WO2013075500A1 - Following-type spine self-positioning and navigating surgical mechanical hand and positioning method thereof - Google Patents

Abstract

Disclosed is a following-type spine self-positioning and navigating surgical mechanical hand comprising a general part and a specialized part, wherein the general part comprises a following connecting mechanism (1), a posture adjusting mechanism (2) and a control software and sensor, and adjusting plate (3), and the specialized part comprises a detection positioning unit and an embedding execution unit and is divided into two specialized parts for the thoracic and lumbar vertebrae and the cervical vertebrae. The surgical mechanical hand and the target vertebrae can remain relatively static by means of the following connecting mechanism (1) of the surgical mechanical hand; next, preset points on the target vertebrae are selected to serve as specific points; left and right probes (22, 22') and locking needles (17, 18) are used to lock the specific points, and a virtual rotating axis center is established in the coordinate system of a robot so the mechanical hand can adjust the stance; then the positioning method of the vertebral pedicle insertion points and the insertion angle is determined and the vertebral pedicle is inserted accurately by means of digital guidance. The surgical mechanical hand can improve the accuracy of positioning and insertion in the process of an operation and guarantee the safety and the curative effect of the spinal surgery.

Description

 Follow-up spine self-positioning navigation surgical robot and its positioning method This application claims to be submitted to the Chinese Patent Office on November 27, 2011, the application number is 201110417113.8, and the invention name is "station-based spine self-positioning navigation based on specific point locking". Priority of Chinese Patent Application for "Surgical Robot Hand", the entire contents of which are incorporated herein by reference.

Technical field

 The invention belongs to a medical surgical instrument, in particular to a follow-up spine self-positioning navigation surgical robot hand and a positioning method thereof.

Background technique

As we all know, the pusher root is a small columnar structure that connects the pusher and the pushbone. It has become one of the main surgical methods of spinal surgery through push-puncture or internal fixation. The method is various, such as push-body formation. Surgery, spinal fracture internal fixation, spinal spondylolisthesis, scoliosis orthopedics. Since the push bone is hidden in the deep part of the human body and moves up and down with the breathing, it is not easy to accurately insert it by pushing the bow or placing it like a blind eye to move the target. At present, the method for the insertion of the pedicle can be summarized into four types: 1 artificial placement with X-ray positive lateral fluoroscopy, somatosensory evoked potential and electromyography and other neurophysiological and electrical impedance methods to monitor the placement direction. 2 Computer-aided navigation is guided by the principle of Global Positioning System (GPS). The data acquired after 3D reconstruction of the CT and MRI images of the preoperative spine are stored in the "virtual world coordinate system". The intraoperative locator pushes the target in real time. The spatial position of the surgical instrument is established in the "real world coordinate system", and then guided by the matching of the two coordinate systems. 3 digital guide template. 4 surgical robots such as Spineassiant (spine assistant) in Israel, SPINEBOT based on optical tracking in Korea, surgical navigation system based on 2D images of intraoperative C-arm machine in Germany, robotic operating system guided by 0-arm. These methods have their own advantages but also have certain deficiencies, such as cumbersome and time-consuming operations, easy image drift, tracking system is susceptible to interference, and can not be dynamically monitored in real time; some need to reveal a large range, difficult to percutaneous Application under the conditions of surgery; Some are limited by the existing navigation methods, although their own precision is very high, but the insertion accuracy is difficult to further improve. In view of this, it is urgent to design a new follow-up spine self-positioning navigation robot hand and positioning method for the above technical problems, to achieve high-precision determination of the insertion point and placement direction of the pusher nail, and to improve the spine. The safety and efficacy of the operation.

Summary of the invention

 It is an object of the present invention to provide a follow-up spine self-positioning navigation surgical robot based on a specific point locking that can lock a specific point on the posterior surface of the push bone, automatically adjust the posture, accurately control the placement point and insert The direction, so that the digital push pin is accurately placed, safe, efficient and easy to operate. In view of this, it is another object of the present invention to provide a positioning method for the above-described follow-up self-positioning navigation surgical robot.

 In order to solve the above technical problem, the present invention provides a follower spine self-positioning navigation surgical robot, which comprises a universal part and a dedicated part; the universal part consists of a follower connection mechanism, an attitude adjustment mechanism and control software, a sensor, an adjustment board, etc. The special part includes a detecting and positioning unit and a placing and executing unit, and is divided into two parts: a chest waist pusher and a neck pusher; the surgical robot hand can be kept relatively stationary with the push bone through the follower mechanism, and can be surrounded and surrounded. These specific points are locked in different directions, and then the insertion point and the insertion direction are determined, and the numerical control guide is placed through the pusher.

 Preferably, the specific point is a point on the trailing edge line of the non-identical arc of the posterior bone pushing surface, or the specific point is a line parallel to the long axis direction and left and right sides on the posterior surface of the push bone Pushing the intersection of the head and the tail to the bisector; or the specific point is the intersection of the line at a predetermined angle with the bisector of the left and right push head and the line parallel to the long axis.

 Preferably, the surgical robot hand locks a specific point on the rear surface of the two or more push bones at the same time when a push bone is inserted into the left and right.

