CN209826968U - Surgical robot system - Google Patents

Abstract

The utility model provides a surgical robot system, surgical robot system includes workstation, arm, scanning module, guide module etc. wherein can accomplish fast registration with the help of scanning module. The system improves the speed and precision of registration and shortens the operation time.

Description

Surgical robot system

Technical Field

The utility model belongs to the technical field of the medical equipment technique and specifically relates to a surgical robot system is related to.

Background

The surgical robot system is a medical instrument which is developed in recent years and combines the active control and the precision of a mechanical arm into a three-dimensional positioning method, and is suitable for brain tissue biopsy, radio frequency/laser damage, deep brain stimulation implantation, three-dimensional directional electroencephalogram electrode implantation for positioning epileptic focus, and craniotomy (tumor, epileptic focus resection) neuroendoscopy (hamartoma, cerebral cyst, pituitary tumor resection and the like) needing navigation; the main using steps comprise preoperative planning, registration and the like. Existing surgical robotic systems use probes for registration. In the probe registration process, the probe needs to be manually guided to the site to be matched, the speed is slow, the time is long, and the potential danger of damage is caused by accidental touch. There is therefore a need for solutions and systems that address these problems.

Disclosure of Invention

For solving or improving at least one of the above existing problems, the utility model provides a surgical robot system, it contains:

the workstation comprises a shell, a calculation control center, a display device and an input device;

the mechanical arm comprises a plurality of arm sections, and the arm sections are connected through joints;

the scanning module is used for acquiring information of the target space; target space refers to the part of the patient to be operated on, such as the head;

the guiding module is used for guiding the surgical instrument to move according to an expected track;

and the information acquired by the scanning module is processed by the workstation to obtain the three-dimensional information of the target space.

The utility model discloses surgical robot system's scanning module can contain different component structure:

in the first scheme, the scanning module comprises an image acquisition device, the relative position relationship between the image acquisition device and the mechanical arm is known, namely the coordinates of the image acquisition device in the coordinate system of the mechanical arm can be directly obtained without measurement; the image acquisition device can be a camera, such as a monocular camera, a binocular camera and the like, the mechanical arm drives the image acquisition device to acquire images at different positions, and three-dimensional information of a target space can be acquired through calculation and reconstruction;

in the second scheme, the scanning module comprises a light emitting component and an image acquisition device, the light emitting component can emit light rays such as infrared rays to a target space, the image acquisition device acquires images, and after a sufficient number of point clouds are acquired, the calculation control center calibrates the coordinates of the target space according to the acquired information;

in the third scheme, the scanning module comprises a projection component and an image acquisition device, the projection component can transmit a specific coded image to a target space and acquire the image through the image acquisition device, and a precise three-dimensional structure of the target space is obtained through a corresponding decoding algorithm and then is registered. Compared with the scheme that a projection component emits a specific coding pattern and only collects thousands of points in a limited range by laser single-point data collection, the scheme greatly improves the collection efficiency, can collect data in a square range with the length of ten centimeters in logarithm and can fully cover the square range in the same registration time, greatly increases the range of the collected data, obtains data points in million orders, and greatly increases the number of point clouds, thereby improving the precision of a three-dimensional structure. The projection assembly may not only emit a specific coding pattern, but may also project an image into the target space, for example to map important physiological information of the patient: information on heart beat, blood pressure, blood type, etc. is projected onto the surface of the patient's skin, so that the information is presented in a contactless and secure manner and distortion correction is possible. The projection assembly of the scanning module and the image acquisition device have a predetermined relative spatial relationship. In one embodiment, the projection module of the surgical robotic system of the present invention comprises a light source, a lens set, a Digital Micromirror Device (Digital Micromirror Device) and a control module, and the image capturing Device is a camera.

The utility model discloses surgical robot system's scanning module can be based on known and remove the assigned position for the terminal fixed position of arm through the arm, perhaps confirms scanning module's spatial position through tracking the module.

