WO2022152248A1 - Surgical tool guiding apparatus, guiding assembly, surgical system and storage medium - Google Patents

Abstract

A surgical tool guiding apparatus (41), a guiding assembly (4), a surgical system and a storage medium. The surgical tool guiding apparatus (41) comprises a guiding block body (410), wherein a plurality of orientation parts (430) and a plurality of detection modules (420) are arranged on the guiding block body (410); the orientation parts (430) are used for cooperating with a surgical tool (50) to provide orientation for a surgical operation; and the detection modules (420) are used for sensing information of the surgical tool (50), which cooperates with the orientation parts (430), affecting a target tissue. Information of a surgical tool (50), which cooperates with orientation parts (430), affecting a target tissue is sensed in real time, so as to facilitate a chief operating doctor in comparing an actually measured value sensed by detection modules (420) to an input value input before a surgical operation, such that each step of the surgical operation can be evaluated and calibrated, thereby effectively improving the accuracy of the surgical operation.

Description

手术工具引导装置、引导组件、手术系统和存储介质Surgical tool guides, guide assemblies, surgical systems and storage media技术领域technical field

本申请涉及医疗器械技术领域，特别涉及一种手术工具引导装置、引导组件、手术系统和存储介质。The present application relates to the technical field of medical devices, and in particular, to a surgical tool guiding device, a guiding assembly, a surgical system and a storage medium.

背景技术Background technique

膝关节骨性关节炎是临床常见的一种骨科疾病，临床主要表现为膝关节肿痛、肿胀、僵硬等。该病诱发的因素较多，患者若不能得到及时有效的诊治，容易导致肌肉萎缩、膝关节畸形等一系列并发症，严重影响患者的身心健康及生活质量。全膝关节置换手术(total knee arthroplasty,TKA)目前是治疗晚期膝关节骨关节炎最有效的手段，可以缓解患者膝关节疼痛、恢复膝关节活动度，在极大程度上改善患者术后的生活质量。Knee osteoarthritis is a common orthopaedic disease in clinical practice. There are many factors that induce the disease. If patients cannot receive timely and effective diagnosis and treatment, it is easy to lead to a series of complications such as muscle atrophy and knee deformity, which seriously affects the physical and mental health and quality of life of patients. Total knee arthroplasty (TKA) is currently the most effective method for the treatment of advanced knee osteoarthritis. It can relieve knee pain, restore knee range of motion, and greatly improve the life of patients after surgery. quality.

在现有的膝关节置换系统中常见的是使用截骨导向器进行截骨定位、测量和导向。这些现有的截骨系统可以单独使用也可以多套配合使用，但是存在的缺点是无法实时快速的测量并记录每一个截骨方向的截骨深度、截骨宽度和截骨厚度。Common in existing knee replacement systems is the use of osteotomy guides for osteotomy positioning, measurement, and guidance. These existing osteotomy systems can be used alone or in combination with multiple sets, but the disadvantage is that they cannot quickly measure and record the osteotomy depth, osteotomy width and osteotomy thickness in each osteotomy direction in real time.

现有技术中的膝关节截骨板存在以下问题：The knee osteotomy plate in the prior art has the following problems:

(1)现有截骨板截骨量的测量方法多是机械加人工手动测量的方式，测量精度低，操作复杂。(1) Most of the existing methods for measuring the osteotomy amount of the osteotomy plate are mechanical and manual measurement methods, which have low measurement accuracy and complicated operations.

(2)现有截骨板无法实时测量截骨量，无法有效的进行术中截骨校准。(2) The existing osteotomy plate cannot measure the amount of osteotomy in real time, and cannot effectively perform intraoperative osteotomy calibration.

发明内容SUMMARY OF THE INVENTION

本申请的目的在于提供一种手术工具引导装置、引导组件、手术系统和存储介质，其可以解决现有技术中由于手术工具在手术操作过程中所影响的目标组织的信息的测量方法多是机械加人工手动测量的方式，导致测量精度低，操作复杂，无法有效地进行术中操作校准的问题。The purpose of the present application is to provide a surgical tool guiding device, a guiding assembly, a surgical system and a storage medium, which can solve the problem that the measurement methods of the information of the target tissue affected by the surgical tool during the surgical operation in the prior art are mostly mechanical Adding manual measurement results in low measurement accuracy, complicated operations, and inability to effectively calibrate intraoperative operations.

为解决上述技术问题，本申请提供一种手术工具引导装置，包括导块本体；In order to solve the above technical problems, the present application provides a surgical tool guide device, including a guide block body;

所述导块本体上设有若干导向部和若干检测模块，所述导向部用于与手术工具配合以为手术操作提供导向，所述检测模块用于感测与所述导向部配合的手术工具影响目标组织的信息。The guide block body is provided with a number of guide parts and a number of detection modules, the guide parts are used to cooperate with surgical tools to provide guidance for surgical operations, and the detection modules are used to sense the influence of the surgical tools matched with the guide parts. Information about the target organization.

可选的，所述检测模块用于感测与所述导向部配合的手术工具影响目标组织的深度、宽度和厚度中的至少一者。Optionally, the detection module is configured to sense at least one of the depth, width and thickness of the target tissue affected by the surgical tool matched with the guide portion.

所述检测模块包括至少一个第一传感器单元、至少一个第二传感器单元和至少一个第三传感器单元中的至少一者；The detection module includes at least one of at least one first sensor unit, at least one second sensor unit, and at least one third sensor unit;

所述第一传感器单元用于感测与所述导向部配合的手术工具影响目标组织的深度；the first sensor unit is used for sensing the depth of the surgical tool matched with the guide part affecting the target tissue;

所述第二传感器单元用于感测与所述导向部配合的手术工具影响目标组织的宽度；the second sensor unit is used for sensing the width of the target tissue affected by the surgical tool matched with the guide part;

所述第三传感器单元用于感测与所述导向部配合的手术工具影响目标组织的厚度。The third sensor unit is used for sensing the thickness of the target tissue affected by the surgical tool matched with the guide portion.

可选的，所述第一传感器单元、所述第二传感器单元、所述第三传感器单元中的至少 一者为光编码器单元，所述光编码器单元包括光源、转换电路和光电传感器；Optionally, at least one of the first sensor unit, the second sensor unit, and the third sensor unit is an optical encoder unit, and the optical encoder unit includes a light source, a conversion circuit, and a photoelectric sensor;

所述光源用于向与所述导向部配合的手术工具的第一面和第二面或第三面提供照射光，其中，所述第一面和所述第二面与所述手术工具的厚度方向相垂直，所述第三面与所述手术工具的宽度方向相垂直；The light source is used for providing illumination light to the first surface and the second surface or the third surface of the surgical tool matched with the guide portion, wherein the first surface and the second surface are the same as the surface of the surgical tool. The thickness direction is vertical, and the third surface is vertical to the width direction of the surgical tool;

所述光电传感器用于接收由所述手术工具的所述第一面、所述第二面或所述第三面反射回来的反射光，并对所述反射光进行光电转换，以形成电信号并输出至所述转换电路；The photoelectric sensor is used for receiving the reflected light reflected from the first surface, the second surface or the third surface of the surgical tool, and photoelectrically converts the reflected light to form an electrical signal and output to the conversion circuit;

所述转换电路用于对所接收的电信号进行模数转换与放大处理并输出对应的脉冲信号至控制器；The conversion circuit is used for performing analog-to-digital conversion and amplifying processing on the received electrical signal and outputting the corresponding pulse signal to the controller;

所述控制器根据所接收的脉冲信号计算所述手术工具影响所述目标组织的深度、宽度或厚度。The controller calculates the depth, width or thickness at which the surgical tool affects the target tissue based on the received pulse signal.

可选的，所述手术工具的第一面、第二面和第三面中的至少一者设有码道，并且对应所述第一面、所述第二面和所述第三面的所述码道分别定义为第一码道、第二码道和第三码道；Optionally, at least one of the first surface, the second surface and the third surface of the surgical tool is provided with a coding channel, and corresponds to the first surface, the second surface and the third surface. The code channels are respectively defined as a first code channel, a second code channel and a third code channel;

所述第一码道包括多个与所述手术工具的宽度方向平行且等间隔设置的第一不透光条带；The first yard track includes a plurality of first opaque strips arranged in parallel with the width direction of the surgical tool and at equal intervals;

所述第二码道包括多个与所述手术工具的长度方向平行且等间隔设置的第二不透光条带；The second track includes a plurality of second opaque strips parallel to the length of the surgical tool and at equal intervals;

所述第三码道包括多个与所述手术工具的长度方向平行且等间隔设置的第三不透光条带。The third track includes a plurality of third opaque strips parallel to the length of the surgical tool and at equal intervals.

可选的，所述第二传感器单元和所述第三传感器单元中的至少一者为激光传感器单元，所述激光传感器单元包括激光发射器、激光接收器和转换电路；Optionally, at least one of the second sensor unit and the third sensor unit is a laser sensor unit, and the laser sensor unit includes a laser transmitter, a laser receiver, and a conversion circuit;

所述激光发射器用于向与所述导向部配合的手术工具发射与所述导向部的宽度方向或长度方向相平行的激光；The laser transmitter is used to emit laser light parallel to the width direction or the length direction of the guide part to the surgical tool matched with the guide part;

所述激光接收器用于接收未被所述手术工具阻断的激光，以计算未被接收的激光的宽度并输出对应的电信号至所述转换电路；The laser receiver is used to receive the laser light that is not blocked by the surgical tool, so as to calculate the width of the unreceived laser light and output a corresponding electrical signal to the conversion circuit;

所述转换电路用于对所接收的电信号进行模数转换与放大处理并输出对应的数字信号至控制器；The conversion circuit is used for performing analog-to-digital conversion and amplifying processing on the received electrical signal and outputting the corresponding digital signal to the controller;

所述控制器根据所接收的数字信号计算所述手术工具影响所述目标组织的宽度或厚度。The controller calculates the width or thickness of the target tissue affected by the surgical tool based on the received digital signal.

可选的，所述第一传感器单元、所述第二传感器单元和所述第三传感器单元中的至少一者为磁编码器单元，所述磁编码器单元包括磁感应器和转换电路；Optionally, at least one of the first sensor unit, the second sensor unit, and the third sensor unit is a magnetic encoder unit, and the magnetic encoder unit includes a magnetic inductor and a conversion circuit;

所述磁感应器用于读取与所述导向部配合的手术工具的第一面和第二面或第三面的对应位置处的磁场强度，并将读取的所述磁场强度转换为对应的电信号，其中，所述第一面和所述第二面与所述手术工具的厚度方向相垂直，所述第三面与所述手术工具的宽度方向相垂直；The magnetic sensor is used to read the magnetic field strengths at the corresponding positions of the first face and the second face or the third face of the surgical tool matched with the guide portion, and convert the read magnetic field strengths into corresponding electrical fields. a signal, wherein the first surface and the second surface are perpendicular to the thickness direction of the surgical tool, and the third surface is perpendicular to the width direction of the surgical tool;

所述转换电路用于对所接收的电信号进行模数转换与放大处理并输出对应的数字信 号至控制器；The conversion circuit is used to perform analog-to-digital conversion and amplification processing on the received electrical signal and output the corresponding digital signal to the controller;

所述控制器根据所接收的数字信号计算所述手术工具影响所述目标组织的深度、宽度或厚度。The controller calculates the depth, width or thickness at which the surgical tool affects the target tissue based on the received digital signal.