 Preferably, the surgical robot performs manual or automatic control of the posture adjustment by observing or collecting changes in the length of the probe, pressure, and the like.

Preferably, all the locking needles can be telescoped and distributed on the probe. All the locking needles can be telescoped and distributed around the probe or the puncture needle. The tip of the locking needle is lower than the probe or the puncture needle. Contact, avoid slipping after contact with a specific point or point of entry, lock a specific point and determine the placement point and placement direction. Preferably, the follower connection mechanism comprises a connecting plate, a column, and a spring.

 Preferably, the detecting and positioning unit of the dedicated part for chest and waist push is composed of two or more probe mechanisms, a locking needle mechanism, a shifting needle mechanism, and the like; the placing and executing unit is composed of two or more puncture needle mechanisms and the like. The probe mechanism includes a probe, a guiding column, a guiding cylinder with a scale groove, a spring, a indicator, etc.; the locking needle mechanism includes a locking needle, a guiding tube, a spring, a indicator, etc.; the conversion needle mechanism includes a conversion needle, a guiding tube, a displacement And the angle adjusting seat; the puncture needle mechanism comprises a puncture needle, an inner guiding cylinder, an opening and closing outer guiding cylinder, a displacement and an angle adjusting seat, etc., wherein the puncture needle, the inner guiding cylinder and the opening and closing outer guiding cylinder are hollow or transparent X-ray materials production.

 Preferably, the detecting and positioning unit and the placing and executing unit of the dedicated portion of the pusher include two or more probes, a locking needle or a puncture needle, an adjusting seat and the like, and the locking needle is composed of a locking piece, a spring, etc.; each locking piece can be Independently telescopic, the lower end can be sharp or other shape.

 Preferably, the detecting and positioning unit and the placing and executing unit of the robot hand are respectively disposed on opposite sides of the connecting seat of the robot hand.

 The invention also provides a positioning method for a follower spine self-positioning navigation surgical robot hand, the positioning method comprising the following steps:

 1) Select a specific point on the target push bone;

 2) Using the probe of the detecting and positioning unit and the locking pin to lock the position of the specific point, thereby determining the insertion point and the insertion direction of the target keel.

 Preferably, the target push bone is pushed, and the step 1) is specifically:

 Selecting two points on two arcs having the same center but different radii on the trailing edge of the stern bow as a specific point; respectively acquiring two specific points on the first and second arcs Spacing and first and second arc radii;

 The step 2) is specifically:

 21) setting a distance between two probes of the detecting and positioning unit equal to a distance between two specific points on the first circular arc; the robot of the robot determines the center of the circle according to the spacing and the radius of the first circular arc; The robot hand takes the center of the circle as a center, and rotates with the radius of the second arc as a radius, so that the two puncture needles touch the trailing edge line of the rear bow;

 23) the robot hand locks a specific point along a vertical line passing through the midpoint of the two touch points of the trailing edge line (second arc) of the rear bow by the puncture needle;

The step 2) further includes a step 3): The puncture needle of the robot hand placed in the execution unit is adjusted according to a preset trajectory and then pushed along the push button.

 Preferably, the target push bone is a sixth neck push, and the step 1) is specifically:

 Selecting two intersection points of the left and right side edge lines of the sixth neck push and the bisector of the push bow and the head as a specific point; obtaining a first distance between the left and right push pin insertion points and the center line, and a second distance between the left and right push pin insertion points and an edge point of the pusher head or the tail side;

 The step 2) is specifically:

 21 Locating the distance between the two probes of the detecting and positioning unit is equal to the spacing between the two specific points, and moving the needle to the tail or the head side by a second distance;

 22) moving the robot hand so that the lower end of the sliding cylinder of the detecting and positioning unit contacts the specific point, and rotating the robot hand at a small angle in a vertical plane with the virtual center of rotation as a center, so that the left and right sides The indicator height of the probe is the same;

 23) rotating the robot hand about a horizontal line of its axis by 180 degrees, then moving the placement execution unit to the left or right by the first distance, and then prepending the puncture needle placed in the execution unit Set the track to adjust the posture.

DRAWINGS

 Figure 1 is a front view of the follower spine self-positioning navigation surgery robot hand;

 Figure 2 is a side view of the follower spine self-positioning navigation surgery robot hand;

 Figure 3 is a top view of the follower spine self-positioning navigation surgery robot hand;

 Figure 4 is a structural view of the replacement inner guide cylinder;

 Fig. 5 is a schematic diagram of the working principle of the chest and lumbar push of the follower spine self-positioning navigation machine; Fig. 6 is a schematic diagram of the working principle of the follower spine self-positioning navigation machine handcuffs; Fig. 7 is a follower spine self-positioning navigation operation Figure 8 is a partial enlarged view of the Z-direction of the bottom end of Figure 7;

 Figure 9 is an end elevational view of another embodiment of the surgical robot hand provided by the present invention; Figure 10 is a side view of Figure 9;

Figure 11 is a plan view of Figure 9; Figure 12 is an end view of the robot to which the robot hand shown in Figure 9 belongs;

 13 is a flow chart showing a specific embodiment of a positioning method of a surgical robot hand according to the present invention;

 Figure 14 is a schematic diagram of a positioning method of a robotic spine positioning;

 Figure 15 is a side elevational view of the sixth neck push of Figure 14.