The scanning module of the surgical robot system of the utility model can be an independent module, can be used independently or connected with the mechanical arm through a flange as a detachable part, and can also be an integrated module, namely, integrated at the end of the mechanical arm. When the scanning module is a separate module, it may be used, for example, by hand, but needs to contain markers (trackable structures) and be used in conjunction with a tracking module; when the scanning module is a detachable module, the scanning module is connected with the mechanical arm when in use, the scanning module has known coordinates in a world coordinate system of the mechanical arm, for example, in one embodiment, the scanning module projects a specific coded image to a target space and performs image acquisition through an image acquisition device, a three-dimensional structure with accurate target space is obtained through a corresponding decoding algorithm, the image acquisition can be performed in various ways, for example, software loaded in advance in a calculation control center regulates the position of the mechanical arm according to program setting, image data of the target space is acquired again, the three-dimensional structure is generated by combining the previous data, and the step can be performed for multiple times until the three-dimensional image meets the requirement. And then matching the three-dimensional structure with a three-dimensional model generated before the operation so as to unify the operation area with a coordinate system of the three-dimensional model. The scanning module is then replaced with the guiding module and the procedure is continued. When the scanning module is integrated at the tail end of the mechanical arm, the scanning module is the same as the detachable scanning module when being used for acquiring a three-dimensional structure, but does not occupy a flange, so that the guiding structure can be directly continuously installed to perform subsequent operation.

The markers may be mounted on a rigid structure to form a trackable structure, wherein the markers are arranged in a unique spatial distribution that enables a unique coordinate system to be determined.

Compared with the prior art that facial feature points can only be collected when a patient is in a supine position for registration, the scanning module has the advantages that the movement is controlled by the mechanical arm or the scanning module is used as an independent structure, the constraint on the spatial position of the scanning module is reduced, the angle and the position of the collected image are increased, the whole head data which are difficult to obtain in the prior art can be collected, the influence of the posture of the patient is avoided, the range of the scanned image is expanded, and the three-dimensional image and the registration accuracy are improved.

The utility model discloses a surgical robot system still can contain the position tracking module to track scanning module's position, track the spatial position when scanning module acquires the image, just can convert the coordinate system of image, thereby found three-dimensional structure, under the condition that contains the tracking module, scanning module's constitution is the same with aforementioned. The location tracking module may be implemented in a number of ways:

in the first case, the position tracking module is an image acquisition device with tracking capability, such as a binocular camera, and obtains the position of the tracked scanning module by obtaining the spatial position of a marker (such as a self-luminous marker, a corner point, etc.) trackable by the binocular camera having a fixed spatial position relationship with the scanning module according to the principle of binocular imaging, and then can determine the spatial position of the obtained image information by the position of the scanning module;

in the second case, the position tracking module is an optical tracking device, the optical tracking device generally includes a light-traceable marker, an image pickup unit and a light emitting unit, the light is preferably infrared light, the light-traceable marker is fixed on the scanning module, the light emitting unit projects the infrared light onto the marker, the reflected infrared light is received by the image pickup unit, namely, the position of the scanning module can be monitored in real time by the optical tracking device, the light-traceable marker can be in various forms, such as a reflective ball with a special spatial position relationship, and a reference mark is composed of the reflective ball.

In a third case, the position tracking module is an electromagnetic tracking device, the electromagnetic tracking device determines the position of the marker by the influence of the marker on an electromagnetic field in the magnetic field, and the electromagnetic marker is fixed with the scanning module, so that the spatial position of the scanning module can be determined by the marker.

The utility model discloses a surgical robot system's arm has 6 at least degrees of freedom to the arm can the sensing receive power. In an embodiment, the utility model discloses a surgical robot system's arm has 6 joints and the arm end sets up force sensor, can realize the motion of 6 degrees of freedom, and force sensor can the terminal external force that receives of perception arm. In another embodiment, the robotic arm of the surgical robotic system of the present invention has 7 joints and each joint has a torque sensor, which can achieve motion in 7 degrees of freedom, and the joints and other arm segments can be adjusted in posture for the convenience of the user when the position of the end of the robotic arm (end arm segment) is unchanged or limited motion is performed in one direction. In another embodiment, the mechanical arm only comprises a motor at the joint, and the stress condition of the joint can be calculated through the current change of the motor, so that the adaptability adjustment is carried out. The robotic arm of the surgical robotic system of the present invention may also have more than 6 joints, e.g., 7, 8, 9, 10 joints, etc., to have more degrees of freedom.

Another aspect of the present invention further provides a method for using the surgical robot system of the present invention, the method includes the following main steps:

a) receiving image data by using a surgical robot system and carrying out visual display, and planning a surgical scheme in the image;

b) scanning the target space by using a scanning module, generating a three-dimensional structure by using the scanned data through a workstation, and registering the three-dimensional structure with the image in the step a;

c) and a guide module is arranged at the tail end of the mechanical arm and is executed according to a preset operation plan.