可选的，所述手术工具的第一面、第二面和第三面中的至少一者设有磁体。Optionally, at least one of the first, second and third sides of the surgical tool is provided with a magnet.

可选的，所述第一传感器单元、所述第二传感器单元和所述第三传感器单元中的至少一者为光电传感器单元，所述光电传感器单元包括光源、透镜、光电传感器和转换电路；Optionally, at least one of the first sensor unit, the second sensor unit, and the third sensor unit is a photoelectric sensor unit, and the photoelectric sensor unit includes a light source, a lens, a photoelectric sensor, and a conversion circuit;

所述光源用于向与所述导向部配合的手术工具提供照射光；the light source is used for providing illumination light to the surgical tool matched with the guide part;

所述照射光中的至少一部分经所述手术工具折射后穿过所述透镜并到达所述光电传感器；At least a portion of the illumination light is refracted by the surgical tool, passes through the lens and reaches the photosensor;

所述光电传感器用于将所接收的光信号转换为电信号并输出至所述转换电路；The photoelectric sensor is used to convert the received optical signal into an electrical signal and output to the conversion circuit;

所述转换电路用于对所接收的电信号进行模数转换与放大处理并输出对应的数字信号至控制器；The conversion circuit is used for performing analog-to-digital conversion and amplifying processing on the received electrical signal and outputting the corresponding digital signal to the controller;

所述控制器根据所接收的数字信号计算所述手术工具影响所述目标组织的深度、宽度和厚度中的至少一者。The controller calculates at least one of a depth, a width, and a thickness at which the surgical tool affects the target tissue based on the received digital signal.

可选的，所述第一传感器单元和所述第二传感器单元的个数均为两个。Optionally, the number of the first sensor unit and the number of the second sensor unit is two.

可选的，所述检测模块与所述导块本体之间为一体式结构或者可拆卸式连接。Optionally, the detection module and the guide block body are integrally or detachably connected.

可选的，所述检测模块上设有第一固定孔和插槽，所述导块本体上设有与所述第一固定孔对应设置的第二固定孔，所述插槽与所述导向部对应设置。Optionally, the detection module is provided with a first fixing hole and a slot, the guide block body is provided with a second fixing hole corresponding to the first fixing hole, and the slot is connected to the guide. corresponding settings.

为解决上述技术问题，本申请还提供一种引导组件，应用于手术系统，包括上文所述的手术工具引导装置、连接轴和靶标安装座，所述连接轴的两端分别连接所述手术工具引导装置以及所述靶标安装座，所述靶标安装座用于与所述手术系统的机械臂的末端可拆卸式连接。In order to solve the above technical problems, the present application also provides a guide assembly, which is applied to a surgical system, including the surgical tool guide device described above, a connecting shaft and a target mounting seat, and two ends of the connecting shaft are respectively connected to the surgical tool. A tool guide and the target mount for detachable connection with the end of the robotic arm of the surgical system.

为解决上述技术问题，本申请还提供一种手术系统，包括控制器、机械臂和如上所述的引导组件，所述机械臂的末端用于连接所述引导组件，所述控制器用于控制所述机械臂运动，以调整所述引导组件的位置和姿态。In order to solve the above technical problems, the present application also provides a surgical system, including a controller, a robotic arm and the above-mentioned guide assembly, the end of the robotic arm is used to connect the guide assembly, and the controller is used to control the The robotic arm moves to adjust the position and attitude of the guide assembly.

为解决上述技术问题，本申请还提供一种可读存储介质，所述可读存储介质内存储有计算机程序，所述计算机程序被处理器执行时，实施如下步骤：In order to solve the above technical problems, the present application also provides a readable storage medium, where a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the following steps are performed:

获取当前手术工具影响目标组织的信息；Obtain information on how current surgical tools affect target tissue;

根据所获取的当前手术工具影响目标组织的信息以及预先获取的目标组织的影像数据，创建所述目标组织的手术操作模型；以及creating a surgical operation model of the target tissue according to the acquired information that the current surgical tool affects the target tissue and pre-acquired image data of the target tissue; and

根据所述手术操作模型评估当前所述手术工具的手术操作效果。The surgical operation effect of the current surgical tool is evaluated according to the surgical operation model.

可选的，所述获取当前手术工具影响目标组织的信息，包括：Optionally, the obtaining information that the current surgical tool affects the target tissue includes:

获取当前手术工具影响目标组织的深度、宽度和厚度中的至少一者。At least one of depth, width, and thickness at which the current surgical tool affects the target tissue is obtained.

可选的，所述获取当前手术工具影响目标组织的信息，还包括：Optionally, the obtaining information that the current surgical tool affects the target tissue further includes:

获取当前手术工具影响目标组织的角度。Obtain the angle at which the current surgical tool affects the target tissue.

可选的，所述获取当前手术工具影响目标组织的角度，包括：Optionally, the obtaining the angle at which the current surgical tool affects the target tissue includes:

获取当前手术工具相对于导向部的倾斜角度和所述导向部的角度；以及obtaining the current inclination angle of the surgical tool relative to the guide and the angle of the guide; and

根据当前所述手术工具的倾斜角度和所述导向部的角度获取当前所述手术工具影响目标组织的角度。The current angle at which the surgical tool affects the target tissue is obtained according to the current inclination angle of the surgical tool and the angle of the guide portion.

与现有技术相比，本申请提供的手术工具引导装置、引导组件、手术系统和存储介质具有以下优点：本申请通过在手术工具引导装置上设置导向部和检测模块而可以通过所述检测模块实时感测与所述导向部配合的手术工具影响目标组织的信息(例如影响目标组织的深度、宽度和厚度中的任一种或任几种)，因而可以便于主操作医生将所述检测模块感测到的实测值与手术操作前输入的输入值进行比对，以对每一步的手术操作(例如截骨操作)进行评估和校准，有效提高了手术操作(例如截骨操作)的准度。同时，本申请也可以在整个术中实现手术操作(例如截骨操作)验证功能，使得每一步的手术操作(例如截骨操作)都得到验证，保证早发现早纠正，降低了因手术操作(例如截骨操作)失误而对病人身体造成损伤的风险。此外，每一次测得的手术工具影响目标组织的信息，可以为医生提供参考，使得医生可以根据前一步的手术操作(例如截骨操作)结果，调整后续的手术操作(例如截骨操作)的数据，由此在提高手术操作(例如截骨操作)精度的同时也降低了对医生操作经验的依赖，缩短了手术时间，提高了手术效率。另外，本申请通过采用检测模块感测手术工具影响目标组织的信息，来替代采用人工来测量手术操作(例如截骨操作)的数据，不仅可以提高手术操作(例如截骨操作)数据的测量精度，同时也可以避免医生术中多次测量产生的工作量，提高了手术效率。Compared with the prior art, the surgical tool guide device, guide assembly, surgical system and storage medium provided by the present application have the following advantages: the present application can pass the detection module by arranging a guide portion and a detection module on the surgical tool guide device. Real-time sensing of the information that the surgical tool matched with the guide part affects the target tissue (for example, any one or several of the depth, width and thickness of the target tissue), so that it is convenient for the main operating doctor to use the detection module. The sensed measured value is compared with the input value input before the surgical operation to evaluate and calibrate each step of the surgical operation (such as osteotomy), which effectively improves the accuracy of the surgical operation (such as osteotomy). . At the same time, the present application can also realize the verification function of surgical operation (such as osteotomy operation) in the whole operation, so that each step of the surgical operation (such as osteotomy operation) can be verified, ensure early detection and early correction, and reduce the risk of surgical operation (such as osteotomy). The risk of injury to the patient's body due to errors such as osteotomy. In addition, the information about the impact of the surgical tool on the target tissue measured each time can provide a reference for the doctor, so that the doctor can adjust the subsequent surgical operation (such as osteotomy) according to the results of the previous surgical operation (such as osteotomy). Therefore, while improving the precision of surgical operations (such as osteotomy operations), the dependence on the doctor's operating experience is also reduced, the operation time is shortened, and the operation efficiency is improved. In addition, the present application uses the detection module to sense the information that the surgical tool affects the target tissue, instead of manually measuring the data of the surgical operation (such as osteotomy), which can not only improve the measurement accuracy of the data of the surgical operation (such as the osteotomy) At the same time, it can also avoid the workload caused by multiple measurements during the operation, and improve the operation efficiency.

附图说明Description of drawings

图1为本申请的第一种实施例中的手术工具引导装置的示意图；1 is a schematic diagram of a surgical tool guiding device in a first embodiment of the application;

图2为本申请的第二种实施例中的手术工具引导装置的分解结构示意图；2 is a schematic diagram of an exploded structure of a surgical tool guiding device in a second embodiment of the present application;

图3为本申请的一实施例中的集成有光编码器单元的手术工具引导装置的局部结构示意图；FIG. 3 is a partial structural schematic diagram of a surgical tool guide device integrated with an optical encoder unit according to an embodiment of the present application;

图4a为本申请的第一种实施例中的手术工具的第一面的示意图；Fig. 4a is a schematic diagram of the first side of the surgical tool in the first embodiment of the application;

图4b为本申请的第一种实施例中的手术工具的第二面的示意图；4b is a schematic diagram of the second side of the surgical tool in the first embodiment of the application;

图4c为本申请的第一种实施例中的手术工具的第三面的示意图；4c is a schematic diagram of the third side of the surgical tool in the first embodiment of the application;

图5为本申请的一实施例中的光编码器单元的测量原理示意图；5 is a schematic diagram of a measurement principle of an optical encoder unit in an embodiment of the present application;

图6为本申请的一实施例中的集成有激光传感器单元的手术工具引导装置的局部结构示意图；FIG. 6 is a partial structural schematic diagram of a surgical tool guiding device integrated with a laser sensor unit according to an embodiment of the present application;

图7为本申请的一实施例中的集成有磁编码器单元的手术工具引导装置的局部结构示意图；FIG. 7 is a partial structural schematic diagram of a surgical tool guiding device integrated with a magnetic encoder unit according to an embodiment of the present application;

图8a为本申请的第二种实施例中的手术工具的第一面的示意图；Fig. 8a is a schematic diagram of the first side of the surgical tool in the second embodiment of the application;

图8b为本申请的第二种实施例中的手术工具的第二面的示意图；8b is a schematic diagram of the second side of the surgical tool in the second embodiment of the application;

图8c为本申请的第二种实施例中的手术工具的第三面的示意图；8c is a schematic diagram of the third side of the surgical tool in the second embodiment of the application;

图9为本申请的一实施例中的磁编码器单元的测量原理示意图；9 is a schematic diagram of the measurement principle of the magnetic encoder unit in an embodiment of the present application;

图10为本申请的一实施例中的集成有光电传感器单元的手术工具引导装置的局部结 构示意图；Fig. 10 is a partial structural schematic diagram of a surgical tool guiding device integrated with a photoelectric sensor unit according to an embodiment of the present application;

图11为本申请的一实施例中的光电传感器单元的测量原理示意图；11 is a schematic diagram of a measurement principle of a photoelectric sensor unit in an embodiment of the present application;

图12为本申请的一实施例中的引导组件的方框结构示意图；12 is a schematic block diagram of a guide assembly in an embodiment of the present application;

图13为本申请的一实施例中的手术系统的应用场景示意图；13 is a schematic diagram of an application scenario of a surgical system in an embodiment of the present application;

图14为本申请的一实施例中的手术操作校验方法的流程示意图。FIG. 14 is a schematic flowchart of a surgical operation verification method in an embodiment of the present application.