 Wherein, the correspondence between the reference numerals in FIG. 1 to FIG. 15 and the component names is: 1. follow-up connection mechanism 2. attitude adjustment mechanism 3. adjustment plate 4. locking needle mechanism 5. probe mechanism 6. conversion Needle mechanism 7. Puncture needle mechanism 8. Connecting plate 9. Column 10. Spring 11. Rotating shaft 12. Rotating shaft seat 13. Locking seat 14, 14'. Displacement wire 15. Guide groove 16. Guide groove 17. Head and tail lock Needle 18. Left and right locking needle 19. Guide tube 20. Spring 21. Indicator 22, 22'. Probe 23. Specific point 24. Specific point 25. Specific point 26. Specific point 27. Guide post 28. With scale groove Guide cylinder 29. Spring 30, 30'. indicator 31. Probe "-" shaped tip 32. Conversion needle 33. Guide tube 34. Displacement and angle adjustment seat 35. Puncture needle 36. Inner guide barrel 37 Opening and closing outer guiding cylinder 38. Displacement and angle adjusting seat 39. Inner guiding cylinder 40. Locking needle 41. Slide cylinder 42. Spring 43, 43'. Probe 44. Adjustment seat 45, 45'. Puncture needle 46. Adjustment Seat 47. Locking pin 48. Locking piece 49. Spring 50. "Eight" word structure 51, 5". Specific point 52, 52'. Specific point 53, 53'. Specific point 54, 54'. Indicator 55, 55' Indicator

101. Robot hand 102. Surgical robot 103. Operating table 104. X direction moving rail and motor 105. Y direction moving rail and motor 106. Z direction moving rail and motor 107. Detection positioning unit 108. Connector 109. Placement execution Unit 110. Axis Q 111. Probe 112. Probe 113. Adjustment fastening device 114. Quick change device 115. Lock pin 116. Lock pin 117. Lock pin 118. Slide tube 119. Slide tube 120. Slide rod 121 Slider 122. Spring 123. Spring 124. Limiting piece 125. Limiting piece 126. Indicator 127. Indicator 128. Detecting the horizontal line of the positioning unit 129. Pushing the horizontal line 130. Robot arm 131. Puncture needle 132. Guide Tube 133. Guide barrel 134. Locking pin 135. Locking pin 136. Locking pin 137. Tail cap 138. Spring 139. Pushing bow insertion point E 140. Pushing bow insertion point E' 141. Specific point A 142. Specific point A' 143. Push bow planning route 144. Push bow planning route 145. Center line 146. Virtual rotation axis 147. Push plate tail side edge point P 148. Head and tail to "push bow root" bisector and The distance of the point P is m 149. The angle between the left push bow planning route 143 and the midline 145 is 150. The angle between the right stroke and the midline is α' 151. The left "pushing the root" is head and tail. Split line 152. Push plate 153 left push The first distance between the insertion point and the median line n 154 The right two pushes the first distance n' between the insertion point and the median line.

Detailed ways

 The core of the present invention is to provide a follow-up spine self-positioning navigation surgical robot based on a specific point locking, which can accurately determine the insertion point and the insertion direction of the pusher nail, and improve the precision of the spinal surgery. On the basis of this, another core of the present invention is to provide a positioning method for the above-described follow-up self-positioning navigation surgical robot.

 In order to make those skilled in the art better understand the technical solutions of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

 Please refer to FIG. 1 to FIG. 4 , FIG. 1 is a front view of the follower spine self-positioning navigation surgery robot; FIG. 2 is a side view of the follower spine self-positioning navigation surgery robot; FIG. 3 is a follow-up spine self-positioning navigation Top view of the surgical robot hand; Figure 4 is a structural view of the replacement inner guide cylinder.

 The basic principle of the self-positioning navigation of the surgical robot hand is to keep the robot hand and the push bone relatively stationary, and it can touch some specific points on the posterior surface of the push bone, and can be reliably locked from the periphery and the upper, respectively, and then determined In the point of entry and placement, the CNC guides the insertion of the bow. The so-called specific point refers to the point at which the posterior surface of the pushbone can be used as a limit on the trailing edge of the same arc. (The trailing edge line of the posterior surface of the pushbone is equivalent to the CT section of the left and right push arch planning path. Line), or the above-mentioned specific point is the intersection of the line parallel to the long axis and the left and right push-to-tail bisector on the left and right sides of the posterior surface of the push bone, or the above specific point is specifically the left and right push head The tail bisector is at the intersection of a line with a certain angle and a line parallel to the long axis. Specifically, the line parallel to the long axis may be specifically a left and right edge line of the neck push bone, a transverse thrust joint line of the chest push rib, a gap line of the lumbar push joint joint, and the like.

