, the alignment of the CT, electromagnetic field and coordinates of the robotic arm 300 is achieved.

[0043] Figures 2 and 3 are views of a partial area A associated with reference frame 550 in Figure 1 from different perspectives. They illustrate the configuration of different sides of reference frame 550, an exemplary assembly of first electromagnetic sensing device 530 with reference frame 550, and an example of reference frame 550 being secured to a spinous process during surgery. As shown in Figure 2 (as further described below), first electromagnetic sensing device 530 can be secured to reference frame 550, particularly to distal wall portion 5516 of the reference frame body, to facilitate assembly of the first electromagnetic sensing device on the reference frame. The proximal end of first electromagnetic sensing device 530 is coupled to reference frame 550 via connector 5302, while the distal end of first electromagnetic sensing device 530 is coupled to electronic control unit 510, shown in Figure 1, to transmit data collected by the electromagnetic sensor to electronic control unit 510. In a non-limiting embodiment, the reference frame 550 may include a retaining member 553 for retaining the reference frame 550 on the rigid tissue, a driving member 552 for driving the retaining member 553, and a reference frame body 551 for coupling the various components of the reference frame 550. The reference frame body 551 at least partially accommodates the retaining member 553, so that the retaining member 553, when driven, can assume different operating states within the gaps between the leg portions 5517, particularly the expanded state and the retaining state shown in Figures 8 and 9. To more securely secure the reference frame on the rigid tissue, the leg portions may be designed such that, when the leg portions 5517 are in the retaining state as shown in Figure 3, i.e., when the leg portions 5517 are embracing the rigid tissue, the proximal end surfaces of at least two of the leg portions 5517 contact the rigid tissue to support the corresponding rigid tissue. In one non-limiting embodiment, the retaining member 553 at least partially protrudes from the reference frame body 551 from the side, or the left and right sides of FIG. 3 , of the reference frame body, particularly from the gap between its leg portions 5517 (see also FIG. 5 ). Depending on the application scenario during surgery, the retaining member 553 may also be designed as a clamping member as shown in FIG. 3 or as a spreader member (not shown here). In the case where the retaining member 553 is designed as a spreader member (not shown in the drawings to highlight the key points of this disclosure), the reference frame 550 can be secured to the spinous processes by means of the two retaining arms 5533 of the retaining member 553 by being supported between the two corresponding spinous processes.

[0044] Figure 4 illustrates the end region of first electromagnetic sensing device 530 connected to reference frame body 551, specifically the proximal region of first electromagnetic sensing device 530, showing an exemplary external structure of first electromagnetic sensing device 530. In a non-limiting embodiment, first electromagnetic sensing device 530 comprises a cable 5301, a connector 5302, and a first electromagnetic sensor (not visible in the figure) for sensing the real-time position of the target area. The first electromagnetic sensor is preferably disposed within or on connector 5302. Alternatively, the first electromagnetic sensor may be disposed elsewhere on the electromagnetic sensing device, as long as it does not interfere with assembly of the electromagnetic sensing device to the reference frame and is sufficiently secure. Connector 5302 may be provided with external threads or a snap-fit ​​structure. In order to conveniently connect or fix the first electromagnetic sensing device to the reference frame 550, especially to the reference frame body 551, the external thread shown in Figure 4 can be engaged with the internal thread of the through hole 5511 of the reference frame body 551 shown in Figure 5 by screwing the joint 5302, or the first sensing device can be inserted into the through hole of the reference frame body 551 not shown in Figure 5 to allow the alternative clamping structure to be clamped with the matching clamping structure of the through hole of the reference frame body 551 not shown in Figure 5.

