Surgical robot for orthopedic surgery

Abstract

The present disclosure relates to a surgical robot for orthopedic surgery, comprising a robotic arm device, a positioning and navigation device, and a control device, wherein the robotic arm device comprises at least two robotic arms, and an end effector is arranged at the end of each robotic arm close to an operating zone. The positioning and navigation device comprises an electromagnetic navigation device. The electromagnetic navigation device comprises: a tracking apparatus for electromagnetic tracking, comprising a magnetic field generator used for covering the at least two end effectors and at least two first electromagnetic tracking elements used for respectively tracking the orientations of the at least two end effectors during the surgery; and a reference frame, wherein a second electromagnetic tracking element and a developing body capable of displaying a coordinate position are arranged on the reference frame. The positioning and navigation device further comprises an imaging device used for positioning and navigating the at least two end effectors. The imaging device comprises an infrared coherent imaging navigation device used for positioning the operating zone and the at least two end effectors.

Description

Surgical robots for orthopedic surgery

[0001] For all purposes, this application claims priority to Chinese Application No. 202311073132.2, filed on August 24, 2023, which is incorporated herein by reference in its entirety. Technical Field

[0002] The present disclosure relates to a surgical robot for orthopedic surgery, which comprises a robotic arm device, a positioning navigation device, and a control device. Background Art

[0003] Surgical robots are used to assist in surgical operations, customize three-dimensional preoperative plans, make the surgical site clearer and more defined, reduce tremors and improve surgical precision, reduce damage to healthy bones and tissues, reduce blood loss, protect nerves, shorten hospital stays and speed up recovery. They can also guide remote surgery and reduce intraoperative fluoroscopy (such as X-rays) to reduce radiation.

[0004] Robot-assisted orthopedic surgery is a key application of orthopedic surgical robots. Traditionally, surgeons have placed screws in the spinal bones to perform complex spinal surgeries manually or with the assistance of extensive intraoperative X-rays, exposing both patients and surgeons to radiation exposure. Furthermore, spinal surgery requires high precision in screw placement, and placing a screw in an incorrect or suboptimal position can have serious consequences.

[0005] Orthopedic surgical robots can provide a guidance system based on computerized preoperative planning, significantly improving accuracy and reducing the risk of misplaced screws. However, existing orthopedic surgical robots generally only have one or two arms, which are used for intraoperative navigation and / or placement of Kirschner wires. Conventional orthopedic robotic spinal pedicle screw placement surgery follows intraoperative planning, inserts a guide wire, and then inserts a hollow pedicle screw through the guide wire. Ultimately, the doctor still relies on manual drilling and screwing, which is inefficient. Existing orthopedic surgical robots are generally equipped with an infrared navigation system, which is easily blocked by objects during surgery and affected by the movement of the patient or the patient support device, resulting in navigation deviations and surgical interruptions.

[0006] Summary of the Invention

[0007] The technical problem to be solved by the present disclosure is to provide an improved surgical robot for orthopedic surgery, which greatly improves the degree of automation of orthopedic surgery, significantly increases the operating efficiency and surgical accuracy of existing orthopedic surgery, and at the same time greatly reduces the workload of orthopedic surgeons.

[0008] This technology is solved by a surgical robot for orthopedic surgery, which includes a robotic arm device, a positioning and navigation device, and a control device communicatively coupled to the robotic arm device and the positioning and navigation device. According to the provisions of the present disclosure, the robotic arm device has at least two robotic arms, each of which has an end effector mounted on one end near the surgical area. The positioning and navigation device includes a tracking device for electromagnetic tracking, which has a magnetic field generator for covering the at least two end effectors and at least two first electromagnetic tracking elements for tracking the orientation of the at least two end effectors during surgery; and a reference frame on which a second electromagnetic tracking element and a developing body capable of displaying coordinate positions are mounted. The positioning and navigation device also includes an imaging device for positioning and navigating the at least two end effectors, the imaging device including an infrared coherent imaging navigation device for locating the surgical area and the at least two end effectors. This ensures that drilling and nailing during orthopedic surgery by the surgical robot are not affected by the movement of the patient or the operating table.