其中，附图标记如下：Among them, the reference numerals are as follows:

手术台车-1；机械臂-2；工具靶标-3；引导组件-4；摆锯-5；导航设备-6；辅助显示器-7；主显示器-8；导航台车-9；键盘-10；股骨靶标-11；股骨-12；胫骨靶标-13；胫骨-14；基座靶标-15；手术工具引导装置-41；连接轴-42；靶标安装座-43；控制器-16；Operating Cart-1; Robot Arm-2; Tool Target-3; Guidance Assembly-4; Oscillating Saw-5; Navigation Equipment-6; Auxiliary Display-7; Main Display-8; Navigation Cart-9; Keyboard-10 ; Femoral Target-11; Femur-12; Tibia Target-13; Tibia-14; Base Target-15; Surgical Tool Guide-41;

导块本体-410；检测模块-420；导向部-430；第一传感器单元-421；第二传感器单元-422；第三传感器单元-423；第一固定孔-424；插槽-425；第二固定孔-440；手术工具-50；深度方向-D1；长度方向-D2、D5；宽度方向-D3、D4；第一面-51；第二面-52；第三面-53；第一光源-4211A、4221B；第一转换电路-4212A、4212B、4222B、4222D；第一光电传感器-4213A、4223B；第一脉冲信号-4214；第二光源-4221A、4231B；第二转换电路-4222A、4232B、4222C、4232D；第二光电传感器-4223A、4233B；第二脉冲信号-4224；第三光源-4231A；第三转换电路-4232A、4232C；第三光电传感器-4233A；第三脉冲信号-4234；第一码道-511；第一不透光条带-5111；第二码道-521；第二不透光条带-5211；第三码道-531；第三不透光条带-5311；第一磁体-512；第二磁体-522；第三磁体-532；第一激光发射器-4225；第一激光接收器-4226；第二激光发射器-4235；第二激光接收器-4236；第一磁感应器-4215；第二磁感应器-4227；第三磁感应器-4237；第一透镜-4228；第二透镜-4238。Guide block body-410; detection module-420; guide part-430; first sensor unit-421; second sensor unit-422; third sensor unit-423; first fixing hole-424; slot-425; Two fixing holes-440; surgical tools-50; depth direction-D1; length direction-D2, D5; width direction-D3, D4; first surface-51; second surface-52; third surface-53; first Light source-4211A, 4221B; first conversion circuit-4212A, 4212B, 4222B, 4222D; first photoelectric sensor-4213A, 4223B; first pulse signal-4214; second light source-4221A, 4231B; second conversion circuit-4222A, 4232B, 4222C, 4232D; second photoelectric sensor-4223A, 4233B; second pulse signal-4224; third light source-4231A; third conversion circuit-4232A, 4232C; third photoelectric sensor-4233A; third pulse signal-4234 ; first track-511; first opaque strip-5111; second track-521; second opaque strip-5211; third track-531; third opaque strip- 5311; First Magnet-512; Second Magnet-522; Third Magnet-532; First Laser Emitter-4225; First Laser Receiver-4226; Second Laser Emitter-4235; Second Laser Receiver- 4236; First Magnetic Sensor-4215; Second Magnetic Sensor-4227; Third Magnetic Sensor-4237; First Lens-4228; Second Lens-4238.

具体实施方式Detailed ways

以下结合附图1至14和具体实施方式对本申请提出的手术工具引导装置、引导组件、手术系统、手术操作校验方法和存储介质作进一步详细说明。根据下面说明，本申请的优点和特征将更清楚。需要说明的是，附图采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本申请的实施方式的目的。为了使本申请的目的、特征和优点能够更加明显易懂，请参阅附图。须知，本说明书所附图式所绘示的结构、比例、大小等，均仅用以配合说明书所揭示的内容，以供本领域技术人员了解与阅读，并非用以限定本申请实施的限定条件。任何结构的修饰、比例关系的改变或大小的调整，在与本申请所能产生的功效及所能达成的目的相同或近似的情况下，均应仍落在本申请所揭示的技术内容能涵盖的范围内。The surgical tool guide device, guide assembly, surgical system, surgical operation verification method and storage medium proposed in the present application will be described in further detail below with reference to FIGS. 1 to 14 and the specific embodiments. The advantages and features of the present application will become more apparent from the description below. It should be noted that the accompanying drawings are in a very simplified form and all use inaccurate scales, and are only used for the purpose of assisting in explaining the embodiments of the present application conveniently and clearly. For the purpose, features and advantages of the present application to be more clearly understood, please refer to the accompanying drawings. It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached in this specification are only used to cooperate with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions for the implementation of this application. . Any modification of the structure, the change of the proportional relationship or the adjustment of the size should still fall within the scope of the technical content disclosed in the application under the same or similar circumstances as the effect that the application can produce and the purpose that can be achieved. In the range.

需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括明确列出的那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素， 并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or apparatus comprising a series of elements includes not only those elements expressly listed, but also includes Other elements not expressly listed or inherent to such a process, method, article or apparatus are also included. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

本申请的主要目的在于提供一种手术工具引导装置、引导组件、手术系统、手术操作校验方法和存储介质，以解决现有技术中由于手术工具在手术操作过程中所影响的目标组织的信息的测量方法多是机械加人工手动测量的方式，导致测量精度低，操作复杂，无法有效地进行术中操作校准的问题。需要说明的是，虽然本申请是以截骨操作为例进行说明，但是本申请并不以此为限，如本领域技术人员所能理解的，本申请中的手术工具引导装置、引导组件不仅可以为用于进行截骨操作的截骨工具提供导向，还可以为执行其它手术操作的手术工具提供导向。The main purpose of the present application is to provide a surgical tool guide device, a guide assembly, a surgical system, a surgical operation verification method and a storage medium, so as to solve the information of the target tissue affected by the surgical tool during the surgical operation in the prior art Most of the current measurement methods are mechanical and manual, resulting in low measurement accuracy, complicated operations, and inability to effectively calibrate intraoperative operations. It should be noted that although the present application takes the osteotomy operation as an example, the present application is not limited to this. Guidance may be provided for osteotomy tools used to perform osteotomies, as well as for surgical tools to perform other surgical procedures.

请参考图1，其示意性地给出了本申请的第一种实施例提供的手术工具引导装置的示意图。如图1所示，所述手术工具引导装置41包括导块本体410，所述导块本体410上设有若干导向部430和若干检测模块420，所述导向部430用于与手术工具50(参见图12)配合以为手术操作提供导向。所述导向部430为导向槽或导向孔。在一些实施例中，所述导块本体410上设有若干导向槽或若干导向孔，在一些实施例中，所述导块本体410上设有若干导向槽和若干导向孔。由此，通过导向槽可以为与所述导向槽相配合的手术工具，例如截骨锯片提供导向，通过导向孔可以为与所述导向孔相配合的手术工具，例如钻孔手术工具提供导向。Please refer to FIG. 1 , which schematically shows a schematic diagram of the surgical tool guiding device provided by the first embodiment of the present application. As shown in FIG. 1 , the surgicaltool guiding device 41 includes aguide block body 410 . Theguide block body 410 is provided with a number ofguide parts 430 and a number ofdetection modules 420 , and theguide parts 430 are used for connecting with the surgical tool 50 ( See Fig. 12) to cooperate to provide guidance for the surgical operation. Theguide portion 430 is a guide groove or a guide hole. In some embodiments, theguide block body 410 is provided with several guide grooves or several guide holes. In some embodiments, theguide block body 410 is provided with several guide grooves and several guide holes. Therefore, the guide groove can provide guidance for the surgical tool matched with the guide groove, such as an osteotomy saw blade, and the guide hole can provide guidance for the surgical tool matched with the guide hole, such as a drilling surgical tool .

所述检测模块420用于感测与所述导向部配合的手术工具影响目标组织的信息，例如深度、宽度和厚度等数据中的任一种或任几种。由于通过所述检测模块420可以实时感测与所述导向部430配合的手术工具50影响目标组织的信息，因此，在手术过程中，可以通过所述检测模块420测得与其对应设置的导向部430内的手术工具50(见图12)影响目标组织的信息。例如当所述手术工具50为截骨锯片时，通过所述检测模块420可以测得所述截骨锯片的截骨量，包括截骨深度、截骨宽度和截骨厚度中的任一种或任几种，进而可以便于主操作医生将所述检测模块420感测到的实测值与手术操作(例如截骨操作)前输入的输入值进行比对，从而可以对每一步的手术操作(例如截骨操作)，进行评估和校准，有效提高了手术操作(例如截骨操作)的准度。同时，通过所述检测模块420也可以在整个术中实现手术操作(例如截骨操作)验证功能，使得每一步的手术操作(例如截骨操作)都得到验证，保证早发现早纠正，降低了因手术操作(例如截骨操作)失误而对病人身体造成损伤的风险。此外，每一次测得的手术工具影响目标组织的信息，可以为医生提供参考，使得医生可以根据前一步的手术操作(例如截骨操作)结果，调整后续的手术操作(例如截骨操作)的数据，由此在提高手术操作(例如截骨操作)精度的同时也降低了对医生操作经验的依赖，缩短了手术时间，提高了手术效率。另外，本申请通过采用检测模块感测手术工具影响目标组织的信息，来替代采用人工来测量手术操作(例如截骨操作)的数据，不仅可以提高手术操作(例如截骨操作)数据的测量精度，同时也可以避免医生术中多次测量产生的工作量，提高了手术效率。Thedetection module 420 is used to sense the information that the surgical tool matched with the guide part affects the target tissue, such as any one or several of data such as depth, width and thickness. Since thedetection module 420 can sense the information that thesurgical tool 50 matched with theguide part 430 affects the target tissue in real time, during the operation, thedetection module 420 can measure the guide part corresponding to it. The surgical tool 50 (see Figure 12) within 430 affects the information of the target tissue. For example, when thesurgical tool 50 is an osteotomy saw blade, thedetection module 420 can measure the osteotomy amount of the osteotomy saw blade, including any one of the osteotomy depth, the osteotomy width and the osteotomy thickness One or any of several types, and then it is convenient for the main operating doctor to compare the measured value sensed by thedetection module 420 with the input value input before the surgical operation (for example, the osteotomy operation), so that each step of the surgical operation can be compared. (such as osteotomy), evaluation and calibration, effectively improve the accuracy of surgical operations (such as osteotomy). At the same time, thedetection module 420 can also realize the verification function of surgical operations (such as osteotomy operations) during the entire operation, so that each step of the surgical operations (such as osteotomy operations) can be verified, ensuring early detection and early correction, reducing the cost of Risk of injury to the patient's body due to errors in surgical procedures such as osteotomies. In addition, the information about the impact of the surgical tool on the target tissue measured each time can provide a reference for the doctor, so that the doctor can adjust the subsequent surgical operation (such as osteotomy) according to the results of the previous surgical operation (such as osteotomy). Therefore, while improving the precision of surgical operations (such as osteotomy operations), the dependence on the doctor's operating experience is also reduced, the operation time is shortened, and the operation efficiency is improved. In addition, the present application uses the detection module to sense the information that the surgical tool affects the target tissue, instead of manually measuring the data of the surgical operation (such as osteotomy), which can not only improve the measurement accuracy of the data of the surgical operation (such as the osteotomy) At the same time, it can also avoid the workload caused by multiple measurements during the operation, and improve the operation efficiency.