Further, in one embodiment, the step b of scanning the target space with the scanning module for the structure is performed by: the user pulls the mechanical arm manually, so that the scanning module reaches a required position to acquire scanning information, and can perform scanning for multiple times to acquire a complete target space image. In another embodiment, the step b of scanning the structure of the target space with the scanning module is performed by: firstly, a scanning module is used for carrying out primary scanning on a target space, and the approximate position of the target space in a coordinate system, such as the lying position and the face orientation of a patient, is obtained; and then the workstation calculates the proper position of the scanning module for scanning and plans a proper mechanical arm motion track according to the parameters of the scanning module, then automatically executes the scanning step, controls the mechanical arm to move and drives the scanning module to reach the preset position according to the preset sequence, and carries out data acquisition on the target space from a plurality of angles, thereby obtaining the complete three-dimensional structure of the target space through decoding and splicing. In the process that the projection component projects a specific coded image to a target space, due to the fact that the projection angle is limited, and the scenes are shielded from each other, multi-angle acquisition is needed, and therefore a complete three-dimensional image is obtained.

The utility model discloses a system has realized judging scanning module's accurate position through tracking the module, has guaranteed to obtain the three-dimensional structure of ideal, compares in traditional point registration moreover, has obvious advantage in the speed that generates three-dimensional image, has shortened the operation time, has reduced the operation risk.

Preferably, in another embodiment, in the case where the scanning module and the connection guide module are detachably connected to the robot arm, in step b, the scanning module is flange-mounted to the robot arm before the registration; after registration, the scanning module is replaced with a guidance module.

The guide is typically configured to include a through-hole to assist in moving the surgical instrument in a particular direction, and may be sterilized as necessary to meet the surgical requirements, although those skilled in the art will appreciate that other forms of this function are possible. The surgical instrument moves along a predetermined trajectory with the aid of the guide module means that the surgical instrument, such as a guide wire, an electrode, a probe, etc., moves in the through hole of the guide module in a direction limited in the axial direction of the through hole, so that a precise stereotactic orientation of the surgical instrument in a three-dimensional space is achieved.

The utility model discloses a surgical robot system can satisfy the user demand of operating room, and the guide module can carry out sterilization treatment before using.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of an embodiment of a surgical robotic system according to the present invention;

fig. 2 is a schematic structural view of another embodiment of the surgical robotic system of the present invention;

fig. 3 is a schematic view of an embodiment of the surgical robotic system of the present invention, showing the end of the arm connected to the scanning module.

Fig. 4 illustrates a surgical robotic system further including a tracking module, according to another embodiment of the present invention;

fig. 5 illustrates a surgical robotic system including a tracking module and a scanning module as a separate accessory, in accordance with yet another embodiment of the present invention;

fig. 6 illustrates a surgical robotic system including a tracking module and a scanning module as a separate accessory, in accordance with another embodiment of the present invention;

fig. 7 illustrates a surgical robotic system including a robotic arm having seven degrees of freedom, according to one embodiment of the present invention;

FIG. 8 is an enlarged view of the robot arm attachment scan module of FIG. 7;

fig. 9 illustrates a surgical robotic system including a tracking module and a robotic arm having seven degrees of freedom, in accordance with yet another embodiment of the present invention;

fig. 10 illustrates a surgical robotic system including a tracking module, an independent scanning module, and a robotic arm having seven degrees of freedom, according to another embodiment of the present invention;

fig. 11 shows a schematic view of yet another embodiment of the present invention, wherein the scanning module is integrated in the robot arm.

Icon:

100-workstation, 101-housing, 102-computing control center, 103-display, 104-input device, 1011-wheel, 1012-fixing device; 200-a robotic arm; 300-a scanning module; 400-a boot module; 500-a tracking module; 201-base, 202-first joint, 203-first arm section, 204-second joint, 205-second arm section, 206-third joint, 207-third arm section, 208-fourth joint, 209-fourth arm section, 210-fifth joint, 211-fifth arm section, 212-sixth joint, 213-sixth arm section, 214-seventh joint, 215-seventh arm section (end of arm); 301-projection assembly, 302-image acquisition device, 303-traceable structure, 3031-traceable markers (ball-type markers or corner points); 501-camera or projection component, 502-camera, 503-infrared emission device.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

To facilitate understanding of the present embodiment, the surgical robot system disclosed in the present invention will be described in detail first.