[0009] In order to complete various types of orthopedic surgeries such as minimally invasive and open surgeries with high precision, especially spinal nail placement surgeries, the present disclosure has determined a dual navigation system of infrared coherent imaging navigation and electromagnetic navigation, wherein electromagnetic navigation can be applied to both minimally invasive and open surgeries. Although infrared coherent imaging navigation is more suitable for open surgeries due to its imaging depth limitations, its high-resolution imaging capability provides ultra-high-precision navigation capabilities. For the infrared coherent imaging navigation equipment, first, through optical design, the coherence distance of the infrared coherent imaging navigation equipment is made to reach more than 1 meter, so that the surgical area and surgical tools or surgical instruments can be imaged in real time at a long distance. After the infrared coherent imaging navigation equipment is aligned with the robotic arm coordinates, tracking navigation is achieved. For the electromagnetic navigation system, first, an electromagnetic navigation reference frame and supporting surgical tools are designed. The position data of the surgical area and surgical tools are obtained through electromagnetic detection elements to achieve tracking. Navigation is achieved after alignment with the CT imaging coordinates and the robotic arm system coordinates. Through algorithm development, both dual navigation systems can achieve real-time navigation alignment, thereby suppressing the drift induced by the patient's breathing.

[0010] Infrared coherent imaging navigation does not require intraoperative CT imaging, thereby reducing X-ray radiation for doctors and patients. At the same time, it can also achieve precise robot positioning and anatomical visualization within the surgical area, helping surgeons or surgical robots perform surgery during the operation.

[0011] In a further development, further improving positioning, navigation, and monitoring, an imaging device is positioned at one end of one of the at least two robotic arms, proximal to the surgical field, and is in communication with the control device to maintain the imaging device in a consistent working position and orientation during surgery. This allows the surgical robot's control device to adjust the imaging device's position and orientation as the surgical field moves, thereby achieving optimal monitoring, positioning, and navigation.

[0012] According to an expanded design of the present disclosure, by arranging the first electromagnetic tracking element in or on the at least two end effectors respectively, the electromagnetic positioning can be made more accurate, because when the end effector is installed on the robotic arm, the orientation of the end effector relative to the corresponding robotic arm is not consistent for various reasons.

[0013] To facilitate intraoperative surgical monitoring and learning for medical staff, avoid conflicts with other instruments and equipment, and eliminate the need for sterile draping, the imaging system advantageously includes a telescope for imaging and tracking objects within the surgical field. This telescope is positioned at least one meter above the patient support. Positioning the telescope on the patient support ensures that it maintains imaging without obstructing other intraoperative procedures.

[0014] In a further development, the control device is configured to perform the tracking by means of an identifier for the operating area. A more convenient and easy way to achieve tracking is to set an identifier for identifying the position of the operating area, whereby tracking can be achieved by identifying the identifier for identifying the position of the operating area.

[0015] Further facilitating the control of the positions of the at least two robotic arms is that the control device is configured to control the positions of the at least two robotic arms based on the distance and the positions of the identifiers.

[0016] In order to make it more convenient for medical staff to monitor and learn during the operation, the positioning navigation equipment also includes a monitoring device, which has multiple monitors, one of which is a first monitor for displaying data from the infrared coherent imaging navigation equipment and the electromagnetic navigation equipment, and the other is a second monitor for displaying data from the remote microscope device.

[0017] In a further development, the tele-microscope is configured for stereoscopic visualization of the surgical area, enabling preoperative depth perception of the surgical area. For example, this could be used to provide a natural depth perception of the spine required for complex spinal surgery. This is similar to naked-eye 3D imaging, where a naked-eye 3D spinal image is overlaid on the skin surface, allowing the surgeon to visualize the underlying bone locations before surgery.

[0018] Advantageously for automation of robotic surgery, the at least two robotic arms include a first robotic arm for mounting the first end effector, a second robotic arm for mounting the second end effector, and a third robotic arm for mounting the imaging device.

[0019] The remote microscope and the infrared coherent imaging navigation device are arranged on the third robotic arm in such a way that the fields of view of the remote microscope and the infrared coherent imaging navigation device overlap, especially the fields of view of their probes overlap, thereby enabling the remote microscope and the infrared coherent imaging navigation device to be simultaneously aimed at the surgical area where orthopedic surgery is to be performed.