优选的，所述检测模块420用于感测与所述导向部配合的手术工具影响目标组织的深度、宽度和厚度。此种设置允许通过所述检测模块420实时测得更多的数据，从而获得更 加全面的影响目标组织的信息(例如截骨量信息)，能够更好地为医生提供参考，进一步提高手术操作的准确性。Preferably, thedetection module 420 is used to sense the depth, width and thickness of the target tissue affected by the surgical tool matched with the guide portion. This setting allows more data to be measured in real time through thedetection module 420, so as to obtain more comprehensive information affecting the target tissue (for example, the amount of osteotomy), which can better provide reference for doctors and further improve the operation efficiency. accuracy.

进一步的，所述检测模块420包括至少一个第一传感器单元421、至少一个第二传感器单元422和至少一个第三传感器单元423中的至少一者。如图1所示，在本实施例中，所述检测模块420包括至少一个第一传感器单元421、至少一个第二传感器单元422和至少一个第三传感器单元423。其中，所述第一传感器单元421用于测量与所述导向部430配合的手术工具50的移动深度；所述第二传感器单元422用于测量与所述导向部430配合的手术工具50相对于所述导向部430的移动宽度；所述第三传感器单元423用于测量与所述导向部430配合的手术工具50的厚度。由此，通过所述第一传感器单元421可以测量出与所述导向部430配合的手术工具50相对于所述导向部430的移动深度，进而可以获取所述手术工具50影响目标组织的深度，例如进行截骨操作的截骨深度；通过所述第二传感器单元422可以测量出与所述导向部430配合的手术工具50相对于所述导向部430的移动宽度，进而可以获取所述手术工具50影响目标组织的宽度，例如进行截骨操作的截骨宽度；通过所述第三传感器单元423可以测量出与所述导向部430配合的手术工具50的厚度，进而可以获取所述手术工具50影响目标组织的厚度，例如进行截骨操作的截骨厚度。可见，通过采用本申请提供的手术工具引导装置41可以实时测量每一次进行手术操作时手术工具影响目标组织的深度、宽度和厚度，例如截骨操作的截骨深度、截骨宽度和截骨厚度，以便于主操作医生将实际测量得到的手术工具50影响目标组织的深度、宽度、厚度(例如截骨操作中的截骨深度、截骨宽度、截骨厚度)与手术操作前输入的深度、宽度、厚度(例如截骨深度、截骨宽度、截骨厚度值)进行比对，从而实现对每一步的手术操作(例如截骨操作)的评估和校准，有效提高了手术操作(例如截骨操作)的准确度。同时，通过采用本申请提供的手术工具引导装置41也可以在整个术中实现手术操作(例如截骨操作)验证功能，使得每一步的手术操作(例如截骨操作)都得到验证，保证早发现早纠正，降低了因手术操作(例如截骨操作)失误而对病人身体造成损伤的风险。此外，每一次测得的影响目标组织的深度、宽度、厚度，例如截骨操作的截骨深度、截骨宽度和截骨厚度，可以为医生提供参考，使得医生可以根据前一步的手术操作(例如截骨操作)，调整后续的手术操作(例如截骨操作)，由此在提高手术操作(例如截骨操作)精度的同时也降低了手术操作对医生操作经验的依赖，缩短了手术时间，提高了手术效率。另外，本申请通过采用传感器单元来测量手术工具50影响目标组织的深度、宽度、厚度(例如截骨深度、截骨宽度和截骨厚度)，来替代采用人工来测量手术操作数据(例如截骨数据)，不仅可以提高手术操作数据(例如截骨数据)的测量精度，同时也可以避免医生术中多次测量产生的工作量，提高了手术效率。需要说明的是，本申请中所称的手术工具50相对于所述导向部430的移动深度是指所述手术工具50沿所述导向部430的深度方向D1的移动距离，所称的手术工具50相对于所述导向部430的移动宽度是指所述手术工具50沿所述导向部430的长度方向D2的移动距离。Further, thedetection module 420 includes at least one of at least onefirst sensor unit 421 , at least onesecond sensor unit 422 and at least onethird sensor unit 423 . As shown in FIG. 1 , in this embodiment, thedetection module 420 includes at least onefirst sensor unit 421 , at least onesecond sensor unit 422 and at least onethird sensor unit 423 . Wherein, thefirst sensor unit 421 is used to measure the moving depth of thesurgical tool 50 matched with theguide portion 430 ; thesecond sensor unit 422 is used to measure the relative movement of thesurgical tool 50 matched with theguide portion 430 to thesurgical tool 50 . The moving width of theguide portion 430 ; thethird sensor unit 423 is used to measure the thickness of thesurgical tool 50 matched with theguide portion 430 . In this way, thefirst sensor unit 421 can measure the movement depth of thesurgical tool 50 matched with theguide portion 430 relative to theguide portion 430, so as to obtain the depth at which thesurgical tool 50 affects the target tissue, For example, the osteotomy depth of the osteotomy operation; thesecond sensor unit 422 can measure the moving width of thesurgical tool 50 matched with theguide portion 430 relative to theguide portion 430, and then the surgical tool can be obtained 50 affects the width of the target tissue, such as the width of the osteotomy for osteotomy; thethird sensor unit 423 can measure the thickness of thesurgical tool 50 matched with theguide portion 430, and then thesurgical tool 50 can be acquired Affects the thickness of the target tissue, such as the thickness of the osteotomy where the osteotomy is performed. It can be seen that by using the surgicaltool guiding device 41 provided in the present application, the depth, width and thickness of the target tissue affected by the surgical tool during each surgical operation can be measured in real time, such as the osteotomy depth, osteotomy width and osteotomy thickness of the osteotomy operation , so that the chief operating doctor can affect the depth, width, and thickness of the target tissue (eg, the depth of the osteotomy, the width of the osteotomy, the thickness of the osteotomy) and the depth, width, and thickness of the target tissue that were actually measured before the operation. The width and thickness (such as osteotomy depth, osteotomy width, and osteotomy thickness values) are compared, so as to realize the evaluation and calibration of each step of the surgical operation (such as osteotomy), and effectively improve the surgical operation (such as osteotomy). operation) accuracy. At the same time, by using the surgicaltool guiding device 41 provided by the present application, the verification function of the surgical operation (such as an osteotomy operation) can also be realized in the whole operation, so that each step of the surgical operation (such as an osteotomy operation) can be verified, ensuring early detection. Early correction reduces the risk of injury to the patient's body due to errors in surgical procedures such as osteotomies. In addition, the depth, width, and thickness of the target tissue measured each time, such as the depth of the osteotomy, the width of the osteotomy, and the thickness of the osteotomy, can provide a reference for the doctor, so that the doctor can follow the operation of the previous step ( For example, osteotomy), adjust subsequent surgical operations (such as osteotomy), thereby improving the accuracy of surgical operations (such as osteotomy), but also reducing the surgical operation's dependence on the doctor's operating experience, shortening the operation time, Improved surgical efficiency. In addition, the present application replaces manual measurement of surgical operation data (eg, osteotomy) by employing a sensor unit to measure the depth, width, and thickness of thesurgical tool 50 affecting the target tissue (eg, osteotomy depth, osteotomy width, and osteotomy thickness). data), which can not only improve the measurement accuracy of surgical operation data (such as osteotomy data), but also avoid the workload caused by multiple measurements during the operation, and improve the efficiency of the operation. It should be noted that the moving depth of thesurgical tool 50 relative to theguide portion 430 referred to in this application refers to the moving distance of thesurgical tool 50 along the depth direction D1 of theguide portion 430 . The so-called surgical tool The moving width of 50 relative to theguide portion 430 refers to the moving distance of thesurgical tool 50 along the length direction D2 of theguide portion 430 .

如图1所示，在第一种实施例中，所述检测模块420集成于所述导块本体410上。由 此，通过将所述检测模块420集成于所述导块本体410上，可以简化本申请提供的手术工具引导装置41的整体结构。As shown in FIG. 1 , in the first embodiment, thedetection module 420 is integrated on theguide block body 410 . Therefore, by integrating thedetection module 420 on theguide block body 410, the overall structure of the surgicaltool guide device 41 provided by the present application can be simplified.

请参考图2，其示意性地给出了本申请的第二种实施例提供的手术工具引导装置的分解结构示意图。如图2所示，在第二种实施例中，所述检测模块420与所述导块本体410之间为可拆卸式连接。由于所述检测模块420与所述导块本体410之间为可拆卸式连接，由此可以根据实际需要将所述检测模块420安装于所述导块本体410上，从而可以在现有的手术工具引导装置41的基础上稍作改进，即可实现对与所述导向部430配合的手术工具50影响目标组织的信息的测量。Please refer to FIG. 2 , which schematically shows an exploded structure diagram of the surgical tool guiding device provided by the second embodiment of the present application. As shown in FIG. 2 , in the second embodiment, thedetection module 420 and theguide block body 410 are detachably connected. Since thedetection module 420 and theguide block body 410 are detachably connected, thedetection module 420 can be installed on theguide block body 410 according to actual needs, so that it can be used in existing surgical procedures. With a slight improvement on thetool guiding device 41 , it is possible to measure the information that thesurgical tool 50 matched with the guidingportion 430 affects the target tissue.

需要说明的是，第二种实施例中的检测模块420具有与第一种实施例中的检测模块420类似的测量结构，即，在第二种实施例中，所述检测模块420也包括类似于第一种实施例中的第一传感器单元421、第二传感器单元422和第三传感器单元423。由此，在第二种实施例中，也可以通过所述检测模块420对进行手术操作时手术工具50影响目标组织的深度、宽度和厚度进行测量，例如在截骨操作中，实现对截骨深度、截骨宽度和截骨厚度的测量。It should be noted that thedetection module 420 in the second embodiment has a similar measurement structure as thedetection module 420 in the first embodiment, that is, in the second embodiment, thedetection module 420 also includes a similar measurement structure. Thefirst sensor unit 421 , thesecond sensor unit 422 and thethird sensor unit 423 in the first embodiment. Therefore, in the second embodiment, thedetection module 420 can also be used to measure the depth, width and thickness of the target tissue affected by thesurgical tool 50 during the surgical operation. Measurements of depth, osteotomy width, and osteotomy thickness.

