TWI577348B - Skull surgery positioning system - Google Patents

Description

Skull surgery positioning system

The present invention relates to a surgical positioning system, and more particularly to a surgical positioning system for a skull for performing surgery on a skull.

In the implementation of experiments related to animal behavior, it is usually necessary to inject drugs into the brain of the animal, and observe the behavior of the limbs of the animals under the action of the drugs on the brain. In order to inject drugs into the brain, the average user will hold a small drill and position the hole in a predetermined part of the skull to form a hole, and then use a syringe to inject the drug into the brain through the hole.

In the above drilling process, the user usually has to concentrate and rely on personal experience and technology to complete the above-mentioned positioning drilling. If a little careless or hand shakes, the wrong position is often drilled. In addition, since the drill for conventional drilling is used separately from the syringe for injection, the user needs to spend one time and time after using the drill to position the hole in the surgical site. The syringe is aimed at the hole in order to inject the drug into the brain, which results in a slow and time-consuming experiment, so that the drill for drilling and the syringe for injection still need to be improved.

Accordingly, it is an object of the present invention to provide a skull surgical positioning system that enhances surgical efficiency and quality and facilitates surgery.

Thus, the skull surgical positioning system of the present invention is adapted to position a surgical site of a skull to be operated, the skull having a crisscross, the skull surgical positioning system comprising a surgical device, an image capturing device and a control Device.

The surgical device includes a bracket unit and a surgical unit having a base, a moving arm above the base, and a mounting arm between the moving arm and the base and opposite to the base The movement mechanism of the moving arm is adjusted, and the surgical unit is mounted on the moving arm and located above the skull, and has an indicating module capable of projecting a light spot on the skull. The image capturing device can capture an image of the skull. The control device is connected to the surgical device and the image capturing device, and includes an identifying unit, a calculating unit, and a control unit, and the identifying unit can identify the intersection and the spot according to the image of the skull. The calculating unit may calculate the position parameter of the light spot relative to the surgical site by using the intersection as a reference point, and the control unit may control the moving mechanism to transfer the moving arm to transmit the displacement of the surgical unit according to the position parameter. The spot is moved to the surgical site.

10‧‧‧Skull

11‧‧‧Surgical site

12‧‧ ‧ cross

13‧‧‧ mice

14‧‧‧ plane

15‧‧‧notation

2‧‧‧Surgical device

21‧‧‧ bracket unit

211‧‧‧Base

212‧‧‧Mobile arm

213‧‧‧Mobile agencies

214‧‧‧ longitudinal orbit

215‧‧‧ 纵座

216‧‧‧Longitudinal drive

217‧‧‧ transverse orbit

218‧‧‧ traverse seat

219‧‧‧lateral drive

22‧‧‧Surgical unit

220‧‧‧ drive seat

221‧‧‧Indicating module

222‧‧‧ light spots

223‧‧‧Drilling module

224‧‧‧Injection module

225‧‧‧ drilling tools

226‧‧‧Drilling lifting mechanism

227‧‧‧Injector

228‧‧‧Injection lifting mechanism

23‧‧‧Transmission mechanism

3‧‧‧Image capture device

4‧‧‧ display device

5‧‧‧ Input device

6‧‧‧Control device

61‧‧‧ Identifying unit

62‧‧‧Computation unit

63‧‧‧Control unit

64‧‧‧Interface display unit

641‧‧‧ Positioning graphic blocks

642‧‧‧Drilled graphic blocks

643‧‧‧Injection graphic block

65‧‧‧Coordinate Information Unit

A‧‧‧ arrow

L‧‧‧Upright axis

Other features and effects of the present invention will be apparent from the following description of the drawings, wherein: Figure 1 is a front view showing an embodiment of the skull surgical positioning system of the present invention and a mouse, while illustrating one An indication of the surgical device The module is located at a working position; FIG. 2 is a partial top view illustrating the surgical device of the embodiment; FIG. 3 is a functional block diagram illustrating the system architecture of the embodiment; FIG. 4 is a schematic view of the display screen, illustrating Embodiment A screen display unit displays a screen displayed on a display device; FIG. 5 is a partial front view illustrating the embodiment and the mouse, and a drilling module of the surgical device is located at the working position; and FIG. 6 is A partial front view illustrating the embodiment of the mouse while indicating that an injection module of the surgical device is in the working position.