[0045] FIG5 is a perspective view of a reference frame body 551 according to a non-limiting embodiment of the present disclosure, clearly showing the structure of the reference frame body 551. In one non-limiting embodiment, the reference frame body 551 may include a distal wall portion 5516 that is positioned away from rigid tissue during surgery, and leg portions 5517 that extend from the distal wall portion 5516 toward the rigid tissue. Additionally or alternatively, the reference frame body 551 may also include a plurality of web portions 5518 connected between the leg portions 5517. Additionally or alternatively, two web portions 5518 may be provided, preferably positioned opposite each other, to facilitate mounting of the articulated shaft 5532 of the retainer 553 (described further below). Of course, in another non-limiting embodiment, the reference frame body 551 may not be provided with a web portion. In this case, the articulated shaft 5532 may be mounted on the leg portions 5517, particularly on two opposing leg portions. A plurality of through-holes may be provided in the reference frame body 551, and the plurality of through-holes may be arranged in different portions of the reference frame body 551. Additionally or alternatively, one of the plurality of through-holes is a first through-hole 5511 for passing the driver 552, and two of the plurality of through-holes are second through-holes 5513 for mounting the joint shaft 5532. Additionally or alternatively, the first through-hole 5511 and the second through-hole 5513 are oriented perpendicularly to each other, thereby facilitating the easy installation of the retaining member 553 on the reference frame body 551 and enabling the retaining member 553 to reliably transition between operational states within the reference frame body 551. To facilitate assembly and machining between the various components of the reference frame 550, the first through-hole 5511 is internally threaded and is defined in the distal wall portion 5516 of the reference frame body 551, while the second through-hole 5513 is defined in the web portion 5518 of the reference frame body 551. Alternatively, the first through-hole and the second through-hole may be defined in other locations of the reference frame body 551, as long as they are oriented perpendicularly. Calibration coordinate points 5515 for use in imaging device image registration may also be installed on the reference frame body 551. These calibration coordinate points 5515 are particularly configured to determine the corresponding positions of the developing bodies 5514 and the electromagnetic sensor. In one non-limiting embodiment, these calibration coordinate points 5515 are located on the distal wall portion 5516 of the reference frame body 551. Alternatively, the calibration coordinate points 5515 may also be located on other locations of the reference frame, particularly the reference frame body, that are convenient for installation and / or processing. Additionally or alternatively, a plurality of developing bodies 5514 are arranged in the proximal region of the leg portion 5517 of the reference frame body 551. These developing bodies 5514 can be displayed under the imaging device, particularly in the imaging device image, to facilitate registration with the image captured by the three-dimensional imaging device of the electromagnetic navigation device during surgery.

[0046] FIG6 is a perspective view of a driver 552 of a reference frame 550 according to a non-limiting embodiment of the present disclosure. In one non-limiting embodiment, the driver 552 includes a screw 5521 and a boss 5522. The screw 5521 has a distal section, a middle section, and a proximal section, and the boss 5522 can be designed to contact the distal region of the retaining member 553 when driving the retaining member 553. Additionally or alternatively, the boss can be fixedly mounted on the screw 5521 or rotatably mounted on the screw 5521, with a stopper provided at the proximal section of the screw 5521 to limit longitudinal movement of the boss 5522 along the screw 5521. In one non-limiting embodiment, the middle section is provided with external threads, through which the driver 552 engages with the internal threads of the first through-hole 5511 of the reference frame body 551, thereby movably connecting the driver 552 to the reference frame body 551. To facilitate application of external force to securely hold reference frame 550 on rigid tissue, the distal section of driver 552 is preferably designed with a polygonal outer cross-section to enable rotation by screwing tool 556. Additionally or alternatively, a boss 5522 is provided at the proximal section of driver 552 so as to contact the distal end of retaining member 553. To limit the longitudinal movement of boss 5522 along screw 5521, a limiting device preferably includes a stopper 5524 proximal to the external threads of screw 5521 and a stopper ring 5523 distal to the external threads, wherein stopper ring 5523 and stopper 5524 are spaced longitudinally along screw 5521. In one non-limiting embodiment, stopper 5524 protrudes radially outward from the outer circumference of screw 5521, wherein the stopper can be designed in an annular or arcuate shape.