[0020] In a further expanded solution, the first end effector is designed as a first implanter for placing a first implant into a patient's body, and the second end effector is optionally designed as a second implanter or a drilling tool for placing a second implant into a patient's body. In order to reduce the load of the control device on analyzing and processing data from each robotic arm, fewer robotic arms should be provided as much as possible while ensuring that the surgical robot is highly automated and effective. It is particularly advantageous to optionally design the second end effector as a second implanter or a drilling tool for placing a second implant into a patient's body. Because this eliminates the need to provide a robotic arm for each surgical instrument. This optional design is achieved by replacing the drilling tool used for this drilling operation with another surgical instrument, such as an implanter, after the surgical robot performs a drilling operation using the second robotic arm, so that the same robotic arm, i.e., the second robotic arm, can perform several surgical operations.

[0021] In a further development, when the second end effector is designed as a second implant, the first and second implants work together during surgery, balancing the torque exerted on the surgical area by the first and second implants. This improves the stability and success rate of implant placement during orthopedic surgery, and is particularly useful in situations where both left- and right-handed screws are required, such as in hard bone where using only right-handed screws could cause secondary injuries such as fractures.

[0022] In a further expanded scheme, the first implant is designed as one of the left-handed and right-handed pedicle screws, and the second implant is designed as the other of the left-handed and right-handed pedicle screws. By simultaneously screwing with two robotic arms and offsetting the left and right torques, the stability and success rate of orthopedic surgery, especially spinal screw placement, are further improved.

[0023] The control device of the surgical robot according to the present disclosure includes: a surgical planning module for planning surgery; a data analysis and processing module for analyzing and processing data to control the robotic arm device; and a robotic arm control module for controlling the movement of the robotic arm device. In an advantageous solution of the present disclosure, the surgical planning module is configured to select and save entry points and trajectories for planned orthopedic surgical operations during the planning stage.

[0024] In a further extended design, in order to determine the motion trajectory of the corresponding robotic arm, it is advantageous that the data analysis and processing module is configured to share the position of the entry point and the orientation of the trajectory of the selected and saved orthopedic surgical operation with the robotic arm control module in the form of coordinate transformation.

[0025] More advantageously for controlling the surgical robot, the robotic arm control module is further configured to define the movement orientations of the at least two robotic arms by angles and Cartesian coordinates.

[0026] In order to avoid obstructing the orthopedic surgical robot and / or the surgical participants, the magnetic field generator is mounted on the patient support device. In particular, the magnetic field generator can be integrated into any position on the operating table as long as it does not interfere with the movement of the orthopedic surgical robot or some typical workflow in the operating room before or during surgery.

[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 a non-limiting embodiment of a robot for orthopedic surgery according to the present disclosure;

[0029] FIG2 is a block diagram of the working principle of a robot for orthopedic surgery according to the present disclosure;

[0030] 3a-3b are non-limiting embodiments of first and second implants, respectively, according to the present disclosure.

[0031] Referring to the drawings, wherein like reference numerals refer to like parts throughout the several views, the present disclosure is directed to a surgical robot for orthopedic surgery. DETAILED DESCRIPTION

[0032] 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.

[0033] The technical term "orthopedic surgery" in the present disclosure includes, but is not limited to, laminectomy, discectomy, vertebroplasty, discectomy, lamina resection, lumbar fusion, etc. The ordinal numbers "first," "second," and "third" merely indicate different components and do not limit the order.

[0034] FIG1 shows a non-limiting embodiment of a surgical robot 10 for orthopedic surgery according to the present disclosure. The surgical robot 10 according to the present disclosure mainly includes a control device 100, a positioning navigation device 200, and a robotic arm device 300, and generally additionally includes a tool set for orthopedic surgery, a patient support device 500 for a patient to be operated on, and a trolley device 600 for at least fixing the robotic arm device 300.

[0035] In one non-limiting embodiment of the present disclosure, the robotic arm device 300 comprises at least two, preferably three, robotic arms, namely a first robotic arm 301, a second robotic arm 302, and a third robotic arm 303. An end effector 400 for performing surgical procedures, particularly orthopedic surgery, can be detachably mounted on the ends of the first and second robotic arms 301 and 302 near the surgical area, and an imaging device 201 can be fixedly mounted on the free end of the third robotic arm 303. Additionally, the robotic arm device 300 can also serve as a mechanical actuator for the two end effectors 400. To avoid requiring medical personnel to replace the end effectors 400 during surgery and thereby enhance the effectiveness of the surgical robot 10, the three robotic arms can be respectively designed as a first robotic arm 301 for mounting a first end effector 410, a second robotic arm 302 for mounting a second end effector 420, and a third robotic arm 303 for mounting the imaging device 201. Each robotic arm is preferably implemented as a multi-axis robotic arm as shown in FIG. 1 .