Referring to Figures 1, 2 and 5, a first embodiment of the skull surgical positioning system of the present invention is adapted to position a surgical site 11 of a skull 10 to be operated, the skull 10 having a crisscross 12 In the present embodiment, the skull surgical positioning system is used to perform surgery on the skull 10 of a mouse 13 as shown in Fig. 1, but it can also be applied to skulls of other animals or human bodies. The skull surgical positioning system comprises a surgical device 2, an image capturing device 3 for capturing images of the skull 10, a display device 4 (see Fig. 3), an input device 5 (see Fig. 3), and a control Device 6 (see Figure 3).

The surgical device 2 includes a bracket unit 21, a surgical unit 22, and a transmission mechanism 23 mounted to the bracket unit 21 and coupled to the surgical unit 22.

The bracket unit 21 includes a base 211, a moving arm 212, and a moving machine mounted between the moving arm 212 and the base 211. Structure 213. The base 211 can be placed on a flat surface 14 such as a table top or a ground surface. Of course, the base 211 can also horizontally extend the platform on which the mouse 13 can be placed to facilitate the surgical operation, which is not limited to the embodiment. The moving arm 212 is extended upward by the moving mechanism 213 and then obliquely extended to the upper left side, and then extends horizontally to the left for a distance for the surgical unit 22 to be mounted below.

The moving mechanism 213 can be driven to move the moving arm 212 two-dimensionally on the horizontal surface with respect to the base 211, and includes a longitudinal rail 214 fixedly mounted to the base 211 extending forward and backward, and a front-rear displacement mounting. a longitudinal shifting seat 215 on the longitudinal rail 214, a longitudinal drive 216 that can drive the longitudinal shifting seat 215 to be displaced back and forth along the longitudinal rail 214, and a lateral rail extending left and right and respectively fixed to the longitudinal shifting seat 215 217. A traverse seat 218 that is movably mounted to the lateral rail 217 for mounting and fixed to the top side of the moving arm 212, and a lateral drive that can drive the traverse seat 218 to be displaced laterally along the transverse rail 217 219. The longitudinal driver 216 and the lateral driver 219 are respectively a motor. Of course, the moving mechanism 213 can also be other moving mechanisms 213 capable of achieving a two-dimensional shifting function, which is not limited to the embodiment.

The operating unit 22 is rotatable about its own axis with respect to the moving arm 212, and includes a driving base 220 rotatably mounted on the top bottom side of the moving arm 212, and is equally spaced from the shaft to be mounted on the driving A indicating module 221, a drilling module 223, and an injection module 224 are formed at the bottom of the seat 220. The "equal interval installation" means that the center distance of each module 221, 223, 224 to the drive base 220 is the same

In the present example, the driving base 220 can be driven to rotate about an upright axis L passing through its own axis (the direction of rotation is indicated by an arrow A in the figure), thereby driving the indicating module 221 and the drilling hole. The module 223, and the injection module 224, change position around the upright axis L. The indicating module 221, the drilling module 223 and the injection module 224 are equally spaced at an angle of 120° with respect to the axis of the driving base 220, but may be unequal angular intervals. The indicating module 221 can emit a linear beam such as laser light, and a light spot 222 is projected directly below. The drilling module 223 has a drilling tool 225 that can move up and down, and a drilling lifting mechanism 226 installed between the drilling tool 225 and the driving base 220. The drilling lifting mechanism 226 can drive the drilling tool 225 to move up and down. The drilling lifting mechanism 226 is, for example, a pneumatic cylinder, a hydraulic cylinder, or can be driven by a motor and a robot arm to drive the drilling tool 225. The injection module 224 has an injectable 227 that moves up and down, and an injection lifting mechanism 228 that is mounted between the injector 227 and the driving base 220. The injection lifting mechanism 228 can drive the injector 227 to move up and down. The injection lifting mechanism 228 is, for example, a pneumatic cylinder or a hydraulic cylinder, or can be driven by a motor and a robot arm to drive the injector 227.