Referring to fig. 1, a schematic diagram of an aspect of a surgical robotic system of the present invention includes: workstation 100, robotic arm 200, scanning module 300, guidance module 400, wherein:

the workstation 100 comprises a housing 101, a computing control center 102, a display device 103, and an input device 104; the computer control center 102 is communicatively connected to a display device 103, an input device 104, and other hospital equipment, such as a Magnetic Resonance Imaging (MRI) device or a Computed Tomography (CT) device, or a database. The display device 103 is used for displaying the three-dimensional image and the software control interface generated by the calculation control center 102, and may be more than one display device, or may be other existing devices, for example, a liquid crystal display, a notebook computer, a tablet computer, a smart phone, and the like, and in one embodiment, a touch screen may be used and has functions of displaying and inputting; in another embodiment, the display device 103 may be glasses with a projection display function or a helmet with a projection display screen for the convenience of the user. Input device 104 is any input accessory, such as a foot pedal, touch pad, stylus, touch screen, joystick, trackball, wireless mouse, keyboard, voice input port, or combinations thereof, that allows a user to input commands to computing control center 102; in the case where the display apparatus 103 has an input function, the input device 104 may be omitted. The housing 101 contains wheels, fixtures and handles to ensure that the user easily moves the workstation 100; the housing 101 may also have a connection means to fixedly connect the workstation 100 to an operating table/headstock or the like. The robotic arm 200 is any robotic arm having at least 6 degrees of freedom, such as a robotic arm having 7, 8, 9, or 10 degrees of freedom, one end of which is fixedly attached to the workstation 100.

A scanning module 300, which may have a variety of compositions, in one case including only image acquisition devices, such as binocular cameras, etc.; the second condition comprises a light emitting component and an image acquisition device, wherein the light emitting component emits infrared rays to a target space, the image acquisition device acquires images, and after enough data are acquired, the calculation control center calibrates the coordinates of the target space according to the acquired information; in a third aspect, the scanning module comprises a projection component and an image acquisition device, the projection component of the scanning module and the image acquisition device have a predetermined relative spatial position relationship, and the projection component can not only transmit a specific coding pattern, but also project an image to a target space, such as important physiological information of a patient: information on heart beat, blood pressure, blood type, etc. is projected onto the surface of the patient's skin, so that the information is presented in a contactless and secure manner and distortion correction is possible. The scan module 300 may be stand alone, may be removably coupled to the robot 200, or may be integrated into the robot 200, and the scan module 300 is shown in FIG. 1 as being removably coupled to the robot 200.

A guiding module 400 which can be connected with the end 215 of the mechanical arm through a flange, wherein the guiding module 400 contains a through hole through which other surgical instruments, such as a guide wire, a drill bit, an electrode and the like, can be guided and positioned; and under the condition that the guide module moves to the specified position and is kept, the surgical instrument passes through the through hole of the guide module to reach the specified position according to the path and the length planned in advance.

The scanning module 300 is connected to the robot arm 200, the relative position of the scanning module to the robot arm 200 is determined, and then the spatial position of the robot arm 200 can be determined, the scanning module obtains scanning data, transmits the scanning data to the workstation 100 for processing, establishes a three-dimensional structure, performs registration, and then performs subsequent operations through the guiding module 400.

Referring to fig. 2, a schematic view of another aspect of a surgical robotic system of the present invention includes: the workstation 100, the robotic arm 200, the scanning module 300, the guidance module 400, the tracking module 500, wherein:

the workstation 100 comprises a housing 101, a computing control center 102, a display device 103, and an input device 104; the computing control center 102 is communicatively coupled to a display device 103, an input device 104, and other hospital equipment, such as MRI equipment or CT equipment, or a database. The display device 103 is used for displaying the three-dimensional image and the software control interface generated by the calculation control center 102, and may be more than one display device, or may be other existing devices, for example, a liquid crystal display, a notebook computer, a tablet computer, a smart phone, and the like, and in one embodiment, a touch screen may be used and has functions of displaying and inputting; in another embodiment, the display device 103 may be glasses with a projection display function or a helmet with a projection display screen for the convenience of the user. Input device 104 is any input accessory, such as a foot pedal, touch pad, stylus, touch screen, joystick, trackball, wireless mouse, keyboard, voice input port, or combinations thereof, that allows a user to input commands to computing control center 102; in the case where the display apparatus 103 has an input function, the input device 104 may be omitted. The housing 101 contains wheels, fixtures and handles to ensure that the user easily moves the workstation 100; the housing 101 may also have a connection means to fixedly connect the workstation 100 to an operating table/headstock or the like. The robotic arm 200 is any robotic arm having at least 6 degrees of freedom, such as a robotic arm having 7, 8, 9, or 10 degrees of freedom, one end of which is fixedly attached to the workstation 100.