进一步的，如图2所示，在第二种实施例中，所述检测模块420上设有第一固定孔424和插槽425，所述导块本体410上设有与所述第一固定孔424对应设置的第二固定孔440，所述插槽425与所述导向部430对应设置。由此，可以通过在所述第一固定孔424和所述第二固定孔440中插入一紧固件以将所述检测模块420固定于所述导块本体410上。在实际使用时，所述手术工具50通过所述插槽425插入所述导向部430内，所述手术工具50在所述导向部430中的移动深度、移动宽度和其厚度可以分别通过集成于所述检测模块420中的类似于第一种实施例中的第一传感器单元421、第二传感器单元422和第三传感器单元423进行实时测量。Further, as shown in FIG. 2, in the second embodiment, thedetection module 420 is provided with afirst fixing hole 424 and aslot 425, and theguide block body 410 is provided with thefirst fixing hole 424 Thehole 424 corresponds to thesecond fixing hole 440 , and theslot 425 corresponds to theguide portion 430 . Therefore, thedetection module 420 can be fixed on theguide block body 410 by inserting a fastener into thefirst fixing hole 424 and thesecond fixing hole 440 . In actual use, thesurgical tool 50 is inserted into theguide portion 430 through theslot 425 , and the moving depth, moving width and thickness of thesurgical tool 50 in theguide portion 430 can be respectively integrated into theguide portion 430 . Similar to thefirst sensor unit 421 , thesecond sensor unit 422 and thethird sensor unit 423 in the first embodiment, thedetection module 420 performs real-time measurement.

优选的，如图1所示，所述检测模块420包括两个第一传感器单元421、两个第二传感器单元422和一个第三传感器单元423。由此，通过所述两个所述第一传感器单元421可以测量出手术工具50的两组移动深度数据。根据这两组移动深度数据，可以测量出所述手术工具50相对于所述导向部430在深度方向D1的倾斜角度。同理，通过两个所述第二传感器单元422可以测量出手术工具50的两组移动宽度数据，根据这两组移动宽度数据可以测量出手术工具50相对于所述导向部430在长度方向D2的倾斜角度。由此，通过测量出所述手术工具50相对于所述导向部430在深度方向D1的倾斜角度和手术工具50相对于所述导向部430在长度方向D2的倾斜角度，可以计算出手术工具50在430中的实际倾斜角度，进一步提高手术操作的准确性。为了进一步起到补偿的作用，在其它一些实施例中，所述检测模块420也可包括两个第三传感器单元423，由此，通过两个所述第三传感器单元423可以测量出所述手术工具50的两组厚度数据，根据这两组厚度数据可以测量出所述手术工具50相对于所述导向部430在宽度方向D3的倾斜角度。当然，如本领域技术人员所能理解的，在其它一些实施例中，所述检测模块420也可以仅包括一个第一传感器单元421、一个第二传感器单元422和一个第三传感器单元423中的至少一者。Preferably, as shown in FIG. 1 , thedetection module 420 includes twofirst sensor units 421 , twosecond sensor units 422 and onethird sensor unit 423 . Therefore, two sets of moving depth data of thesurgical tool 50 can be measured through the twofirst sensor units 421 . According to the two sets of moving depth data, the inclination angle of thesurgical tool 50 relative to theguide portion 430 in the depth direction D1 can be measured. Similarly, two sets of moving width data of thesurgical tool 50 can be measured by the twosecond sensor units 422 , and according to the two sets of moving width data, the length direction D2 of thesurgical tool 50 relative to theguide portion 430 can be measured angle of inclination. Therefore, by measuring the inclination angle of thesurgical tool 50 relative to theguide portion 430 in the depth direction D1 and the inclination angle of thesurgical tool 50 relative to theguide portion 430 in the longitudinal direction D2, thesurgical tool 50 can be calculated. The actual tilt angle in 430 further improves the accuracy of the surgical operation. In order to further play a compensation role, in some other embodiments, thedetection module 420 may also include twothird sensor units 423 , so that the operation can be measured through the twothird sensor units 423 Two sets of thickness data of thetool 50, according to which the inclination angle of thesurgical tool 50 relative to theguide portion 430 in the width direction D3 can be measured. Of course, as can be understood by those skilled in the art, in other embodiments, thedetection module 420 may also include only one of thefirst sensor unit 421 , thesecond sensor unit 422 and thethird sensor unit 423 . at least one.

优选的，所述第一传感器单元421为光编码器单元、磁编码器单元和光电传感器单元中的任一种；所述第二传感器单元422为光编码器单元、激光传感器单元、磁编码器单元和光电传感器单元中的任一种；所述第三传感器单元423为光编码器单元、激光传感器单元、磁编码器单元和光电传感器单元中的任一种。需要说明的是，如本领域技术人员所能理解的，在一些实施例中，所述第一传感器单元421、所述第二传感器单元422和所述第三传感器单元423三者均为同一种传感器单元；在一些实施例中，所述第一传感器单元421、所述第二传感器单元422和所述第三传感器单元423中的任意两者为同一种传感器单元，剩余一者为另一种传感器单元；在一些实施例中，所述第一传感器单元421、所述第二传感器单元422和所述第三传感器单元423三者各采用不同的传感器单元。此外，需要说明的是，如本领域技术人员所能理解的，在其它一些实施例中，所述第一传感器单元421、所述第二传感器单元422和所述第三传感器单元423还可以为除光编码器单元、激光传感器单元、磁编码器单元和光电传感器单元以外的其它传感器单元，本申请对此并不进行限制。Preferably, thefirst sensor unit 421 is any one of an optical encoder unit, a magnetic encoder unit and a photoelectric sensor unit; thesecond sensor unit 422 is an optical encoder unit, a laser sensor unit, and a magnetic encoder unit any one of a photoelectric sensor unit and a photoelectric sensor unit; thethird sensor unit 423 is any one of an optical encoder unit, a laser sensor unit, a magnetic encoder unit and a photoelectric sensor unit. It should be noted that, as can be understood by those skilled in the art, in some embodiments, thefirst sensor unit 421 , thesecond sensor unit 422 and thethird sensor unit 423 are all of the same type Sensor unit; in some embodiments, any two of thefirst sensor unit 421 , thesecond sensor unit 422 and thethird sensor unit 423 are the same type of sensor unit, and the remaining one is the other type Sensor unit; in some embodiments, thefirst sensor unit 421 , thesecond sensor unit 422 and thethird sensor unit 423 use different sensor units. In addition, it should be noted that, as understood by those skilled in the art, in other embodiments, thefirst sensor unit 421 , thesecond sensor unit 422 and thethird sensor unit 423 may also be Other sensor units other than the optical encoder unit, the laser sensor unit, the magnetic encoder unit and the photoelectric sensor unit are not limited in this application.

请参考图3，其示意性地给出了本申请的一实施例提供的集成有光编码器单元的手术工具引导装置的局部结构示意图。如图3所示，在本实施例中，所述第一传感器单元421、所述第二传感器单元422和所述第三传感器单元423均为光编码器单元。其中，所述第一传感器单元421包括第一光源4211A(例如LED光源)、第一转换电路4212A和第一光电传感器4213A。其中，所述第一光源4211A用于向与所述导向部430配合的手术工具50的第一面51提供第一照射光；所述第一光电传感器4213A用于接收由所述手术工具50的第一面51反射回来的第一反射光，并对所述第一反射光进行光电转换，以形成第一电信号；所述第一转换电路4212A用于对所述第一电信号进行放大处理并输出对应的第一脉冲信号4214至控制器16(参见图12)；所述控制器16根据所述第一脉冲信号4214计算所述手术工具50相对于所述导向部430的移动深度，进而计算出所述手术工具50影响目标组织的深度，例如截骨操作的截骨深度。Please refer to FIG. 3 , which schematically shows a partial structure diagram of a surgical tool guiding device integrated with an optical encoder unit provided by an embodiment of the present application. As shown in FIG. 3 , in this embodiment, thefirst sensor unit 421 , thesecond sensor unit 422 and thethird sensor unit 423 are all optical encoder units. Thefirst sensor unit 421 includes afirst light source 4211A (eg, an LED light source), afirst conversion circuit 4212A, and a firstphotoelectric sensor 4213A. Wherein, thefirst light source 4211A is used to provide first illumination light to thefirst surface 51 of thesurgical tool 50 matched with theguide portion 430 ; The first reflected light reflected from thefirst surface 51 is photoelectrically converted to form a first electrical signal; thefirst conversion circuit 4212A is used to amplify the first electrical signal and output the correspondingfirst pulse signal 4214 to the controller 16 (see FIG. 12 ); the controller 16 calculates the moving depth of thesurgical tool 50 relative to theguide portion 430 according to thefirst pulse signal 4214 , and then The depth at which thesurgical tool 50 affects the target tissue is calculated, eg, the osteotomy depth for an osteotomy operation.

所述第二传感器单元422包括第二光源4221A(例如LED光源)、第二转换电路4222A和第二光电传感器4223A。其中，所述第二光源4221A用于向与所述导向部430配合的手术工具50的第二面52提供第二照射光；所述第二光电传感器4223A用于接收由所述手术工具50的第二面52反射回来的第二反射光，并对所述第二反射光进行光电转换，以形成第二电信号；所述第二转换电路4222A用于对所述第二电信号进行模数转换与放大处理并输出对应的第二脉冲信号4224至控制器16；所述控制器16根据所述第二脉冲信号4224计算所述手术工具50相对于所述导向部430的移动宽度，进而计算出所述手术工具50影响目标组织的宽度，例如截骨操作的截骨宽度。Thesecond sensor unit 422 includes a secondlight source 4221A (eg, an LED light source), asecond conversion circuit 4222A, and asecond photosensor 4223A. Wherein, the secondlight source 4221A is used to provide second illumination light to thesecond surface 52 of thesurgical tool 50 matched with theguide portion 430 ; The second reflected light reflected from thesecond surface 52 is photoelectrically converted to form a second electrical signal; thesecond conversion circuit 4222A is used to perform analog-to-digital conversion on the second electrical signal Convert and amplify and output the correspondingsecond pulse signal 4224 to the controller 16; the controller 16 calculates the moving width of thesurgical tool 50 relative to theguide portion 430 according to thesecond pulse signal 4224, and then calculates Thesurgical tool 50 affects the width of the target tissue, eg, the width of the osteotomy for an osteotomy operation.