[0036] Of course, depending on the complexity of the surgical situation, the surgical robot can also be modified to have a total of more than three robotic arms working in conjunction with each other to complete the surgery more efficiently. Conversely, to reduce the load on the control device 100 for data analysis and processing, the surgical robot can also be modified to have only one robotic arm, but the free end of this robotic arm is provided with an interface for connecting different end effectors. Unlike surgical robots with three robotic arms, this type of robot with only one robotic arm requires medical personnel to participate in the operation to replace the end effector during the operation. Therefore, in the case of only one robotic arm, the degree of automation of the surgical robot is not as high as that of the surgical robot with three robotic arms.

[0037] The first end effector 410 and the second end effector 420 respectively mounted on the first robotic arm 301 and the second robotic arm 302 can be implemented as surgical tools for surgical operations, such as bone knives, screw drivers, drills, retractors, bone forceps, bone hammers, or other types of surgical tools, or can be implemented as implanters for inserting implants, such as screw drivers. In a non-limiting embodiment of the present disclosure, the first end effector 410 can be designed as a first implanter for inserting a first implant as shown in FIG3 a into the body, and the second end effector 420 can be optionally designed as a surgical tool in the form of a drilling tool for drilling or a second implanter for inserting a second implant as shown in FIG3 b into the body. The implanter and the drilling tool will be further described below.

[0038] The first robotic arm 301 and the second robotic arm 302 position and orient the robot's end effector 400 according to commands issued by the surgical planning module 102 and the tracking device shown in FIG2 , so as to automatically complete at least two types of operation functions in orthopedic surgery, such as automatic drilling and automatic nail placement. The surgical operation functions may also be osteotomy, joint replacement, bone distraction, debridement, insertion and removal of Kirschner wires, or other surgical operation functions. For example, in order to achieve functions such as drilling and nail placement, the first robotic arm 301 and the second robotic arm 302 first monitor and guide the operation of the first robotic arm 301 and the second robotic arm 302 in real time according to the trajectory for drilling and nail placement obtained by preoperative planning, such as the trajectory for drilling and nail placement, through the positioning navigation system, thereby ensuring precise control of the first robotic arm 301 and the second robotic arm 302 to complete the drilling and nail placement work, especially in the non-limiting embodiment of the present disclosure, ensuring precise control of the nail placement of the first robotic arm 301 and the nail placement of the second robotic arm 302.

[0039] The third robotic arm 303 can be configured to fix the imaging device 201, and communicate with the data analysis and processing module 101 and the robotic arm control module 103 shown in Figure 2 to position and orient the imaging device 201, so that the imaging device 201 always maintains its working distance and orientation overlooking the surgical area during orthopedic surgery.

[0040] The control device 100 for controlling the robotic arm device 300 can be communicatively coupled with the robotic arm device 300 and the positioning navigation device 200, and mainly includes a data analysis and processing module 101, a surgical planning module 102 and a robotic arm control module 103, which will be further explained below, wherein the control device 100 can be implemented as a computer device with a computer-readable storage medium as shown in Figure 1, and wherein the positioning navigation device 200 includes an electromagnetic navigation device 210 and an optional infrared coherent imaging navigation device 220, which are not shown in Figure 1 but will be further explained below.

[0041] The electromagnetic navigation device 210 is used to position at least two, and in a non-limiting embodiment of the present disclosure, three end effectors 400 within the surgical area and mainly includes a tracking device for electromagnetic tracking not shown, a reference frame for electromagnetic navigation not shown in Figure 1, and a medical imaging device, which is used to perform intraoperative scanning of the surgical area and the reference frame to obtain the coordinate positions of the surgical area and the developing body based on the coordinate system of the medical imaging device. The medical imaging device can be implemented as a CT device in particular.