A scanning module 300, which may have a variety of compositions, in one case including only image acquisition devices, such as binocular cameras, etc.; the second condition comprises a light emitting component and an image acquisition device, wherein the light emitting component emits infrared rays to a target space, the image acquisition device acquires images, and after enough data are acquired, the calculation control center calibrates the coordinates of the target space according to the acquired information; in a third aspect, the scanning module comprises a projection component and an image acquisition device, the projection component of the scanning module and the image acquisition device have a predetermined relative spatial position relationship, and the projection component can not only transmit a specific coding pattern, but also project an image to a target space, such as important physiological information of a patient: information on heart beat, blood pressure, blood type, etc. is projected onto the surface of the patient's skin, so that the information is presented in a contactless and secure manner and distortion correction is possible. The scan module 300 may be stand alone, may be removably attached to the robot 200, or may be integrated into the robot 200, and FIG. 2 illustrates the scan module 300 removably attached to the robot 200.

A guiding module 400 which can be connected with the end 215 of the mechanical arm through a flange, wherein the guiding module 400 contains a through hole through which other surgical instruments, such as a guide wire, a drill bit, an electrode and the like, can be guided and positioned; and under the condition that the guide module moves to the specified position and is kept, the surgical instrument passes through the through hole of the guide module to reach the specified position according to the path and the length planned in advance.

The tracking module 500 can be implemented by different devices as long as the spatial position of the scanning module 300 can be tracked, for example: in the first case, the position tracking module is an image pickup device with tracking capability, such as a binocular camera, the scanning module includes corner points or self-luminous markers arranged according to a special structure, the tracked position of the scanning module is obtained according to a binocular imaging principle, and then the spatial position of the obtained image information can be determined according to the position of the scanning module; in the second case, the position tracking module is an optical tracking device, which generally includes a marker that can be tracked by light, preferably infrared light, a camera unit and a light emitting unit, and the marker is fixed to the scanning module, i.e. the position of the scanning module can be monitored in real time by the optical tracking device, and the marker can be in various forms, such as a ball, etc. In a third case, the position tracking module is an electromagnetic tracking device, the electromagnetic tracking device determines the position of the electromagnetic marker by the influence of the electromagnetic marker on an electromagnetic field in the magnetic field, and the spatial position of the scanning module can be determined by the electromagnetic marker by fixing the electromagnetic marker and the scanning module. The tracking module 500 has a defined positional relationship with the workstation 100 or the robotic arm 200.

Example 1

Referring to fig. 3, a block diagram of one example of a surgical robotic system of the present invention is shown having a workstation 100, a robotic arm 200, a scanning module 300, a guidance module 400 (not shown); wherein the workstation 100 comprises a housing 101, a computing control center 102 (not shown), a touch screen 103, not shown footrests, the housing 101 comprising four wheels 1011, three fixtures 1012 and handles; the mechanical arm 200 is a mechanical arm with 6 joints, can realize motion in 6 degrees of freedom, and is provided with a force sensor at the tail end of the mechanical arm, and can sense stress in each dimension; the scanning module 300 comprises a projection assembly 301 and an image acquisition device 302, wherein the projection assembly 301 and the image acquisition device 302 have a predetermined relative spatial position relationship; the projection module 301 may transmit a specific encoded image to a target space and perform image acquisition through the image acquisition device 302, obtain a precise three-dimensional structure of the target space through a corresponding decoding algorithm, and then perform registration. The projection assembly 301 comprises a light source, a lens set, a digital micromirror device and a control module, the image capturing device 302 is a camera, and the projection assembly 301 can not only emit a specific coding pattern, but also project an image to a target space, such as important physiological information of a patient: information on heart beat, blood pressure, blood type, etc. is projected onto the surface of the patient's skin, so that the information is presented in a contactless and secure manner and distortion correction is possible. The wheels 1011 may be universal wheels, which facilitate movement, and when moved to a proper position, the three fixing devices 1012 are lifted to support the surgical robot system instead of the wheels 1011. The position of the end of the robot arm 200 may be determined in real time in the robot arm coordinate system, and the position of the scanning module 300 relative to the end of the robot arm 200 may be fixed, so that the position of the scanning module 300 in space may be acquired. In use, after the scanning module 300 completes the registration step, the scanning module 300 is replaced with a guide module.