所述第三传感器单元423包括第三光源4231A(例如LED光源)、第三转换电路4232A和第三光电传感器4233A。其中，所述第三光源4231A用于向与所述导向部430配合的手术工具50的第三面53提供第三照射光；所述第三光电传感器4233A用于接收由所述手术工具50的第三面53反射回来的第三反射光，并对所述第三反射光进行光电转换，以形成 第三电信号；所述第三转换电路4232A用于对所述第三电信号进行模数转化与放大处理并输出对应的第三脉冲信号4234至控制器16；所述控制器16根据所述第三脉冲信号4234计算所述手术工具50的厚度，进而计算出所述手术工具50影响目标组织的厚度，例如截骨操作的截骨厚度。Thethird sensor unit 423 includes a third light source 4231A (eg, an LED light source), athird conversion circuit 4232A, and a third photosensor 4233A. Wherein, the third light source 4231A is used to provide third illumination light to thethird surface 53 of thesurgical tool 50 matched with theguide portion 430 ; The third reflected light reflected from thethird surface 53 is photoelectrically converted to form a third electrical signal; thethird conversion circuit 4232A is used to perform analog-to-digital conversion on the third electrical signal Convert and amplify and output the correspondingthird pulse signal 4234 to the controller 16; the controller 16 calculates the thickness of thesurgical tool 50 according to thethird pulse signal 4234, and then calculates that thesurgical tool 50 affects the target The thickness of the tissue, such as the thickness of the osteotomy for an osteotomy.

需要说明的是，本申请中所称的手术工具50的第一面51、第二面52是与所述手术工具50的厚度方向相垂直的面(第一面51和第二面52是相对的两个面)，手术工具50的第三面是与所述手术工具50的宽度方向相垂直的面，即所述第一面51为所述手术工具50的正面和背面中的其中一个面，所述第二面52为所述手术工具50的正面和背面中的另一个面，所述第三面53为所述手术工具50的其中一个侧面。It should be noted that thefirst surface 51 and thesecond surface 52 of thesurgical tool 50 referred to in this application are surfaces perpendicular to the thickness direction of the surgical tool 50 (thefirst surface 51 and thesecond surface 52 are opposite to each other). The third surface of thesurgical tool 50 is a surface perpendicular to the width direction of thesurgical tool 50 , that is, thefirst surface 51 is one of the front and back surfaces of thesurgical tool 50 , thesecond surface 52 is the other surface of the front surface and the back surface of thesurgical tool 50 , and thethird surface 53 is one of the side surfaces of thesurgical tool 50 .

请继续参考图4a至图4c，其中图4a示意性地给出了本申请的第一种实施例中的手术工具的第一面的示意图，图4b示意性地给出了本申请的第一种实施例中的手术工具的第二面的示意图，图4c示意性地给出了本申请的第一种实施例中的手术工具的第三面的示意图。如图4a所示，所述手术工具50的第一面51设有第一码道511，所述第一码道511包括多个与所述手术工具50的宽度方向D4平行且(在所述手术工具50的长度方向上)等间隔设置的第一不透光条带5111，由此形成第一光栅，任意相邻的两个所述第一不透光条带5111之间的距离即为所述第一光栅的栅距。如图4b所示，所述手术工具50的第二面52设有第二码道521，所述第二码道521包括多个与所述手术工具50的长度方向D5平行且(在所述手术工具50的宽度方向上)等间隔设置的第二不透光条带5211，由此形成第二光栅，任意相邻的两个所述第二不透光条带5211之间的距离即为所述第二光栅的栅距。如图4c所示，所述手术工具50的第三面53包括多个与所述手术工具50的长度方向D5平行且(在所述手术工具50的深度方向上)等间隔设置的第三不透光条带5311，由此形成第三光栅，任意相邻的两个所述第三不透光条带5311之间的距离即为所述第三光栅的栅距。由此，通过所述第一不透光条带5111可以将照射至所述手术工具50的第一面51的第一照射光反射至第一光电传感器4213A，所述第一光电传感器4213A对所接收的第一反射光进行光电转换，以形成对应的第一电信号并输出至第一转换电路4212A，所述第一转换电路4212A对所接收的第一电信号进行模数转换与放大处理并输出对应的第一脉冲信号4214至控制器16，所述控制器16通过计算即可得到所述手术工具50相对于所述导向部430的移动深度，其中，移动深度＝第一光栅的栅距×第一脉冲的个数。通过所述第二不透光条带5211可以将照射至所述手术工具50的第二面52的第二照射光反射至第二光电传感器4223A，所述第二光电传感器4223A对所接收的第二反射光进行光电转换，以形成对应的第二电信号并输出至第二转换电路4222A，所述第二转换电路4222A对所接收的第二电信号进行模数转换与放大处理并输出对应的第二脉冲信4224号至控制器16，所述控制器16通过计算即可得到所述手术工具50相对于所述导向部430的移动宽度，其中，移动宽度＝第二光栅的栅距×第二脉冲的个数。通过所述第三不透光条带5311可以将照射至所述手术工具50的第三面53的第三照射光反射至第三光电传感器4233A，所述第三光电传感器4233A对所接收的第三反射光进行光电转换，以形成对应的第三电信号并输出至第三转 换电路4232A，所述第三转换电路4232A对所接收的第三电信号进行模数转换与放大处理并输出对应的第三脉冲信号4234至控制器16，所述控制器16通过计算即可得到所述手术工具50的厚度，其中，厚度＝第三光栅的栅距×第三脉冲的个数。Please continue to refer to Fig. 4a to Fig. 4c, wherein Fig. 4a schematically shows a schematic diagram of the first side of the surgical tool in the first embodiment of the present application, and Fig. 4b schematically shows the first side of the present application. A schematic diagram of the second side of the surgical tool in the first embodiment of the present application, FIG. 4c schematically shows a schematic diagram of the third side of the surgical tool in the first embodiment of the present application. As shown in FIG. 4 a , thefirst surface 51 of thesurgical tool 50 is provided with afirst guideway 511 , and thefirst guideway 511 includes a plurality of lines parallel to the width direction D4 of the surgical tool 50 (in the The firstopaque strips 5111 are arranged at equal intervals in the length direction of thesurgical tool 50, thereby forming a first grating, and the distance between any two adjacent firstopaque strips 5111 is the pitch of the first grating. As shown in FIG. 4 b , thesecond surface 52 of thesurgical tool 50 is provided with asecond guideway 521 , and thesecond guideway 521 includes a plurality of lines parallel to the length direction D5 of the surgical tool 50 (in the The secondopaque strips 5211 are arranged at equal intervals in the width direction of thesurgical tool 50, thereby forming a second grating, and the distance between any two adjacent secondopaque strips 5211 is the pitch of the second grating. As shown in FIG. 4 c , thethird surface 53 of thesurgical tool 50 includes a plurality of third surfaces parallel to the length direction D5 of thesurgical tool 50 and arranged at equal intervals (in the depth direction of the surgical tool 50 ). The light-transmittingstrips 5311 form a third grating, and the distance between any two adjacent third non-light-transmittingstrips 5311 is the grating pitch of the third grating. Therefore, the first irradiated light irradiated to thefirst surface 51 of thesurgical tool 50 can be reflected to the firstphotoelectric sensor 4213A through the firstopaque strip 5111 , and the firstphotoelectric sensor 4213A can reflect the The received first reflected light is photoelectrically converted to form a corresponding first electrical signal and output to thefirst conversion circuit 4212A, where thefirst conversion circuit 4212A performs analog-to-digital conversion and amplification processing on the received first electrical signal The correspondingfirst pulse signal 4214 is output to the controller 16, and the controller 16 can obtain the moving depth of thesurgical tool 50 relative to theguide portion 430 through calculation, wherein the moving depth=the grating pitch of the first grating ×Number of first pulses. The second illumination light irradiated to thesecond surface 52 of thesurgical tool 50 can be reflected to the secondphotoelectric sensor 4223A by the secondopaque strip 5211, and the secondphotoelectric sensor 4223A can reflect the received The two reflected lights are photoelectrically converted to form a corresponding second electrical signal and output to thesecond conversion circuit 4222A. Thesecond conversion circuit 4222A performs analog-to-digital conversion and amplification on the received second electrical signal and outputs the corresponding second electrical signal. Thesecond pulse signal 4224 is sent to the controller 16, and the controller 16 can obtain the moving width of thesurgical tool 50 relative to theguide portion 430 through calculation, wherein the moving width=the second grating pitch×the first The number of two pulses. The third light irradiated on thethird surface 53 of thesurgical tool 50 can be reflected to the third photoelectric sensor 4233A through the thirdopaque strip 5311, and the third photoelectric sensor 4233A can reflect the received third light. The three reflected lights are photoelectrically converted to form a corresponding third electrical signal and output to thethird conversion circuit 4232A. Thethird conversion circuit 4232A performs analog-to-digital conversion and amplification on the received third electrical signal and outputs the corresponding third electrical signal. Thethird pulse signal 4234 is sent to the controller 16, and the controller 16 can obtain the thickness of thesurgical tool 50 through calculation, wherein the thickness=the pitch of the third grating×the number of the third pulses.

下面以测量移动深度为例对本实施例中的光编码器单元的测量原理进行说明。请参考图5，其示意性给出了本实施例提供的光电编码器单元的测量原理示意图。如图5所示，当第一光源4211A提供的第一照射光照射至手术工具50的第一面51时，所述第一不透光条带5111会反射一部分第一照射光，从而形成第一反射光。当所述手术工具50沿所述导向部430的深度方向移动时，第一光源4211A提供的第一照射光会连续不断的被所述第一不透光条带5111反射至第一光电传感器4213A内，经光电转换后输出近似正弦的第一电信号，该第一电信号经转换电路进行放大处理后输出对应的第一脉冲信号4214。通过记录第一脉冲的个数即可得到手术工具50相对于导向部430的移动深度。关于手术工具50的移动宽度和其厚度的测量原理可以参照上述的移动深度的测量原理，故对此不再进行赘述。The measurement principle of the optical encoder unit in this embodiment will be described below by taking the measurement of the moving depth as an example. Please refer to FIG. 5 , which schematically shows a schematic diagram of the measurement principle of the photoelectric encoder unit provided in this embodiment. As shown in FIG. 5 , when the first illumination light provided by thefirst light source 4211A is irradiated to thefirst surface 51 of thesurgical tool 50 , the firstopaque strip 5111 will reflect a part of the first illumination light, thereby forming the first illumination light. a reflected light. When thesurgical tool 50 moves along the depth direction of theguide portion 430 , the first illumination light provided by thefirst light source 4211A will be continuously reflected by the firstopaque strip 5111 to the firstphotoelectric sensor 4213A Inside, an approximately sinusoidal first electrical signal is output after photoelectric conversion, and the first electrical signal is amplified by the conversion circuit and then outputs a correspondingfirst pulse signal 4214 . The moving depth of thesurgical tool 50 relative to theguide portion 430 can be obtained by recording the number of the first pulses. Regarding the measurement principle of the moving width and the thickness of thesurgical tool 50 , reference may be made to the above-mentioned measuring principle of the moving depth, so it will not be repeated here.