As shown in FIG. 1 to FIG. 4, the follower spine self-positioning navigation robot is connected to the robot body through a robot arm, and includes two parts, a general purpose and a dedicated one. The universal part is composed of a follower connection mechanism 1, an attitude adjustment mechanism 2, control software and sensors, and an adjustment board 3. The follower connection mechanism 1 includes a connecting plate 8, a column 9, and a spring 10. When the robot is lowered and brought into contact with the posterior surface of the pushbone, the spring 10 is compressed, and the robot can follow the up and down movement of the pushbone due to breathing, that is, Move, the robot hand thus remains relatively stationary with the push bone. The connecting plate 8 is connected to the robot arm. The attitude adjusting mechanism 2 includes a rotating shaft 11, a rotating shaft seat 12, a locking seat 13, a displacement wire 14, 14', a sensor, and a control Software, etc. The displacement wires 14, 14' can transmit the displacement of the two probes 22, 22' indicator 30, 30' during the movement of the robot through the sensor to the main control system of the robot, and the main control system then controls the movement of the robot body through software. The adjustment plate 3 translates and rotates around the rotation shaft 11. When the lengths of the two indicators 30, 30' are equal, the robot stops moving and the posture adjustment is completed. The adjustment plate 3 has two guide grooves 15, 16, for switching connection with the dedicated portion. The dedicated part includes a detection positioning unit and a placement execution unit, which are divided into two parts: a chest waist push and a neck push. The chest and waist push dedicated portion is composed of a probe mechanism 5, a lock needle mechanism 4, a shift needle mechanism 6, a puncture needle mechanism 7, and the like. The probe mechanism 5 has two sets, including the probes 22, 22', the guide post 27, the guide cylinder 28 with the graduated groove, the spring 29, the indicator 30, and the like. The lower end of the probe 22 has a "-" shape 31, and the specific points 23, 24 can be accessed from above. The locking needle mechanism 4 includes four sets of head and tail locking needles 17, two sets of left and right locking needles 18, a guide tube 19, a spring 20, a indicator 21, and the like. The tips of all of the locking pins 17, 18 are lower than the probe 22, and the locking needles 17, 18 are in contact with the posterior surface of the pushbone prior to the probe 22 as the robot is lowered and the probe 22 is gradually locked to the particular points 23, 24. (If necessary, it can be inserted into the bone), and the indicator 21 of the locking needle 17, 18 can reflect whether it touches the bone surface and the state of pressure on the bone surface. Since the bone surface is rough and uneven, the probe 22 can be prevented from slipping when the locking needles 17, 18 are lowered to a certain pressure to reach the bone surface, and the probe 22 is ensured not to deviate from the specific point 23, 25 and the left and right locking needles 18 do not deviate from the specific point 24 , 26, can reliably lock specific points 23, 25, 24, 26 from the head and tail, left and right direction. The shifting needle mechanism 6 includes a shifting needle 32, a guide tube 33, a displacement and angle adjusting seat 34, and the like. In some cases, the probe 22 may interfere with the insertion of the puncture needle 35. At this time, the conversion needle 32 may be fixed to the posterior surface of the push bone in an appropriate position, and the probe 22 is removed to allow the puncture needle 35 to be placed. The puncture needle mechanism 7 is two sets, and is composed of a puncture needle 35, an inner guide cylinder 36, an open outer guide cylinder 37, and a displacement and angle adjustment seat 38. The puncture needle 35, the inner guide cylinder 36, the replacement inner guide cylinder 39, and the open outer guide cylinder 37 are made of hollow or X-ray permeable material. The replacement inner guide cylinder 39 includes a lock needle 40, a slide cylinder 41, and a spring 42 to ensure accurate penetration of the puncture needle 35 into the insertion point. The replacement inner guiding cylinder 39 is replaced with the inner guiding cylinder 36, so that the needle insertion process can be seen from the pivoting axis position (ie, from the end of the pushing bow root) during the operation, real-time dynamic monitoring, preventing the needle 35 from deviating, ensuring The needle 35 is placed accurately and safely. The opening and closing outer guide cylinder 37 is opened, and the puncture needle 35 can be disengaged from the robot hand. The dedicated part of the pusher includes two sets of probes 43, 43' and an adjustment seat 44, two sets of puncture needles 45, 45' and an adjustment seat 46, etc., and the two locking needles 47 are composed of two locking pieces 48, a spring 49 and the like. The two locking pieces 48 can be independently extended and contracted, and the lower end has a " / " shape, and the other has a " \ ", which constitutes an "eight" knot. The structure 50 can adapt to the "mountain-like" structure of the posterior arch, preventing the probes 43, 43' from slipping to the head or tail. Since the posterior arch is circular, the puncture needles 45, 45' are located at the highest position of the posterior arch, that is, on both sides of the posterior nodule, which prevents the puncture needles 45, 45' from slipping to the left or right. The two sets of probes 43, 43' fall at a specific point 51, 51 ', and the puncture needles 45, 45' can be locked by the adjustment plate 3 to the specific points 53, 53' from above. In the following, the first lumbar push (L1) and the first neck push (push push) surgery are taken as an example to illustrate the operation method and steps of the robot hand in the chest and waist push and neck push.

 (1) For the chest and waist push, please refer to Figure 5, Figure 5 is a schematic diagram of the working principle of the chest and lumbar push of the follower spine self-positioning navigation surgery.