The transmission mechanism 23, for example, a stepping motor, can be driven by the control device 6 (see FIG. 3) to control the rotation of the driving base 220 relative to the moving arm 212 to drive the indicating module 221 and the drilling module 223. The injection module 224 is replaced by a wheel. It should be noted that, in the implementation of the present invention, the driving base 220 can be driven to rotate manually. At this time, the coupling portion of the driving base 220 and the moving arm 212 can be provided with a matching locking structure. The driving base 220 can be buckled after being rotated by a predetermined angle (120° in this embodiment) to drive the indicating module 221, the drilling module 223 and the injection module 224 to be respectively carded. The buckle is positioned at a predetermined position.

Referring to FIG. 1 , FIG. 3 and FIG. 4 , the control device 6 is connected to the surgical device 2 , the image capturing device 3 , the display device 4 and the input device 5 , and includes an identification unit 61 , a calculation unit 62 , and A control unit 63, an interface display unit 64, and a coordinate information unit 65. The recognizing unit 61 can recognize the intersection 12 and the spot 222 according to the image of the skull 10. The calculating unit 62 can use the intersection 12 as a reference point to calculate the spot 222 relative to the surgical site 11 Position parameter.

The control unit 63 has a positioning mode that can be selectively activated, a drilling mode and an injection mode, and drives the transmission mechanism 23 respectively when the positioning mode, the drilling mode and the injection mode are activated. The driving base 220 rotates to replace the injection module 224, the drilling module 223 and the injection module 224 with a wheel. When the positioning unit is in the positioning mode, the movement mechanism 213 controls the movement mechanism 213 to shift the movement of the surgical unit 22 to move the light spot 222 to the surgical site 11. When the control unit 63 is in the drilling mode, the drilling and lifting mechanism 226 (see FIG. 5) is controlled to drive the drill 225 to move downward, and the surgical site 11 of the skull 10 is drilled. When the control unit 63 is in the injection mode, the injection lifting mechanism 228 (see FIG. 6) is controlled to drive the injector 227 to move downward, and the surgical site 11 is injected.

The interface display unit 64 can display the display device 4 The image of the skull 10 captured by the image capturing device 3, together with a positioning graphic block 641, a drilling graphic block 642 and an injection graphic block 643, are available for selection. When the positioning graphic block 641, the drilling graphic block 642, and the injection graphic block 643 are respectively selected, the control unit 63 can be activated to enter the positioning mode, the drilling mode and the injection mode, respectively.

The coordinate information unit 65 can use the intersection 12 as a coordinate zero point to drive the interface display unit 64 to display a two-dimensional coordinate on the image of the skull 10 displayed by the display device 4, and define the light spot 222 and the operation. The coordinate data of the portion 11 in the two-dimensional coordinates drives the interface display unit 64 to display the light spot 222 and the coordinate data of the surgical site 11 on the display device 4.

In the surgical operation of the skull surgical positioning system of the present invention, the operator must first anesthetize the mouse 13 and fix the mouse 13 on the plane 14. At this time, the indication module 221 is located at an initial position (shown as an imaginary line in FIG. 1), and the light spot 222 is projected onto the skull 10 located below, and the image capturing unit can capture the skull 10 The image recognition unit 61 recognizes the intersection 12 and the light spot 222 from the image of the skull 10, and the interface display unit 64 displays the image of the skull 10 on the display device 4, and the coordinate information unit 65 The intersection 12 is a coordinate zero point on the skull 10 image to display the two-dimensional coordinates and defines the coordinate data of the light spot 222 in the two-dimensional coordinate, and drives the interface display unit 64 to display the light on the display device 4. Point coordinates of point 222.

At this time, if the skull 10 has a reference symbol 15 located at the surgical site 11, the recognition unit 61 can also recognize the annotation symbol. And the coordinate information unit 65 defines the coordinate data of the annotation symbol 15 in the two-dimensional coordinate; if there is no reference symbol 15, the annotation of the surgical site 11 can be directly selected on the skull 10 image. The symbol 15 is defined by the coordinate information unit 65 as coordinate data in the two-dimensional coordinate; or a set of coordinate data representing the surgical site 11 is directly input by the input device 5, the coordinate information unit 65 An identifier 15 is marked on the skull 10 image according to the coordinate data of the surgical site 11, and the interface display unit 64 is driven to display the coordinate information of the surgical site 11 on the display device 4 to represent the reference symbol 15 Coordinate information. The calculating unit 62 can output the position parameter according to the spot 222 and the coordinate data of the label 15 .