[0042] The tracking device (not shown) includes a magnetic field generator for generating a magnetic field and at least one electromagnetic tracking element, which includes a first electromagnetic tracking element and a second electromagnetic tracking element. The first electromagnetic tracking element can be embedded in the end effector 400 of the orthopedic surgical robot 10 or an implant compatible with the end effector. Alternatively, the first electromagnetic tracking element can be mounted on the end effector 400 or an implant compatible with the end effector, provided it does not affect the surgical outcome, and the second electromagnetic tracking element is arranged on the reference frame of the positioning navigation device. The first electromagnetic tracking element continuously tracks the position and orientation of the end effector 400 or the implant compatible with the end effector during the surgical procedure. The electromagnetic navigation device 210 also includes a magnetic field generator for generating a magnetic field. The magnetic field generator can be positioned so that its magnetic field covers the position of the at least one electromagnetic tracking element, as long as it does not interfere with the movement of the orthopedic surgical robot 10 or certain typical preoperative or interoperative operating room workflows. The magnetic field generator can advantageously be positioned on the patient support device 500, preferably integrated therein.

[0043] The reference frame can be removably secured to a rigid tissue proximal to the surgical area, such as a spinous process or other bone tissue of a patient undergoing orthopedic surgery. A second electromagnetic tracking element and a developing object capable of displaying coordinate positions in an image captured by a medical imaging device are removably secured to the reference frame. The medical imaging device can be configured to perform an intraoperative scan of the surgical area and the reference frame to obtain coordinate positions of the surgical area and the developing object based on a coordinate system of the medical imaging device.

[0044] The control device 100 can also control the magnetic field generator to generate a magnetic field, especially a three-dimensional magnetic field, thereby obtaining the position of the second electromagnetic tracking element set on the reference frame. The magnetic field generator can generate a magnetic field covering the second electromagnetic tracking element and the first electromagnetic tracking element on the reference frame above the target area to be operated on. The medical imaging device can perform intraoperative scanning of the target area and the reference frame, especially three-dimensional scanning, to obtain the coordinate position of the developing object on the reference frame of the target area based on the coordinate system of the imaging device, especially the three-dimensional coordinate position.

[0045] The working principle of the electromagnetic positioning navigation device according to the present disclosure is preferably as follows: first, an intraoperative three-dimensional CT scan of the surgical area and the reference frame is performed using a CT scanner (not shown) to obtain the coordinate positions of the target area and the developing body on the reference frame based on the CT coordinate system; then, the control device 100 controls the magnetic field generator to generate a three-dimensional magnetic field to obtain the position of the second electromagnetic tracking element on the reference frame; since the relative positions of the developing body on the reference frame and the second electromagnetic tracking element on the reference frame are known, the CT coordinates and the electromagnetic field coordinates can be matched based on this relative position relationship; in addition, the positional relationship between the first electromagnetic tracking element at the first, second and third robotic arms and the free ends of the end effector 400 and the imaging device 201 is known, and based on this positional relationship, the electromagnetic field coordinates can be matched with the coordinates of the first end effector 410, the second end effector 420 and the imaging device 201; ultimately, the alignment of the CT, electromagnetic field, and the coordinates of the first end effector 410, the second end effector 420 and the coordinates of the imaging device 201 is achieved.

[0046] In order to achieve more accurate positioning and anatomical visualization of the surgical robot 10 in the surgical area, the positioning navigation device 200 in the non-limiting embodiment of the present disclosure additionally includes an imaging device 201 and a monitoring device.

[0047] The imaging device 201 may include an infrared coherent imaging navigation device 220 and a remote microscope 2011. The remote microscope 2011 can provide surgeons and nurses with visualization of the operating area to monitor the safe and smooth progress of the surgical process. The infrared coherent imaging navigation device 220 can provide the surgical robot 10 with more accurate positioning and navigation, because the infrared coherent imaging navigation device 220 combined with the data analysis and processing module 101 can be used to locate the operating area and the first robotic arm 301 and the second robotic arm 302, and enable the first robotic arm 301 and the second robotic arm 302 to determine their own positions relative to the patient.

[0048] The imaging function can be realized by the remote microscope 2011 and the surgical area can be tracked with the help of the identifier for the surgical area so that the surgical participants, especially the surgeon, can see the surgical area clearly. The remote microscope 2011 is preferably arranged at a position more than 1 meter above the operating table. In particular, this position also ensures the collection of images of objects in the surgical area, which is convenient for medical staff to monitor and learn the surgery during the operation, and avoids conflicts with other instruments and equipment during the operation, and does not require sterile covering. The tracking function is realized with the help of the data analysis and processing module 101 shown in Figure 2, which tracks the identifiers used to identify the surgical area, especially the unique identifier, through an algorithm. The distance, position and direction of these identifiers are used as inputs to the robot arm control module 103 in Figure 2 to control the position and direction of the robot arm. In addition, the imaging device 201 can also provide advanced stereoscopic three-dimensional visualization of the surgical area, which can achieve the natural depth perception required for complex orthopedic surgery.