 As shown in Fig. 5, four specific points 23, 24, 25, 26 (23, 25 are the highest points of the two epiphyses) are determined on the CT section of the head and tail to the left and right sides before the operation; 24, 26 It is the intersection of the horizontal line L and the bottom of the two bones) and measures: (1) the height difference between the specific points 23, 25 from the horizontal line; (2) the vertical distance between the specific points 24, 26 and the sagittal line M; The distance between the roots of the points E and E' is placed; (4) The left and right pushes are planned to be placed at angles α', α. According to the vertical distance between the specific points 24, 26 and the yaw sagittal line, respectively: (1) the distance between the left or right locking needle 18 and the median plane of the robot; (2) the left and right pushes the root point Ε', The distance between the two needles 35 is set at the distance between the needles; (3) the angle of inclination of the puncture needle 35 is set by the left and right push angles α, α'. In the traditional open surgery, after the incision plate and the articular process are exposed, the tip 31 of the two probes 22 is directly slanted to the head and tail in the direct vision or the camera and the lateral fluoroscopy. The drop touches the highest point of the two bones 23, 25. The indicator marks 30, 30' of the probes 22 on both sides and the indicator 21 of the locking needle 18 are moved up at different heights, and the displacement wires 14, 14' transmit the displacement amount thereof through the sensor to the main control system of the robot, and the main control system continues The movement of the robot body is controlled by software, so that the adjustment plate 3 of the robot hand is translated and rotated around the rotation shaft 11. When the lengths of the two side indicators 30, 30' are equal, the robot automatically stops moving, and the posture adjustment is completed. Points 23, 25, 24, 26 are locked by the robot, and the left and right sides are pushed into the point Ε', and the angle α is placed, and α is also determined. The two puncture needles 35 are lowered along the guiding tube 36 and can be accurately placed into the push arch according to the preoperative planning values. In some cases, the probe 22 may lock the specific point 23, 25 and may interfere with the insertion of the puncture needle 35. At this time, the conversion needle 32 may be fixed to the posterior surface of the push bone in an appropriate position, and the probe 22 is removed to facilitate the puncture needle. 35 placed operation.

(2) For the push, please refer to Figure 6 to Figure 8. Figure 6 is a schematic diagram of the working principle of the follow-up spine self-positioning navigation machine. Figure 7 is the follow-up spine self-positioning navigation machine. A front view of a dedicated portion of the handcuffs; Fig. 8 is a partially enlarged view of the Z direction of the bottom end of Fig. 7.

 As shown in Fig. 6 to Fig. 8, on the CT section of the " 头 尾 等 等 等 等 等 等 等 选取 选取 选取 选取 选取 选取 选取 CT CT CT CT CT CT CT CT 51, 51', the second arc D' is determined by the center of the first arc D, and two points 52, 52', 51, 51', 52, 52' are selected symmetrically on the second arc D' Specific point. Measurement: 1 point 51, 51' spacing; 2 radius r of the first arc D, radius R of the second arc D'; 3 left and right "pushing the root" placement point 53, 53' spacing and placement angle . Set the distance between the two probes 43, 43' according to the spacing of points 51, 51 ', respectively; point 52, 52' sets the distance between the two needles 45, 45' tip. During the operation, take a small incision in the median line after the neck push, and push the posterior arch to expose the posterior arch. Under the lateral X-ray fluoroscopy, the two probes 43 and 43' are pushed forward to push the bow, the head and the tail. To the aliquot. Lowering the robot, the probe 43, 43' touches the first arc D. Since the distance between the two probes 43 and 43' and the r are known, the coordinates of the center 0 can be mastered by the robot. The control system computer determines. With 0 as the center, R is the radius to rotate the robot, so that the puncture needle 45, 45' touches the second arc D' of the posterior arch surface, and connects along the second touch point. The midpoint of the vertical robot movement, the two probes 43, 43', the two puncture needles 45, 45' touches 51, 51', 52, 52', at this time the indicators of the two probes 43, 43', 54 54', the pointers 55, 45' of the puncture needles 45, 45' are equal in height, indicating that the specific points 51, 51', 52, 52' are locked correctly. The robot stops moving. According to the left and right "pushing the roots" The insertion angle sets the angle of the left and right puncture needles 45, 45', and the left and right "pushing root" insertion points 53, 53' are spaced apart to set the spacing of the puncture needles 45, 45', and the two puncture needles 45, 45' are placed under the guiding cylinder You can press the numeric accurate preoperative planning into "push the bow root" inside.

 The invention has the following advantages: the structure is reasonable and ingenious, safe and efficient, easy to operate, can reduce or avoid radiation exposure, reduce the working intensity of the doctor, and can be operated remotely, and is suitable for various spinal column push or internal fixation operations.

 9 to FIG. 12, FIG. 9 is an end view of another embodiment of the surgical hand of the present invention; FIG. 10 is a side view of FIG. 9; FIG. 11 is a plan view of FIG. 9 shows the end view of the robot to which the robot is attached.

In another embodiment, as shown in the above figures, the surgical robot 101 provided by the present invention is part of a surgical robot 102 that is comprised of a mobile unit, a master control system, and the like. The moving unit includes the operating table 103, the X direction (referring to the long axis direction of the operating table), the moving rail and the motor 104, the Y direction (referring to the short axis direction of the operating table), the moving rail and the motor 105, Z (referring to the vertical direction of the operating table) Guide rails and motors 106, etc. The main control system is controlled by console, computer, display Components, hand controls, programming control software, etc.