Example 2

Referring to fig. 4, a block diagram of another example of a surgical robotic system of the present invention is shown having a workstation 100, a robotic arm 200, a scanning module 300, a guidance module 400 (not shown), a tracking module 500; wherein the workstation 100 comprises a housing 101, a computing control center 102 (not shown), a touch screen 103, not shown footrests, the housing 101 comprising four wheels 1011, three fixtures 1012 and handles; the mechanical arm 200 is a mechanical arm with 6 joints, can realize motion in 6 degrees of freedom, and is additionally provided with a force sensor at the tail end of the mechanical arm, so that stress on each dimension can be sensed; the scanning module 300 comprises a projection assembly 301 and an image acquisition device 302, wherein the projection assembly 301 and the image acquisition device 302 have a predetermined relative spatial position relationship; the projection module 301 may transmit a specific encoded image to a target space and perform image acquisition through the image acquisition device 302, obtain a precise three-dimensional structure of the target space through a corresponding decoding algorithm, and then perform registration. The projection assembly 301 comprises a light source, a lens set, a digital micromirror device and a control module, the image capturing device 302 is a camera, and the projection assembly 301 can not only emit a specific coding pattern, but also project an image to a target space, such as important physiological information of a patient: information on heart beat, blood pressure, blood type, etc. is projected onto the surface of the patient's skin, so that the information is presented in a contactless and secure manner and distortion correction is possible. The wheels 1011 may be universal wheels, which facilitate movement, and when moved to a proper position, the three fixing devices 1012 are lifted to support the surgical robot system instead of the wheels 1011. The tracking module 500 can track the position of the scanning module 300, the scanning module 300 includes a trackable structure (not shown in fig. 4, refer to fig. 5), such as an actively-illuminated spherical marker or a special structure composed of a corner pattern, the tracking module can be a binocular camera, i.e., 501 and 502 are both cameras, and the tracking module 500 can also be a structure of a binocular camera and an infrared light emitting device, in which case the scanning module 300 includes a light-trackable structure composed of spherical markers that can reflect infrared light. Trackable structures may also be attached to the end of the robot arm to locate or correct the position of the end of the robot arm.

Example 3

Referring to fig. 5, a block diagram of yet another example of a surgical robotic system of the present invention is shown having a workstation 100, a robotic arm 200, a scanning module 300, a guidance module 400, and a tracking module 500; wherein the workstation 100 comprises a housing 101, a computing control center 102 (not shown), a touch screen 103, pedals not shown, the housing 101 comprises four wheels 1011, three fixing devices 1012 and a handle, the wheels 1011 can be universal wheels, and the movement is convenient, and after the workstation is moved to a proper position, the three fixing devices 1012 are lifted and lowered to replace the wheels 1011 to play a supporting role, so that the surgical robot system is fixed to the proper position; the mechanical arm 200 is a mechanical arm with 6 joints, can realize motion in 6 degrees of freedom, and is additionally provided with a force sensor at the tail end of the mechanical arm, so that stress on each dimension can be sensed; the scanning module 300 is a stand-alone component comprising a projection assembly 301, an image acquisition device 302, and a traceable structure 303, the traceable structure 303 comprising 4 corner points 3031 that can be traced. The guiding module 400 can be connected with the tail end of the mechanical arm through a flange, and the guiding module 400 comprises a through hole through which other surgical instruments, such as a guide wire, a drill bit, an electrode and the like, can be guided and positioned. The tracking module 500 is a binocular camera (501 and 502). The scanning module 300 can be held by hand to scan a target space, and the tracking module 500 tracks the position of the scanning module in real time, so that scanned images can be unified in a coordinate system of the mechanical arm to complete registration, and then the mechanical arm 200 is controlled by the host 100 to move according to a preset path; the tracking module 500 may also track the position of the guidance module 400, adding 303 a similar trackable structure to the guidance module 400 as a calibration reference or a separate positioning method to determine the position of the guidance module 400.