[0049] In a non-limiting embodiment of the present disclosure, the monitoring device is implemented as multiple monitors, preferably a first monitor 203 and a second monitor not shown, wherein the first monitor 203 is used to display data from the infrared coherent imaging navigation device 220 and the electromagnetic navigation device 210 to facilitate doctors and nurses to monitor the surgical progress separately during the operation, and to promptly prevent the end effector, especially the surgical tool, from having an unexpected motion trajectory during the operation. In a non-limiting embodiment of the present disclosure, the first monitor 203 is implemented as a small monitor, preferably designed in two, so that doctors and nurses in different positions can better see the necessary information related to their respective surgical work, and wherein the second monitor not shown in Figure 1 is used to display data from the remote microscope 2011 and is implemented as a large medical-grade surgical monitor, such as a fifty-inch or larger monitor, which can provide everyone in the operating room with an opportunity to see the surgical area, especially allowing doctors and orthopedic surgery students and other personnel to more intuitively see the enlarged surgical area. For this purpose, the second monitor can advantageously be movably arranged next to the trolley device 600. The aforementioned “data” may be in the form of visual images, medical images taken before and during surgery, coordinates, angles, orientations or other monitoring data.

[0050] The surgical robot 10 is typically equipped with a tool set for orthopedic surgery, including, for example, an end effector 400, an adapter, an implant, and an implanter for inserting the implant into the patient's body. For example, in spinal surgery, the implanter is preferably designed as a screw driver. Alternatively, the implanter can also be a device that assists in inserting the intervertebral fusion device into the body.

[0051] The adapter comprises a first adapter 4011 and a second adapter 4012 that can be connected to the end of the first mechanical arm 301 and the second mechanical arm 302 respectively. The first adapter 4011 can be used to couple the first mechanical arm 301 with the first implanter for the first implant and / or the second implanter for the second implant, and the second mechanical arm 302 can be coupled with the drilling tool by the second adapter 4012. The first implanter can be the same implanter as the second implanter, or it can be an implanter different in type and model. Usually, the adapters corresponding to different implanters are usually different, but a multi-purpose adapter that is adapted to different implanters can also be designed. In a non-limiting embodiment of the present disclosure, the first implanter is the same as the second implanter, and further both are designed as screwdrivers as described above.

[0052] In a non-limiting embodiment of the present disclosure, first, the second robotic arm 302 is coupled to a bone cutter serving as a drilling tool through the second adapter 4012 so that a hole is drilled before the nail is placed, and then the second robotic arm 302 is coupled to a nail driver serving as one of the end effectors 400 through the first adapter 4011 so as to reduce the degree of doctor's participation in orthopedic surgery or to increase the degree of automation of orthopedic surgery.

[0053] The patient support device 500 is generally designed in the form of an operating table, which is used to support a patient to be operated on and is equipped with a magnetic field generator for electromagnetic positioning navigation.

[0054] The surgical robot 10 used for orthopedic surgery generally further includes a trolley device 600 for placing the control device 100 and components required for the control device 100 and connecting and fixing the robotic arm device 300 and a monitoring device, etc.

[0055] FIG2 illustrates a block diagram of the operating principles of a surgical robot 10 for orthopedic surgery, according to a non-limiting embodiment of the present disclosure. The surgical robot 10 for orthopedic surgery, particularly spinal screw placement surgery, is equipped with a positioning navigation device 200, indicated by a dotted circle. The device utilizes a dual navigation system, namely, an electromagnetic navigation system and an optional infrared coherent imaging navigation system, to adapt the optimal navigation method to the specific surgical situation, such as minimally invasive surgery or open surgery. For example, electromagnetic navigation alone or a combination of electromagnetic navigation and infrared coherent imaging navigation can be used. Electromagnetic navigation can be applied to both minimally invasive and open surgeries. In contrast, infrared coherent imaging navigation, while more suitable for open surgery due to its imaging depth limitations, provides ultra-high-precision navigation capabilities due to its high-resolution imaging capabilities.