[0047] FIG7 is a perspective view of a retaining member 553 of a reference frame 550 according to a non-limiting embodiment of the present disclosure. The retaining member 553 has at least two retaining arms 5533 and a joint axis 5532 for retaining rigid tissue. The at least two retaining arms 5533 are hinged about the joint axis 5532. The at least two retaining arms 5533 each have a distal end 55331 and a proximal end 55332. The distal end 55331 of the retaining member 553 contacts the driving member 552 when driven by the driving member 552, while the proximal end 55332 contacts the rigid tissue when retaining the rigid tissue. The proximal ends 55332 of the retaining arms 5533 are each provided with a plurality of facing protrusions 5531 on the inner sides thereof to more securely retain the reference frame 550 on the rigid tissue, particularly to more securely clamp or support the rigid tissue.

[0048] 8 and 9 are longitudinal sectional views of the reference frame 550 in FIG3 in different operating states, respectively, wherein FIG8 shows the reference frame 550 with its retaining member 553 in a retaining state, and FIG9 shows the reference frame 550 with its retaining member 553 in an open state. The following two figures are combined to illustrate the process of detachably fixing the reference frame 550 on the rigid tissue: the driving member 552 is screwed by a screwing tool 556 whose additional inner cross-section corresponds to the distal outer cross-section of the driving member 552, so that the driving member 552 moves downward in the drawing relative to the reference frame body 551. At this time, since the retaining member 553 is rotatably fixed to the reference frame body 551 through the joint shaft 5532, it cannot move in the vertical direction of the drawing. Therefore, as the driving member 552 moves downward, the driving member 552, especially its boss 5522, presses the distal ends 55331 of the two retaining arms 5533 of the retaining member 553 toward the bottom of the drawing, and the retaining arms 5533 then pivot around the joint shaft 5532, so that the proximal end 55332 of the retaining member 553 tightly embraces the rigid tissue (as shown in Figure 9). On the contrary, when the retaining member 553 is fixedly held on the rigid tissue, the driving member 552 is screwed in the opposite direction by the screwing tool 556, so that the driving member 552 moves away from the retaining member 553. As the boss leaves the distal end 55331 of the two retaining arms 5533, the proximal end of the retaining member 553 gradually opens and thereby loosens the rigid tissue (as shown in Figure 8).

[0049] Although various examples of the present disclosure are provided in the foregoing description, those skilled in the art may modify and alter these examples without departing from the scope and spirit of the present disclosure. For example, it should be understood that the features of the various embodiments herein may be applicable to other embodiments described herein. Therefore, the description is intended to illustrate rather than to limit. The disclosure is defined by the appended claims, and all changes to the disclosure that fall within the meaning and equivalent scope of the claims are intended to be included within their scope.

Claims

1. A reference frame for electromagnetic navigation of a surgical robot having a robotic arm, characterized in that: The reference frame comprises: - Reference frame body; - a holding member, the holding member being operatively connected to the reference frame body and being capable of being driven to hold the reference frame body in a fixed position on the rigid tissue closest to the target area; - a drive member for driving the retaining member; in, The reference frame is provided with a receiving portion for detachably mounting the electromagnetic sensing device for the electromagnetic navigation and is provided with a plurality of developing bodies capable of displaying coordinate positions in an image of an imaging device.

2. The reference frame according to claim 1, characterized in that The reference frame body includes a distal wall portion that is away from the rigid tissue during surgery and a leg portion extending from the distal wall portion toward the rigid tissue.

3. The reference frame according to claim 2, characterized in that The reference frame body also includes a plurality of web portions connected between the leg portions.

4. The reference frame according to any one of claims 1 to 3, characterized in that The reference frame body (551) at least partially accommodates the retaining member.

5. The reference frame according to claim 2 or 3, characterized in that: The plurality of developing bodies are respectively disposed on proximal end regions of the leg portions.

6. The reference frame according to any one of claims 1 to 3, characterized in that The holding member has at least two holding arms for holding the rigid tissue and a joint axis, and the at least two holding arms are hinged around the joint axis.

7. The reference frame according to claim 3, characterized in that A plurality of through holes are provided on the reference frame body, and the plurality of through holes are arranged at different parts of the reference frame body.