请继续参考图6，其示意性地给出了本申请的一实施例提供的集成有激光传感器单元的手术工具引导装置的局部结构示意图。如图6所示，在本实施例中，所述第二传感器单元422和所述第三传感器单元423均为激光传感器单元。其中，所述第二传感器单元422包括第一激光发射器4225、第一激光接收器4226和第一转换电路4222B，所述第一激光发射器4225用于向与导向部430配合的手术工具50发射与所述导向部430的宽度方向D3相平行的第一激光，所述第一激光接收器4226用于接收未被所述手术工具50阻断的第一激光，以计算未被接收的第一激光的宽度并输出对应的第一电信号至所述第一转换电路4222B；所述第一转换电路4222B用于对所述第一电信号进行模数转换与放大处理并输出对应的第一数字信号至控制器16；所述控制器16根据所接收的第一数字信号计算所述手术工具50影响目标组织的宽度，例如截骨操作的截骨宽度。由于激光的准直性，当将所述手术工具50插入所述导向部430后，所述第一激光发射器4225发射出的第一激光中的一部分会被所述手术工具50阻断，导致所述第一激光接收器4226无法接收到相应通道的第一激光，通过所述第一激光接收器4226可以测量出未被接收的第一激光的宽度，进而可以测量出所述手术工具50相对于所述导向部430的移动宽度。Please continue to refer to FIG. 6 , which schematically shows a partial structural diagram of a surgical tool guiding device integrated with a laser sensor unit provided by an embodiment of the present application. As shown in FIG. 6 , in this embodiment, thesecond sensor unit 422 and thethird sensor unit 423 are both laser sensor units. Wherein, thesecond sensor unit 422 includes afirst laser transmitter 4225 , afirst laser receiver 4226 and a first conversion circuit 4222B, and thefirst laser transmitter 4225 is used to direct theoperation tool 50 matched with theguide portion 430 to the operatingtool 50 . The first laser light parallel to the width direction D3 of theguide portion 430 is emitted, and the firstlaser light receiver 4226 is used to receive the first laser light that is not blocked by thesurgical tool 50 to calculate the unreceived first laser light. The width of a laser and output the corresponding first electrical signal to the first conversion circuit 4222B; the first conversion circuit 4222B is used to perform analog-to-digital conversion and amplifying processing on the first electrical signal and output the corresponding first electrical signal The digital signal is sent to the controller 16; the controller 16 calculates, according to the received first digital signal, the width of thesurgical tool 50 affecting the target tissue, such as the osteotomy width of an osteotomy operation. Due to the collimation of the laser, when thesurgical tool 50 is inserted into theguide portion 430, a part of the first laser light emitted by thefirst laser transmitter 4225 will be blocked by thesurgical tool 50, resulting in Thefirst laser receiver 4226 cannot receive the first laser light of the corresponding channel, and the width of the unreceived first laser light can be measured by thefirst laser receiver 4226, and then the relative distance of thesurgical tool 50 can be measured. the moving width of theguide portion 430 .

所述第三传感器单元423包括相对设置的第二激光发射器4235、第二激光接收器4236和第二转换电路4232B，其中所述第二激光发射器4235用于向与导向部430相配合的手术工具50发射与所述导向部430的长度方向D2相平行的第二激光，所述第二激光接收器4236用于接收未被所述手术工具50阻断的第二激光，以计算未被接收的第二激光的宽度并输出对应的第二电信号至所述第二转换电路4232B；所述第二转换电路4232B用于对所述第二电信号进行模数转换与放大处理并输出对应的第二数字信号至控制器16；所述控制器16根据所接收的第二数字信号计算所述手术工具50影响目标组织的厚度，例如截骨操作的截骨厚度。由于激光的准直性，当将所述手术工具50插入所述导向部430后，所述第二激光发射器4235发射出的第二激光中的一部分会被所述手术工具50阻断，导致所述 第二激光接收器4236无法接收到相应通道的第二激光，通过所述第二激光接收器4236可以测量出未被接收的第二激光的宽度，进而可以测量出所述手术工具50的厚度，即所述手术工具50影响目标组织的厚度。Thethird sensor unit 423 includes asecond laser transmitter 4235 , a second laser receiver 4236 and asecond conversion circuit 4232B arranged oppositely, wherein the second laser Thesurgical tool 50 emits a second laser that is parallel to the length direction D2 of theguide portion 430 , and the second laser receiver 4236 is used to receive the second laser that is not blocked by thesurgical tool 50 to calculate the second laser that is not blocked by thesurgical tool 50 . The width of the received second laser and output the corresponding second electrical signal to thesecond conversion circuit 4232B; thesecond conversion circuit 4232B is used to perform analog-to-digital conversion and amplification on the second electrical signal and output the corresponding The second digital signal is sent to the controller 16; the controller 16 calculates the thickness of the target tissue affected by thesurgical tool 50 according to the received second digital signal, such as the osteotomy thickness of the osteotomy operation. Due to the collimation of the laser, after thesurgical tool 50 is inserted into theguide portion 430, a part of the second laser light emitted by thesecond laser transmitter 4235 will be blocked by thesurgical tool 50, resulting in The second laser receiver 4236 cannot receive the second laser of the corresponding channel, and the width of the unreceived second laser can be measured through the second laser receiver 4236, and then the width of thesurgical tool 50 can be measured. Thickness, ie the thickness of the target tissue that thesurgical tool 50 affects.

请继续参考图7，其示意性地给出了本申请的一实施例提供的集成有磁编码器单元的手术工具引导装置的局部结构示意图。如图7所示，在本实施例中，所述第一传感器单元421、所述第二传感器单元422和所述第三传感器单元423均为磁编码器单元。其中，所述第一传感器单元421包括第一磁感应器4215和第一转换电路4212B；所述第一磁感应器4215用于读取与所述导向部430配合的手术工具50的第一面51的对应位置处的第一磁场强度，并将所读取的第一磁场强度转换为对应的第一电信号；所述第一转换电路4212B用于对所述第一电信号进行模数转换与放大处理并输出对应的第一数字信号至控制器16；所述控制器16根据所接收的第一数字信号计算所述手术工具50的移动深度，进而计算所述手术工具50影响目标组织的深度，例如截骨操作的截骨深度。Please continue to refer to FIG. 7 , which schematically shows a partial structural diagram of a surgical tool guiding device integrated with a magnetic encoder unit provided by an embodiment of the present application. As shown in FIG. 7 , in this embodiment, thefirst sensor unit 421 , thesecond sensor unit 422 and thethird sensor unit 423 are all magnetic encoder units. Thefirst sensor unit 421 includes a firstmagnetic sensor 4215 and afirst conversion circuit 4212B; the firstmagnetic sensor 4215 is used to read thefirst surface 51 of thesurgical tool 50 matched with theguide portion 430 . the first magnetic field strength at the corresponding position, and convert the read first magnetic field strength into a corresponding first electrical signal; thefirst conversion circuit 4212B is used to perform analog-to-digital conversion and amplification on the first electrical signal processing and outputting the corresponding first digital signal to the controller 16; the controller 16 calculates the movement depth of thesurgical tool 50 according to the received first digital signal, and then calculates the depth of thesurgical tool 50 affecting the target tissue, For example, the osteotomy depth of the osteotomy operation.

所述第二传感器单元422包括第二磁感应器4227和第二转换电路4222C；所述第二磁感应器4227用于读取与所述导向部430配合的手术工具50的第二面52的对应位置处的第二磁场强度，并将所读取的第二磁场强度转换为对应的第二电信号；所述第二转换电路4222C用于对所述第二电信号进行模数转换与放大处理并输出对应的第二数字信号至控制器16；所述控制器16根据所接收的第二数字信号计算所述手术工具50的移动宽度，进而计算所述手术工具50影响目标组织的宽度，例如截骨操作的截骨宽度。Thesecond sensor unit 422 includes a secondmagnetic sensor 4227 and asecond conversion circuit 4222C; the secondmagnetic sensor 4227 is used to read the corresponding position of thesecond surface 52 of thesurgical tool 50 matched with theguide portion 430 The second magnetic field strength at the location is converted into a corresponding second electrical signal; thesecond conversion circuit 4222C is used to perform analog-to-digital conversion and amplifying processing on the second electrical signal, and then convert the second electrical signal into a corresponding second electrical signal. Output the corresponding second digital signal to the controller 16; the controller 16 calculates the moving width of thesurgical tool 50 according to the received second digital signal, and then calculates the width of thesurgical tool 50 affecting the target tissue, such as cutting Osteotomy width for bone manipulation.

所述第三传感器单元423包括第三磁感应器4237和第三转换电路4232C，所述第三磁感应器4237用于读取与所述导向部430内的手术工具50的第三面53的对应位置处的第三磁场强度，并将所读取的第三磁场强度转换为对应的第三电信号；所述第三转换电路4232C用于对所述第三电信号进行模数转换与放大处理并输出对应的第三数字信号至控制器16；所述控制器16根据所接收第三数字信号计算所述手术工具50的厚度，进而计算所述手术工具50影响目标组织的厚度，例如截骨操作的截骨厚度。Thethird sensor unit 423 includes a third magnetic sensor 4237 and a third conversion circuit 4232C, the third magnetic sensor 4237 is used to read the corresponding position of thethird surface 53 of thesurgical tool 50 in theguide portion 430 the third magnetic field strength at the location, and convert the read third magnetic field strength into a corresponding third electrical signal; the third conversion circuit 4232C is used to perform analog-to-digital conversion and amplify processing on the third electrical signal, and Output the corresponding third digital signal to the controller 16; the controller 16 calculates the thickness of thesurgical tool 50 according to the received third digital signal, and then calculates the thickness of thesurgical tool 50 affecting the target tissue, such as an osteotomy operation osteotomy thickness.

请参考图8a至图8c，其中图8a示意性地给出了本申请的第二种实施例中的手术工具的第一面的示意图；图8b示意性地给出了本申请的第二种实施例中的手术工具的第二面的示意图；图8c示意性地给出了本申请的第二种实施例中的手术工具的第三面的示意图。如图8a至图8c所示，所述手术工具50的第一面51设有第一磁体512，所述手术工具50的第二面52设有第二磁体522，所述手术工具50的第三面53设有第三磁体532。由于不同磁体位置处的磁场强度是不同的，当手术工具50在导向部430内移动时，可以实时测量出所述手术工具50的移动深度、移动宽度以及所述手术工具50的厚度。Please refer to Fig. 8a to Fig. 8c, wherein Fig. 8a schematically shows a schematic diagram of the first side of the surgical tool in the second embodiment of the present application; Fig. 8b schematically shows the second embodiment of the present application A schematic diagram of the second side of the surgical tool in the embodiment; FIG. 8c schematically shows a schematic diagram of the third side of the surgical tool in the second embodiment of the present application. As shown in FIGS. 8 a to 8 c , thefirst surface 51 of thesurgical tool 50 is provided with afirst magnet 512 , thesecond surface 52 of thesurgical tool 50 is provided with asecond magnet 522 , and thefirst surface 52 of thesurgical tool 50 is provided with asecond magnet 522 . Thethird magnet 532 is provided on the threesides 53 . Since the magnetic field strengths at different magnet positions are different, when thesurgical tool 50 moves in theguide portion 430 , the moving depth, moving width and thickness of thesurgical tool 50 can be measured in real time.