Example 4

Referring to fig. 6, a block diagram of another example of a surgical robotic system of the present invention is shown having a workstation 100, a robotic arm 200, a scanning module 300, a guidance module 400, and a tracking module 500; wherein the workstation 100 comprises a housing 101, a computing control center 102 (not shown), a touch screen 103, pedals not shown, the housing 101 comprises four wheels 1011, three fixing devices 1012 and a handle, the wheels 1011 can be universal wheels, and the movement is convenient, and after the workstation is moved to a proper position, the three fixing devices 1012 are lifted and lowered to replace the wheels 1011 to play a supporting role, so that the surgical robot system is fixed to the proper position; the mechanical arm 200 is a mechanical arm with 6 joints, can realize motion in 6 degrees of freedom, and is additionally provided with a force sensor at the tail end of the mechanical arm, so that stress on each dimension can be sensed; the scanning module 300 is a stand-alone component comprising a projection assembly 301, an image acquisition device 302, and a light traceable structure 303, the light traceable structure 303 comprising 4 light traceable ball-type markers 3031. The guiding module 400 can be connected with the tail end of the mechanical arm through a flange, and the guiding module 400 comprises a through hole through which other surgical instruments, such as a guide wire, a drill bit, an electrode and the like, can be guided and positioned. The tracking module 500 is a structure formed by binocular cameras (501 and 502) and an infrared emitting device 503, the infrared emitting device 503 emits infrared rays to irradiate the spherical marker 3031 capable of reflecting the infrared rays, light reflected by the spherical marker 3031 is acquired by the binocular cameras, and the spatial coordinates of the scanning module 300 can be calculated. The scanning module 300 can be held by hand to scan a target space, and the tracking module 500 tracks the position of the scanning module in real time, so that the scanned image can be converted into a coordinate system of the mechanical arm, and then the mechanical arm 200 is controlled to move according to a preset path through the workstation 100; the tracking module 500 may also track the position of the guide module 400 and the robot arm 200, i.e. add 303 similar trackable structures to the guide module 400 and the robot arm 200 as calibration references or independent positioning methods.

Example 5

Referring to fig. 7, there is shown still another example of the surgical robot system of the present invention, which is substantially the same as embodiment 1 except that the robot arm 200 has 7 degrees of freedom, and an enlarged view of the robot arm 200 connected to the scanning device 300 is shown in fig. 8, wherein the robot arm 200 includes a base 201, a first joint 202, a first arm section 203, a second joint 204, a second arm section 205, a third joint 206, a third arm section 207, a fourth joint 208, a fourth arm section 209, a fifth joint 210, a fifth arm section 211, a sixth joint 212, a sixth arm section 213, a seventh joint 214, and a seventh arm section 215 (a robot arm end); each joint is provided with a torque sensor; the robotic arm 200 is mounted to the workstation 100 by a base 201. The scanning module 300 comprises a projection assembly 301 and an image acquisition device 302.

Example 6:

referring to fig. 9, there is shown another example of the surgical robot system of the present invention, which is substantially the same as embodiment 2, except that the robot arm 200 has 7 degrees of freedom, the joint of the robot arm has a motor, the force applied to the robot arm 200 can be calculated by the magnitude of the current in the motor, and in some cases, the joint may also have a torque sensor to sense the applied force.

Example 7:

referring to fig. 10, there is shown another example of the surgical robot system of the present invention, which is substantially the same as embodiment 4 except that the robot arm 200 has 7 degrees of freedom. This example can also use the same scanning module and tracking module as in embodiment 3, i.e. using corner points as trackable markers, and using a binocular camera to capture the images.

Example 8:

one example of a method of using the surgical robotic system of embodiment 1, comprising the steps of:

A) a workstation 100 of the surgical robot system receives medical image data, such as magnetic resonance image data, functional magnetic resonance image data, CT image data, phase contrast magnetic resonance angiography (PC-MRA) data and the like, through an interface, preferably, the surgical data is unified in format, then, software 'extranervous robot planning software' pre-loaded in the workstation 100 constructs a three-dimensional stereo model of a target space, wherein blood vessels are displayed in the three-dimensional stereo model, and a user plans a surgical scheme according to a planning guideline matched with the software to determine a surgical instrument advancing path;