The robot hand 101 includes a probe positioning unit 107, a connector 108, and a placement execution unit 109. The robot hand 101 is rotatable about the axis Q110. The detecting and positioning unit 107 is composed of two probes 111, 112, an adjustment fastening device 113, a quick change device 114, and locking pins 115, 116, 117 and the like. The probes 111, 112 have slides 118, 119, slide bars 120, 121 and springs 122, 123. The lower ends of the sliders 118, 119 are flat or "", the shape is used for the chest and waist push, and the shape is used for the neck push. The "," part of the "," is the limit piece 124, 125. The upper portions of the sliding bars 120, 121 are provided with indicators 126, 127, and the lower ends are pointed, triangular or other shapes, which have better anti-slip action. The slide bars 120, 121 are located in the slide cylinders 118, 119, and the springs 122, 123 at the upper end of the slide bar facilitate their telescopic reset. The indicators 126, 127 may reflect the length of the probes 111, 112 and the state in which the horizontal line 128 of the detection positioning unit 107 is at an angle or parallel to the horizontal line 129 of the push bone. The adjustment fastening device 113 adjusts and maintains the mutual spacing of the probes 111, 112. The quick change device 114 facilitates the separation of the detection positioning unit 107 from the placement execution unit 109, facilitating the separate use of the surgical operation when the execution unit 109 is placed. There are three locking pins 115, 116, 117 and corresponding guiding grooves and springs around the probes 111, 112. The guiding groove and the spring facilitate the expansion and contraction of the locking needles 115, 116, 117. The tips of the locking pins 115, 116, 117 are lower than the probes 111, 112 - fixed length. When a certain pressure drop probes 111, 112 are applied, the three locking pins 115, 116, 117 are in close contact with the uneven surface of the bumps at the tip of the sliders 120, 121, which prevents the probes 111, 112 from slipping. Move to lock a specific point. The connector 108 is coupled to the robot arm 130 of the robot 102. The insertion execution unit 109 is composed of a puncture needle 131, a guide tube 132, a guide cylinder 133, locking pins 134, 135, 136 and a tail cap 137. The puncture needle 131 and the guide tube 132 are located inside the guide cylinder 133, and both have a step at the tail to prevent slipping out of the guide cylinder 133. The tail cap 137 has a spring 138 therein, so that the puncture needle 131 and the guiding tube 132 can be expanded and contracted, which is advantageous for the puncture needle 131, the guiding tube 132 and the guiding cylinder 133 to enter the body during minimally invasive surgery, and also facilitates the guiding cylinder 133 contacting the bone surface. The puncture needle 131 and the guide tube 132 are retracted into the guide cylinder 133. The guiding cylinder 133 is made of hollow structure and X-ray material for real-time dynamic monitoring during operation. The locking pins 134, 135, 136 are distributed around the guide barrel 133, and also have guide grooves and springs to facilitate expansion and contraction. The tips of the locking pins 134, 135, 136 are also lower than the length of the puncture needle 131, and the tip end thereof is in close contact with the uneven surface of the bone at a three-point shape, thereby preventing the guiding cylinder 133 from slipping, thereby locking the insertion points E139, E. '140. The tail cap 137 is connected to the guiding cylinder 133. After the tail cap 137 and the puncture needle 131 and the guiding tube 132 are removed, the needle 134 is locked. 135, 136 and the guiding cylinder 133 continue to retain the control insertion point and the insertion direction. At this time, the manual or other robot can be used to perform the push-pin insertion operation through the guiding cylinder 133.

 In a further aspect, the placement and execution unit 109 and the detection and positioning unit 107 are respectively disposed on opposite sides of the connector 108 of the robot.

 In a specific solution, the angle between the placement execution unit 109 and the probe positioning unit 107 is 180°. With this structure, the width of the robot can be reduced, the volume of the robot can be reduced, and during the operation, the robot hand can be flipped 180 about the axial center line of the connector. That is, the conversion of the positioning and placement guiding functions can be quickly realized, so that the surgical robot has the characteristics of convenient operation. Of course, the angle between the two can also be at other angles, so that the width can also be reduced, and the function of positioning and introduction can be switched by rotating a certain angle.

 In addition, the present invention also provides a positioning method for a follower spine self-positioning navigation robot hand, which first selects a preset point on the target push bone as a specific point, and then uses the left and right probes and the lock for a specific point. Locking, establish a virtual rotation axis in the coordinate system of the robot so that the robot can adjust the posture, and then determine the insertion point and the insertion angle of the push bow, and the digital guide is accurately inserted through the push bow.

 这种 In this way, the detection positioning unit can be given a certain reference by the known coordinates of a specific point, so that it has higher precision and accuracy, and the positioning accuracy of the operation is improved.

 The sixth neck push is taken as an example to illustrate the operation method and steps of the robotic hand positioning according to a specific point.

 Please refer to FIG. 13 to FIG. 15. FIG. 13 is a flow chart of a specific embodiment of a positioning method of a surgical robot hand according to the present invention; FIG. 14 is a schematic diagram of a positioning method of a robotic spine positioning; FIG. A schematic view of the lateral position of the neck push.