Since the light spot 222 projected by the indication module 221 is not in the surgical site 11, the operator can click the positioning graphic block 641 to enable the control unit 63 to activate the positioning mode. At this time, the control unit 63 can be based on the position parameter. The longitudinal driver 216 (see FIG. 2) and the lateral driver 219 of the moving mechanism 213 are controlled to drive the moving arm 212 to move back and forth and left and right, and the operating unit 22 is moved from the imaginary line position of FIG. 1 to the solid line position, thereby The spot 222 is moved to the surgical site 11, so that the indicator module 221 can be positioned at a working position directly above the surgical site 11, and can be used as a reference reference position to continue the subsequent work.

Referring to FIG. 3, FIG. 4 and FIG. 5, after the positioning is completed, the operator can click the drilling pattern block 642 to enable the control unit 63 to activate the drilling mode, and operate the transmission mechanism 23 to activate the operating unit 22. Rotating in the direction of arrow A in the figure, thereby rotating the drilling module 223 to the The drilling position 223 is located directly above the surgical site 11, and the control unit 63 can control the drilling lifting mechanism 226 to drive the drilling tool 225 to move downward, and The surgical site 11 of the skull 10 is drilled to drill a hole, and after the drilling is completed, the drilling module 223 is driven upward to avoid affecting the subsequent operation.

After completing the drilling with reference to FIG. 3, FIG. 4 and FIG. 6, the operator can click the injection graphic block 643 to enable the control unit 63 to activate the injection mode to drive the surgical unit 22 to rotate in the direction of the arrow A. The injection module 224 is rotated to the working position (as shown in FIG. 6 ). At this time, the injection module 224 is located directly above the surgical site 11 , and the control unit 63 can control the injection lifting mechanism 228 to drive the injector 227 . Move down and reach into the hole and inject a medicine. After the injection is completed, the injection module 224 is retracted upward to avoid stab wound or bruise, and the operation is completed at this time. It should be noted that, in implementation, the interface display unit 64 is designed such that when the positioning graphic block 641 is not selected, the drilling graphic block 642 and the injection graphic block 643 cannot be clicked, and the drilling graphic is When block 642 is not selected, the injection graphic block 643 cannot be clicked to avoid drilling or injecting without positioning, and to inject the drug without drilling.

The invention can be applied to experiments related to the implementation of animal behavior, and can be used for drilling and injecting drugs into animal skulls, and observing the physical behaviors of animals recorded under the action of drugs on the brain. Of course, the present invention can also be applied to other occasions where the skull is drilled and injected.

In addition, in the implementation of the present invention, the driving base 220 can also be designed to move along a straight line, and the indicating module 221, the drilling hole The module 223 and the injection module 224 are arranged along the line and are located in the driving seat 220 in a coordinated manner. Therefore, when the driving base 220 moves back and forth along the straight line, the purpose of driving the indicating module 221, the drilling module 223 and the injection module 224 to move to the working position can also be achieved.

In summary, the skull surgical positioning system of the present invention can recognize the light spot 222 projected by the indicating module 221 in the image of the skull 10 by using the identifying unit 61, and calculate the light spot 222 by using the calculating unit 62. With respect to the positional parameter of the reference symbol 15, the light spot 222 is moved through the control unit 63 to the reference symbol 15 representing the surgical site 11, and the working position directly above the surgical site 11 is automatically positioned, and By rotating the surgical unit 22, the drilling module 223 and the injection module 224 are alternately moved to the working position, and the surgical site 11 is drilled and injected, so that drilling and injection operations are not required. The positioning is divided into two parts, so the efficiency of drilling and spraying can be improved, and the artificial hand shake during drilling and injection can be avoided to affect the quality of the operation. The innovative structure of the invention can save operation time and facilitate surgery. The purpose of the present invention is indeed achieved.

However, the above is only the embodiment of the present invention, and the scope of the present invention is not limited thereto, that is, the simple equivalent changes and modifications made by the patent application scope and the patent specification of the present invention are still It is within the scope of the patent of the present invention.