B) fixing the workstation 100 at a proper position, sending an instruction by a user through an input device 104, such as a mouse or a keyboard, so that the mechanical arm 200 is connected with the scanning device 300 on a regulation and control flange, the projection assembly projects structured light to a target space, the camera collects images, and the three-dimensional structure of the target space is calculated according to the decoding of the coded images, preferably, software of the workstation 100 can control the mechanical arm 200 to perform position adjustment according to the range of the collected images, and after data are collected for multiple times, the required three-dimensional structure is obtained until the three-dimensional structure of the operation area is registered with the three-dimensional model in the step A;

C) after the registration is completed, performing a surgical operation, in the operation of placing the deep electrode, a user replaces the scanning module 300 with the guiding module 400, the workstation 100 sends an instruction to the mechanical arm 200 according to the surgical plan planned in the step a, the mechanical arm 200 moves to a specified position, the user determines the direction and the position of the drill bit of the surgical drill through the guiding module 400, surgical accessories such as a stopper and the like are installed according to the parameters provided by the extramental robot planning software, then, a hole is formed in the surgical site, such as the head, and then, other surgical instruments, such as a guide wire or an electrode are used for replacing the drill bit, and the surgical instrument advances along the channel of the orienting device to reach the specified position. If the operation is a multi-step operation, the mechanical arm can be dragged to the required position according to the prior operation plan to complete the operation of the step, and the operation is repeated for multiple times until all the planning steps are completed.

Example 9

Referring to fig. 11, another embodiment of the present invention, in which the numbers and references are the same as those in fig. 1, is different in that the scanning module 300 is integrated into the robot arm 200, preferably, the end of the robot arm, so that the scanning module has enough freedom and convenient angle adjustment. In the operation of the surgical robot, the guiding module 400 is sterilized as required, and the scanning module 300 is generally not suitable for high temperature sterilization due to the electronic components, but in this embodiment, because the scanning module 300 is integrated into the robot arm 200, unlike the description of fig. 1, the scanning module 300 does not need to be detached from the flange when the guiding module 400 is installed, the robot arm 200 with the flange and the scanning module 300 is wrapped with sterile cloth, then the sterilized guiding module 400 is installed on the flange, and the operation is continued by using the sterilized surgical tool.

Example 10

An example of a method of using the surgical robotic system of embodiment 9, which is substantially the same as the method of embodiment 7, except that the scanning module is integrated into the end of the robotic arm, thus differing in that no flange is occupied, and the guiding means is flanged directly to the robotic arm after registration is completed.

In the description of the embodiments of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (12)

1. A surgical robotic system, comprising:

the workstation comprises a shell, a calculation control center, a display device and input equipment;

the mechanical arm comprises a plurality of arm sections, and the arm sections are connected through joints;

the scanning module is used for acquiring information of the target space;

the guiding module is used for guiding the surgical instrument to move according to an expected track;

and the information acquired by the scanning module is processed by the workstation to obtain the three-dimensional information of the target space.

2. The system of claim 1, wherein the scanning module comprises an image acquisition device.

3. The system of claim 1, wherein the scanning module comprises a light emitting assembly and an image acquisition device.

4. The system of claim 1, wherein the scanning module comprises a projection assembly and an image acquisition device.

5. The system of claim 4, wherein the projection component is further configured to project a pattern into the target space; and/or the projection assembly and the image acquisition device have a predetermined relative spatial position relationship; and/or the projection assembly comprises a light source, a lens group, a digital micromirror element, and a control module.

6. A system according to any of claims 1 to 5, wherein the position of the scanning module in the coordinate system of the robotic arm is determined by the robotic arm.

7. The system according to any one of claims 1 to 5, further comprising a position tracking module for tracking a position of the scanning module, the position tracking module being an image acquisition device; and/or the position tracking module is an optical tracking device; and/or the position tracking module is an electromagnetic tracking device.

8. The system of any one of claims 1 to 5, wherein the scanning module is detachably connected to the robotic arm by a flange or is self-contained; and/or the scanning module is integrated in the robot arm.

9. System according to any one of claims 1 to 5, characterized in that the robot arm is capable of calculating the force experienced by the motor current or is provided with at least 1 force sensor.

10. A system according to claim 9, wherein each joint of the robotic arm is provided with a force sensor.

11. The system of claim 1, wherein the robotic arm has at least 6 degrees of freedom.

12. The system of claim 10, wherein the robotic arm has 6, 7, 8, 9, or 10 degrees of freedom.