8. The reference frame according to claim 7, characterized in that One of the plurality of through holes is a first through hole for passing the driving member, and two of the plurality of through holes are second through holes for mounting the joint shaft, wherein the first through hole and the second through hole are oriented perpendicularly to each other.

9. The reference frame according to claim 8, characterized in that The first through hole has an internal thread and is opened in the distal wall portion, and the second through hole is opened in the web portion.

10. The reference frame according to claim 9, characterized in that The driving member includes a screw and a boss, the screw has a distal section, a middle section and a proximal section, the proximal section is provided with a limit device for limiting the longitudinal movement of the boss along the screw, and the middle section is provided with an external thread, and the driving member is engaged with the internal thread of the first through hole through the external thread.

11. The reference frame according to claim 10, characterized in that The limiting device comprises a stopper close to the external thread and a stop ring away from the external thread, and the stop ring is spaced apart from the stopper along the longitudinal direction of the screw rod.

12. The reference frame according to claim 11, characterized in that The stopper protrudes outward from the outer circumference of the screw in the radial direction.

13. The reference frame according to claim 10, characterized in that The distal end section of the driving member (552) is designed to have a polygonal outer cross-section and can be rotated by a screwing tool (556).

14. The reference frame according to claim 6, characterized in that The at least two retaining arms (5533) respectively have a distal end and a proximal end, wherein the distal end contacts the driving member when driven by the driving member, and the proximal end contacts the rigid tissue when retaining the rigid tissue.

15. The reference frame according to claim 14, characterized in that A plurality of protrusions facing each other are respectively provided on the inner sides of the proximal ends of the at least two retaining arms (5533).

16. The reference frame according to any one of claims 1 to 3, characterized in that The accommodating portion (5512) is designed as a hole for threaded connection with the electromagnetic sensing device, and the hole has an internal thread.

17. The reference frame according to any one of claims 1 to 3, characterized in that Calibration coordinate points (5515) for image registration of imaging equipment are also provided on the reference frame body.

18. An electromagnetic navigation device for a surgical robot having a mechanical arm, characterized in that: The electromagnetic navigation device comprises: - A reference frame according to any one of claims 1 to 17; - a plurality of electromagnetic sensing devices, one of which is a first electromagnetic sensing device for sensing the real-time posture of the rigid tissue, which is detachably mounted on the reference frame, and another is a second electromagnetic sensing device for sensing the real-time posture of the end effector (400) of the robot arm, which is fixed on the robot arm; - an electronic control unit (510) configured to control the magnetic field generating device (520) to generate a magnetic field to obtain a position of a first electromagnetic sensor disposed on a reference frame (550); - a magnetic field generating device (520) configured to generate a magnetic field over the target area to be operated on that covers the first sensing device (530) and the second sensing device (540); - an imaging device configured to perform intraoperative scanning of the target area and the reference frame body To obtain the coordinate position of the target area and the developer on the reference frame based on the coordinate system of the imaging device.

19. The electromagnetic navigation device according to claim 18, characterized in that: The first electromagnetic sensing device comprises a connector (5302) with an external thread for detachably fixing to the reference frame, a first electromagnetic sensor and a cable (5301), wherein the first electromagnetic sensor on the reference frame is coupled to the electronic control unit (510) via the cable (5301), wherein the first electromagnetic sensor is arranged in the connector (5302).

20. An electromagnetic navigation system for a surgical robot, the electromagnetic navigation system comprising: - An electromagnetic navigation device (500) according to claim 18 or 19; - a trolley device (100) for fixing the mechanical arm (300) relative to the target object and for placing the electronic control unit (510) of the electromagnetic navigation device; - A display device (200) for displaying intraoperative imaging results and providing an operation interface; - a mechanical arm (300) for guiding the movement of the end effector (400), which is fixedly connected to the trolley device (100); - An end effector (400) for performing a surgical operation on the target area, which is fixedly connected to the proximal end of the robotic arm (300).

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