[0056] As shown on the left side of Figure 2, an electromagnetic navigation device 210 is used to implement electromagnetic navigation. This electromagnetic navigation device 210 is equipped with an electromagnetic navigation reference frame and supporting surgical tools. Electromagnetic detection elements are used to obtain the position data of the surgical area and the position data of the surgical tools to achieve positioning tracking. Navigation is achieved by aligning with the CT imaging coordinates and the coordinates of the robotic arm system. To implement optional infrared coherent imaging navigation, an infrared coherent imaging navigation device 220 is used. Through optical design, the coherence distance of the infrared coherent imaging navigation device 220 reaches more than 1 meter, so that the surgical area and surgical tools or surgical instruments can be imaged in real time at a long distance. After the infrared coherent imaging navigation device 220 is aligned with the robotic arm coordinates, tracking navigation can be achieved. The data analysis and processing module of the control device 100 receives relevant data from the electromagnetic navigation device and the infrared coherent imaging navigation device, thereby achieving real-time navigation alignment, and in particular, suppressing drift induced by the patient's breathing.

[0057] If a combination of electromagnetic navigation and infrared coherent imaging navigation is adopted, medical imaging, especially CT imaging, is not required during the operation. This can reduce the amount of X-ray radiation exposed to doctors and patients, while also enabling accurate robot positioning and anatomical visualization within the surgical area. Therefore, it can help surgeons and / or surgical robots 10 to perform operations better during the operation.

[0058] The data analysis and processing module 101 of the control device 100 is primarily used to analyze and process input data from the electromagnetic navigation device 210, the imaging device 201, and medical imaging devices to assist the orthopedic surgical robot 10 in performing automated orthopedic surgery on patients. It also assists surgeons in surgical planning and educational research by extracting various forms of functional information. Input data in this data analysis and processing module includes, but is not limited to, visual image data from the imaging device 201 and surgical area imaging data. The surgical area imaging data includes data from the electromagnetic navigation device 210 and medical image data from preoperative / intraoperative medical imaging 230 of the patient, particularly preoperative / intraoperative CT imaging.

[0059] The surgical planning module 102 of the control device 100 can receive the target area data from the data analysis and processing module 101 and can be used to plan the surgery to ensure that the surgical operation is performed quickly and seamlessly during orthopedic surgery. During the planning stage of the surgical planning module, the user can select and save the matching objects planned for orthopedic surgery, such as screws or other orthopedic surgical instruments, especially the entry point and trajectory of the implant, etc. through an operable interface. Here, the screws can be, for example, spinal screws in spinal surgery in a non-limiting embodiment of the present disclosure. The positions and directions of these saved screws or other orthopedic surgical instrument matching objects, especially the implant trajectory, are shared with the robotic arm control module 103 in the form of coordinate transformation to determine the motion trajectory of the corresponding robotic arm.

[0060] The robotic arm control module 103 of the control device 100 is used to receive the analysis results from the data analysis and processing module 101, such as the target posture of the robotic arm, and control the corresponding robotic arm to perform an action accordingly. Specifically, the robotic arm control module 103 controls the movement of the at least two robotic arms and the at least two end effectors based on the target posture of the robotic arm from the surgical planning module 102 and the analysis and processing results from the data analysis and processing module 101, such as the target posture of the robotic arm. In addition, the robotic arm control module 103 can also be used to define the movement limits of the robotic arm and the position limits in the form of "forbidden zones" through angles and Cartesian coordinates, thereby ensuring the safety and health of patients and surgical medical staff working near the robotic arm.

[0061] Figures 3a-3b are non-limiting examples of a first implant and a second implant according to the present disclosure, respectively. The implant according to the present disclosure includes a first implant and a second implant, wherein the first implant is designed as a left-handed pedicle screw as shown in Figure 3a, and the second implant is designed as a right-handed pedicle screw as shown in Figure 3b, so as to fix the spine, especially to restore the alignment of the spine and maintain the stability of the spine.

[0062] In scenarios where left-handed or right-handed screws are required, for example, when the bone is very hard and using only right-handed screws may cause secondary injuries such as fractures, after drilling the hole through the second robotic arm 302, the second adapter 4012 can be replaced with the first adapter 4011 and the screw driver can be connected, and then the left-handed pedicle screw 4031 or the right-handed pedicle screw 4032 can be fixed so that left-handed and right-handed pedicle screws can be screwed simultaneously with the first robotic arm 301, and the left and right torque balance control is performed through the robotic arm control module 103, thereby achieving torque offset and thus accurately placing the pedicle screws.