10‧‧‧Skull

11‧‧‧Surgical site

13‧‧‧ mice

14‧‧‧ plane

15‧‧‧notation

2‧‧‧Surgical device

21‧‧‧ bracket unit

211‧‧‧Base

212‧‧‧Mobile arm

213‧‧‧Mobile agencies

214‧‧‧ longitudinal orbit

215‧‧‧ 纵座

217‧‧‧ transverse orbit

218‧‧‧ traverse seat

219‧‧‧lateral drive

22‧‧‧Surgical unit

220‧‧‧ drive seat

221‧‧‧Indicating module

222‧‧‧ light spots

223‧‧‧Drilling module

224‧‧‧Injection module

225‧‧‧ drilling tools

227‧‧‧Injector

23‧‧‧Transmission mechanism

3‧‧‧Image capture device

A‧‧‧ arrow

L‧‧‧Upright axis

Claims (7)

A skull surgical positioning system for positioning a surgical site of a skull to be operated, the skull having a crisscross, the surgical positioning system comprising: a surgical device comprising a stent unit, and an operating unit The bracket unit has a base, a moving arm above the base, and a moving mechanism mounted between the moving arm and the base and capable of two-dimensionally shifting the moving arm relative to the base, the operating unit Mounted on the moving arm and above the skull, and has an indication module for projecting a light spot on the skull; an image capturing device for capturing images of the skull; and a control device, signal connection The surgical device and the image capturing device include an identification unit, a calculation unit, and a control unit, and the recognition unit can recognize the intersection and the light spot according to the image of the skull, and the calculation unit can Calculating the positional parameter of the spot relative to the surgical site as a reference point at the intersection, the control Element can be controlled based on the positional parameters of the moving mechanism moves the panning operation of the drive arm displacement means so that the light spot is moved to the surgical site. The skull surgical positioning system of claim 1, wherein the surgical unit further has a drilling module capable of drilling a hole in the skull, and a hole for injecting the hole into which the skull is drilled. An injection module, the surgical device further comprising a transmission mechanism mounted to the bracket unit and coupled to the surgical unit, the transmission mechanism being controllable The unit is driven to drive the surgical unit to be displaced relative to the bracket unit, so that the drilling module, the injection module and the indicator module are respectively displaced to a working position for performing surgical processing on the surgical site. The skull surgical positioning system of claim 2, wherein the surgical unit has a driving base that is drivable by the transmission mechanism and rotates relative to the bracket unit, the indicating module, the drilling module and the injection module are The driving base is disposed at intervals around the axis of the driving base and is interlocked. The skull surgical positioning system of claim 3, wherein the control unit has a positioning mode that can be selectively activated, a drilling mode and an injection mode, and the control unit is in the positioning mode, the drilling hole When the mode and the injection mode are activated, the transmission mechanism is driven to rotate the driving base to respectively drive the indicating module, the drilling module and the injection module to the working position. The skull surgical positioning system of claim 1, 2, 3 or 4, wherein the skull further has a marker symbol indicated at the surgical site, wherein the recognition unit can recognize the cross from the image of the skull At the position, the spot and the mark symbol, the calculating unit calculates the position data of the spot and the mark relative to the intersection by using the intersection as a reference point, and calculating the position data according to the position data Location parameter. The skull surgical positioning system of claim 1, 2, 3 or 4, further comprising a display device for displaying an image of the skull captured by the image capturing device, the display device displaying an image of the skull Pointed Selecting a label symbol representing the surgical site, the calculating unit calculates the position data of the light spot and the mark symbol relative to the intersection point with the intersection as a reference point, and calculates the position data according to the position data. Out of this position parameter. The skull surgical positioning system of claim 1, 2, 3 or 4, further comprising an input device for separately connecting the control device, and a display for displaying an image of the skull captured by the image capturing device The device further includes a coordinate information unit that displays a two-dimensional coordinate on the image of the skull displayed by the display device, and defines the light spot in the two-dimensional The coordinate information in the coordinate, the input device is configured to input a set of coordinate data representing the surgical site, and the coordinate information unit can mark a symbol on the image of the skull according to the coordinate data of the surgical site, and the calculating unit can The spot point and the coordinate data of the marked symbol are analyzed to output the position parameter.