 In another embodiment, as shown in the above figure, when the target bone of the operation is the sixth neck, the positioning method may specifically include the following steps:

S11: After CT scan and three-dimensional reconstruction of the sixth neck push before surgery, on the CT section of the sixth neck pusher tail to the left and right "pushing the root", select the left and right edge lines and the "push bow" The intersection of the head and the tail to the bisector is taken as the specific point A 141, A'142. The lengths of the A A ' and E E ' line segments are determined by determining the angles α, α ' between the left and right "pushing root" insertion points E 139, E' 140 and the push bow planning routes 143, 144 and the median line 145. The first distances n, n' of the left and right "pushing" insertion points E 139, E' 140 and the median line 145 are measured. On the CT profile of the inner and outer aliquots of the "pushing the roots" The second distances ml48 and m' of the left and right "pushing roots" insertion points E 139, E'140 and the head side or tail edge points P147, P' (not shown) of the push plate 152 (in the figure) Not shown). Transfer these data to the computer of the master control system.

 S12: The sixth neck push is fully revealed during the operation and the fixation is firm. The spacing between the two probes 111, 112 of the probe positioning unit is set equal to the spacing of the two specific points A, A'. Under the side-view monitoring of the C-arm X-ray machine, the robot hand 1 is moved, and the probes 111, 112 touch the points P147 and P', and then move to the head side by a second distance ml48 and m' to make the probe 111, The two center lines of 112, the head and tail of the left and right "pushing the root" bisector coincide with the center projection line of the C-arm X-ray machine. Since the X-ray of the C-arm is radial, when the left and right push-to-tail bisectors or any of the two probe centerlines have a slight distance from the center of the C-arm X-ray machine, due to "projection" The magnification effect ", the projection of the off-line is recognized by a large distance offset, so that the specific head-to-tail positioning accuracy is high.

 S13: Under the control of the programming software, the probes 111, 12 are lowered, so that the "I" 124, 125 limiting piece at the lower end of the slider 18, 19 is in contact with the specific points A, A' on both sides, and the tips of the sliders 120, 12 are touched. At a specific point A, A' inside the bone surface, the robot hand has a radius about the virtual rotation center point 146 with its axis Q 10 and the virtual rotation center point 146 (the midpoint of the line connecting the specific points A, A' on both sides) Rotating in the vertical plane automatically adjusts the attitude of the robot 1 when the indicators 126, 127 of the probes 111, 12 reach the same height, the robot 1 stops moving. At this time, the 107 horizontal line 128 of the detecting positioning unit is kept parallel to the push bone horizontal line 129.

 S14: Start the robot 101 movement, and the probes 111, 112 exit the surgical field and rotate 180 around the horizontal line of the axis Q 110 . The puncture needle 131, the guide tube 132, the guide tube 133, the locking pins 134, 135, 136, etc., which are placed in the execution unit 9, are respectively moved to the left or right by the first distance n, n', and then vertically lowered to lock the insertion point E. 139 and E'140, and then the puncture needle 131, the guide tube 132, the guide cylinder 133, the locking needles 134, 135, 136, etc. are rotated at an angle of α and α' to adjust the posture. At this time, the positioning process of the robot hand 101 to push the bow insertion point and the insertion direction is completed.

 It can be seen from the above positioning process that using a specific point as a reference point can improve the positioning accuracy of the detecting and positioning unit, thereby ensuring the safety and curative effect of the push bone surgery.

For the chest and lumbar push, because the sacral push rib transverse joint joint line or the lumbar push joint joint gap line and the intersection of the right and left push head and the bisector are taken as specific points, they may not push the root of the bow. In the plane formed by the tail bisector, after the CT measures the vertical distance between the specific point and the plane, the plane can be moved to a specific point by the distance, and the water of the detecting and positioning unit 107 is realized. After the flat line 128 is parallel with the horizontal line 129 of the push bone, it returns to the in-plane adjustment posture formed by the left and right push and the tangential line of the bow, and completes the positioning and guides the left and right pushes.

 The invention has the following advantages: the structure is reasonable, the error link is small, the precision is high, and the utility model can be applied to various spinal surgery such as push-bow internal fixation or push bone grinding reduction pressure.

 The above is a detailed description of a specific point-based locking spinal positioning navigation robot and its positioning method. The principles and embodiments of the present invention have been described herein with reference to specific examples, and the description of the above embodiments is only to assist in understanding the method of the present invention and its core idea. It should be noted that those skilled in the art can make various modifications and changes to the present invention without departing from the spirit and scope of the invention.