[0063] Although examples of the present disclosure are provided in the foregoing description, those skilled in the art may modify and change these examples without departing from the scope and spirit of the present disclosure. For example, it should be understood that the features of the 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 will be included within their scope.

Claims

1. A surgical robot for orthopedic surgery, comprising a mechanical arm device, a positioning navigation device, and a control device communicatively coupled to the mechanical arm device and the positioning navigation device, characterized in that: The robot arm device has at least two robot arms, each of which has an end effector mounted on one end close to the operation area, and the positioning navigation device includes an electromagnetic navigation device, which has: - a tracking device for electromagnetic tracking, comprising a magnetic field generator for covering at least two end effectors and at least two first electromagnetic tracking elements for respectively tracking the position of said at least two end effectors during a surgical procedure, and - a reference frame on which a second electromagnetic tracking element and a developing body capable of displaying coordinate positions are mounted, Wherein, the positioning and navigation device also includes an imaging device for positioning and navigating the at least two end effectors, and the imaging device has an infrared coherent imaging navigation device for positioning the surgical area and the at least two end effectors.

2. The surgical robot according to claim 1, characterized in that: The imaging device is arranged at one end of one of the at least two robotic arms close to the operating area and is communicatively connected with the control device to keep the imaging device always in a working position and orientation during the operation.

3. The surgical robot according to claim 1 or 2, characterized in that: The imaging device also has a remote microscope device for imaging and tracking the surgical area, which is arranged more than 1 meter above the patient support device.

4. The surgical robot according to claim 3, characterized in that: The control device is configured to perform the tracking by means of an identifier for the operating area.

5. The surgical robot according to claim 4, characterized in that: The control device is configured to control the positions of the at least two robotic arms based on the distance and position of the identifier.

6. The surgical robot according to claim 3, characterized in that: The positioning navigation device also includes a monitoring device, which has multiple monitors, one of which is a first monitor for displaying data from the infrared coherent imaging navigation device and the electromagnetic navigation device, and the other is a second monitor for displaying data from the long-distance microscope device.

7. The surgical robot according to claim 3, characterized in that: The remote microscope device is configured for stereoscopic visualization of the surgical area to provide a preoperative depth perception of the surgical area.

8. The surgical robot according to claim 3, characterized in that: The at least two robotic arms include a first robotic arm for mounting a first end effector, a second robotic arm for mounting a second end effector, and a third robotic arm for mounting the imaging device.

9. The surgical robot according to claim 8, characterized in that: The long-distance microscope device and the infrared coherent imaging navigation device are arranged on the third robot arm in such a way that the fields of view of the long-distance microscope device and the infrared coherent imaging navigation device overlap.

10. The surgical robot according to claim 8, characterized in that: The first end effector is designed as a first implanter for inserting a first implant into a patient's body, and the second end effector can be selectively designed as a second implanter or a drilling tool for inserting a second implant into a patient's body.

11. The surgical robot according to claim 10, characterized in that: When the second end effector is designed as a second implanter, the first implanter cooperates with the first implanter during surgery, so that the torques acting on the surgical area by the first implanter and the second implanter are balanced.

12. The surgical robot according to claim 11, characterized in that: The first implant is designed as one of a left-handed pedicle screw and a right-handed pedicle screw, and the second implant is designed as the other of the left-handed pedicle screw and the right-handed pedicle screw.

13. The surgical robot according to claim 1 or 2, characterized in that: The control device comprises: -Surgery planning module for planning surgeries; - a data analysis and processing module, used to analyze and process data to control the robotic arm device; - A robotic arm control module, used to control the movement of the robotic arm device; The surgical planning module is configured to select and save entry points and trajectories for planned orthopedic surgical operations during the planning stage.

14. The surgical robot according to claim 13, characterized in that: The data analysis and processing module is configured to share the position of the entry point and the orientation of the trajectory of the selected and saved orthopedic surgery operation with the robotic arm control module in the form of coordinate transformation to determine the motion trajectory of the corresponding robotic arm.

15. The surgical robot according to claim 13, characterized in that: The robot control module is also configured to define the movement orientation of the at least two robot arms by angles and Cartesian coordinates.

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