Claims

Rights request 1. A follow-up spine self-positioning navigation surgical robot, which comprises a universal part and a dedicated part; the universal part is composed of a follower connection mechanism, an attitude adjustment mechanism and control software, a sensor, an adjustment board, etc., and the dedicated part includes detection and positioning. The unit and the insertion execution unit are divided into two parts: a thoracolumbar push and a neck push; the feature is: the surgical robot can maintain a relatively stationary position with the target push bone through the follower mechanism, and then push the bone through the selected target. The preset point is used as a specific point, and then the left and right probes and the lock are locked for a specific point, and a virtual rotation axis is established in the coordinate system of the robot so that the robot can adjust the posture, thereby determining the insertion point and the insertion angle of the pusher. The positioning method, the digital guide is accurately placed by the pusher.  2. The follower spine self-positioning navigation surgical robot according to claim 1, wherein: the specific point is a point on the trailing edge line of the non-identical arc of the posterior surface of the push bone, which can act as a limit, or The specific point is an intersection of a line parallel to the long axis direction on the left and right sides and a left and right push head end bisector on the rear surface of the push bone; or the specific point is the same as the left and right push head and the tail The dividing line is at the intersection of a line of a predetermined angle and the line parallel to the long axis direction.  3. The follower spine self-positioning navigation surgical robot according to claim 1, wherein: the surgical robot hand locks two or more pushes at a time when a push bone is pushed left and right. A specific point on the posterior surface of the bone.  4. The follower spine self-positioning navigation surgical robot according to claim 1, wherein the surgical robot hands manually or automatically controls the posture of the robot by observing or collecting changes in the length, pressure, and the like of the probe. Adjustment.  5. The follower spine self-positioning navigation surgical robot according to claim 1, wherein: all of the locking needles are extendable and extendable around the probe or the puncture needle, and the tip of the locking needle is lower than the probe. The needle or puncture needle is first contacted with the bone surface to prevent the probe or the puncture needle from slipping after contact with a specific point or the insertion point, and the specific point is locked to determine the insertion point and the insertion direction.  6. The follower spine self-positioning navigation surgical robot according to claim 1, wherein the follower connection mechanism comprises a connecting plate, a column, and a spring. 7. The follower spine self-positioning navigation surgical robot according to claim 1, wherein: the detection and positioning unit and the insertion execution unit of the dedicated part of the chest and waist push are two or more sets. The probe mechanism, the locking needle mechanism, the conversion needle mechanism, the puncture needle mechanism and the like; the probe mechanism comprises a probe, a guiding column, a guiding cylinder with a scale groove, a spring, an indicator; the locking needle mechanism comprises a locking needle, a guiding tube , the spring, the indicator; the conversion needle mechanism includes a conversion needle, a guide tube, a displacement and an angle adjustment seat, etc.; the needle mechanism includes a puncture needle, an inner guide cylinder, an open outer guide cylinder, a displacement and an angle adjustment seat; a puncture needle, an inner The guiding cylinder and the opening and closing outer guiding cylinder are made of hollow or X-ray material.  8. The follower spine self-positioning navigation surgical robot according to claim 1, wherein: the probe positioning unit and the insertion execution unit of the neck push dedicated portion comprise two or more probes, a locking needle, and a puncture. The needle and the adjusting seat, etc., the locking needle is composed of a locking piece, a spring, etc.; each locking piece can be independently stretched, and the lower end can be sharpened or other shapes.  The follower spine self-positioning navigation surgical robot according to any one of claims 1 to 8, wherein the robotic detection and positioning unit and the insertion execution unit are respectively disposed on the robot hand. The opposite sides of the connector.  10. A method for positioning a follower spine self-positioning navigation surgical robot, wherein the positioning method comprises the following steps:  1) selecting a preset point on the target push bone as a specific point;  2) detecting and locking the position of the specific point by using the detecting and positioning unit, thereby determining the insertion point and the insertion direction of the target push bone.  A positioning method for a follow-up spine self-positioning navigation surgery robot hand, characterized in that: the target push bone is a push, and the step 1) is specifically:  Selecting points on two arcs having the same center but different radii on the trailing edge of the splayed bow as a specific point; respectively acquiring two specific spacings on the first arc and the second arc And a radius of the first arc and the second arc;  The step 2) is specifically:  21) setting a distance between two probes of the detecting and positioning unit to be equal to two specific spacings on the first circular arc; the robot of the robot determines the center of the circle according to the spacing and the radius of the first circular arc; 22) the robot hand is centered on the center of the circle, and the radius of the second arc is used as a radius to make a rotary motion, so that the two puncture needles touch the trailing edge line of the rear bow; 23) the robot hand locks a specific point along a vertical line passing through the midpoint of the two touch points of the trailing edge line of the rear bow by the puncture needle; The step 2) further includes a step 3):  The puncture needle of the robot hand placed in the execution unit is adjusted according to a preset trajectory and then inserted into the bow.  12. A method for positioning a follow-up spine self-positioning navigation surgical robot, wherein the target push bone is a sixth neck push, and the step 1) is specifically:  Selecting two intersection points of the left and right side edge lines of the sixth neck push and the "pushing bow" head and tail bisector as a specific point; obtaining the first distance between the left and right push pin insertion points and the center line And a second distance between the left and right push pin insertion points and the pusher head or the trailing edge point;  The step 2) is specifically:  21) setting a distance between two probes of the detecting and positioning unit equal to two probes of the specific point to move to a tail side or a head side by a second distance;  22) moving the robot hand so that the lower end of the sliding cylinder of the detecting and positioning unit contacts the specific point, and rotating the robot hand at a small angle in a vertical plane with the virtual center of rotation as a center, so that the left and right sides The probes have the same height;  23) rotating the robot hand about a horizontal line of its axis by 180 degrees, then moving the placement execution unit to the left or right by the first distance, and then prepending the puncture needle placed in the execution unit Set the track to adjust the posture.