下面以测量移动深度为例，对本实施例中的磁编码器单元的测量原理进行说明。请参考图9，其示意性地给出了本实施例提供的磁编码器单元的测量原理示意图。如图9所示，所述第一磁感应器4215读取所述手术工具50的第一面51上的第一磁体512的对应位置处的磁场强度，并将所读取的磁场强度转换成对应的第一电信号，并将该第一电信号传输给第一转换电路4212B，所述第一转换电路4212B对所述第一电信号进行模数转换与放大 处理并输出对应的第一数字信号至控制器16，所述控制器16根据所接收的第一数字信号计算所述手术工具50的移动深度，进而得到所述手术工具50影响目标组织的深度，例如截骨操作的截骨深度。关于手术工具50的移动宽度和其厚度的测量原理可以参照上述的移动深度的测量原理，故对此不再进行赘述。The measurement principle of the magnetic encoder unit in this embodiment is described below by taking the measurement of the moving depth as an example. Please refer to FIG. 9 , which schematically shows a schematic diagram of the measurement principle of the magnetic encoder unit provided in this embodiment. As shown in FIG. 9 , the firstmagnetic sensor 4215 reads the magnetic field strength at the corresponding position of thefirst magnet 512 on thefirst surface 51 of thesurgical tool 50 , and converts the read magnetic field strength into corresponding and transmits the first electrical signal to thefirst conversion circuit 4212B, thefirst conversion circuit 4212B performs analog-to-digital conversion and amplification on the first electrical signal and outputs the corresponding first digital signal To the controller 16, the controller 16 calculates the moving depth of thesurgical tool 50 according to the received first digital signal, and then obtains the depth at which thesurgical tool 50 affects the target tissue, such as the osteotomy depth of the osteotomy operation. Regarding the measurement principle of the moving width and the thickness of thesurgical tool 50 , reference may be made to the above-mentioned measuring principle of the moving depth, so it will not be repeated here.

请继续参考图10，其示意性地给出了本申请的一实施例提供的集成有光电传感器单元的手术工具引导装置的局部结构示意图。如图10所示，在本实施例中，所述第一传感器单元、所述第二传感器单元和所述第三传感器单元均为光电传感器单元，且所述第一传感器单元和所述第二传感器单元为同一个光电传感器单元，为了便于描述将用于测量深度和宽度，例如截骨深度和截骨宽度的光电传感器单元称为第一光电传感器单元，将用于测量厚度，例如截骨厚度的光电传感器单元称为第二光电传感器单元。如图10所示，所述第一光电传感器单元包括第一光源4221B(例如LED光源)、第一透镜4228、第一光电传感器4223B和第一转换电路4222D，所述第一光源4221B用于向与所述导向部430配合的手术工具50的第二面52(或第一面51)提供第一照射光；所述第一照射光中的至少一部分经所述手术工具50的第二面52(或第一面51)折射后穿过所述第一透镜4228并到达所述第一光电传感器4223B；所述第一光电传感器4223B用于将接收的第一光信号转化为第一电信号并输出至所述第一转换电路4222D；所述第一转换电路4222D用于对所述第一电信号进行模数转换与放大处理并输出对应的第一数字信号至控制器16；所述控制器16根据所接收的第一数字信号计算所述手术工具50的移动深度和移动宽度，进而获得所述手术工具50影响目标组织的深度和宽度，例如截骨操作的截骨深度和截骨宽度。Please continue to refer to FIG. 10 , which schematically shows a partial structural diagram of a surgical tool guiding device integrated with a photoelectric sensor unit provided by an embodiment of the present application. As shown in FIG. 10 , in this embodiment, the first sensor unit, the second sensor unit and the third sensor unit are all photoelectric sensor units, and the first sensor unit and the second sensor unit are all photoelectric sensor units. The sensor unit is the same photoelectric sensor unit. For the convenience of description, the photoelectric sensor unit used to measure the depth and width, such as the depth of the osteotomy and the width of the osteotomy, is called the first photoelectric sensor unit, and it will be used to measure the thickness, such as the thickness of the osteotomy. The photosensor unit is called the second photosensor unit. As shown in FIG. 10 , the first photosensor unit includes afirst light source 4221B (eg, an LED light source), afirst lens 4228, afirst photosensor 4223B, and afirst conversion circuit 4222D. Thefirst light source 4221B is used to transmit The second surface 52 (or the first surface 51 ) of thesurgical tool 50 that cooperates with theguide portion 430 provides the first illumination light; at least a part of the first illumination light passes through thesecond surface 52 of the surgical tool 50 (or the first surface 51 ) passes through thefirst lens 4228 after being refracted and reaches thefirst photosensor 4223B; thefirst photosensor 4223B is used to convert the received first optical signal into a first electrical signal and output to thefirst conversion circuit 4222D; thefirst conversion circuit 4222D is used to perform analog-to-digital conversion and amplifying processing on the first electrical signal and output the corresponding first digital signal to the controller 16; the controller 16 Calculate the moving depth and moving width of thesurgical tool 50 according to the received first digital signal, and then obtain the depth and width of thesurgical tool 50 affecting the target tissue, such as the osteotomy depth and osteotomy width of the osteotomy operation.

所述第二光电传感器单元包括第二光源4231B(例如LED光源)、第二透镜4238、第二光电传感器4233B和第二转换电路4232D，所述第二所述光源用于向与所述导向部430配合的手术工具50的第三面53提供第二照射光；所述第二照射光中的至少一部分经所述手术工具50的第三面53折射后穿过所述第二透镜4238并到达所述第二光电传感器4233B；所述第二光电传感器4233B用于将接收的第二光信号转化为第二电信号并输出至所述第二转换电路4232D；所述第二转换电路4232D用于对所述第二电信号进行模数转换与放大处理并输出对应的第二数字信号至控制器16；所述控制器16根据所接收的第二数字信号计算所述手术工具50的移动深度和所述手术工具50的厚度，进而获得所述手术工具50影响目标组织的深度和厚度，例如截骨操作的截骨深度和截骨厚度。The second photoelectric sensor unit includes a secondlight source 4231B (eg, an LED light source), asecond lens 4238, a secondphotoelectric sensor 4233B and asecond conversion circuit 4232D, and the second light source is used to communicate with the guide portion. Thethird surface 53 of thesurgical tool 50 matched with 430 provides the second illumination light; at least a part of the second illumination light is refracted by thethird surface 53 of thesurgical tool 50 and passes through thesecond lens 4238 and reaches The secondphotoelectric sensor 4233B; the secondphotoelectric sensor 4233B is used to convert the received second optical signal into a second electrical signal and output it to thesecond conversion circuit 4232D; thesecond conversion circuit 4232D is used for Perform analog-to-digital conversion and amplifying processing on the second electrical signal and output the corresponding second digital signal to the controller 16; the controller 16 calculates the movement depth of thesurgical tool 50 according to the received second digital signal and The thickness of thesurgical tool 50, thereby obtaining the depth and thickness of the target tissue affected by thesurgical tool 50, such as the osteotomy depth and the osteotomy thickness of the osteotomy operation.

下面以测量移动深度和移动宽度为例，对本实施例提供的光电传感器单元的测量原理进行说明，请参考图11，其示意性地给出了本申请的一实施例提供的第一光电传感器单元的测量原理示意图。如图11所示，通过第一光源4221B(例如LED光源)发射的第一照射光照射至所述手术工具50的第二面52(或第一面51)，所述第一照射光中的一部分光经所述手术工具50的第二面52(或第一面51)折射后穿过所述第一透镜4228，并达到所述第一光电传感器4223B，当所述手术工具50移动时，其移动轨迹便会被记录下来，所述第一光电传感器4223B将所接收的第一光信号转换为第一电信号并输出至所述第一转换电路4222D，所述第一转换电路4222D对所述第一电信号进行模数转换与放大处理后输出对 应的第一数字信号至所述控制器16，所述控制器16根据所接收的第一数字信号计算所述手术工具50的移动深度和移动宽度。关于所述第二光电传感器单元的测量原理可以参照所述第一光电传感器4223B的测量原理，故对此不再进行赘述。The measurement principle of the photoelectric sensor unit provided in this embodiment is described below by taking the measurement of the moving depth and the moving width as an example. Please refer to FIG. 11 , which schematically shows the first photoelectric sensor unit provided by an embodiment of the present application. Schematic diagram of the measurement principle. As shown in FIG. 11 , the first illumination light emitted by thefirst light source 4221B (eg, an LED light source) is irradiated to the second surface 52 (or the first surface 51 ) of thesurgical tool 50 , and the first illumination light A part of the light is refracted by the second surface 52 (or the first surface 51 ) of thesurgical tool 50 and then passes through thefirst lens 4228 and reaches thefirst photosensor 4223B. When thesurgical tool 50 moves, Its movement track will be recorded, and the firstphotoelectric sensor 4223B will convert the received first optical signal into a first electrical signal and output it to thefirst conversion circuit 4222D. The first electrical signal is subjected to analog-to-digital conversion and amplification, and then the corresponding first digital signal is output to the controller 16, and the controller 16 calculates the movement depth of thesurgical tool 50 according to the received first digital signal and Move width. Regarding the measurement principle of the second photoelectric sensor unit, reference may be made to the measurement principle of the firstphotoelectric sensor 4223B, so it will not be repeated here.

为达到上述目的，本申请还提供了一种引导组件，请参考图12，其示意性地给出了本申请的一实施例提供的引导组件的方框结构示意图。如图12所示，所述引导组件4包括上文所述的手术工具引导装置41、连接轴42和靶标安装座43，所述连接轴42的两端分别连接所述手术工具引导装置41以及所述靶标安装座43，所述靶标安装座43用于与机械臂2的末端可拆卸式连接并且可连接用于定位机械臂或者手术工具的位置传感部件，例如光学靶标。具体的，所述靶标安装座43可通过连接孔连接到所述机械臂2的末端。由于本申请提供的引导组件4包括上文所述的手术工具引导装置41，因此本申请其可以实时测量每一次手术操作中手术工具影响组织的信息(例如深度、宽度及厚度中的至少一者)，例如在截骨过程中，手术工具进行截骨操作的截骨深度、截骨宽度和截骨厚度，以便于主操作医生将手术工具引导装置41测得的实测值与手术操作前输入的输入值进行比对，从而可以对每一步的手术操作(例如截骨操作)进行评估和校准，有效提高了手术操作(例如截骨操作)的准度。同时，本申请提供的引导组件4也可以在整个术中实现手术操作(例如截骨操作)验证功能，使得每一步的手术操作(例如截骨操作)都得到验证，保证早发现早纠正，降低了因手术操作(例如截骨操作)失误而对病人身体造成损伤的风险。此外，每一次测得的手术工具50影响目标组织的深度、宽度、厚度，例如截骨深度、截骨宽度、截骨厚度，可以为医生提供参考，使得医生可以根据前一步的手术操作(例如截骨操作)，调整后续的手术操作(例如截骨操作)，由此在提高手术操作(例如截骨操作)精度的同时也降低了手术操作对医生操作经验的依赖，缩短了手术时间，提高了手术效率。To achieve the above purpose, the present application also provides a guide assembly. Please refer to FIG. 12 , which schematically shows a block diagram of a guide assembly provided by an embodiment of the present application. As shown in FIG. 12 , the guide assembly 4 includes the above-mentioned surgicaltool guide device 41 , a connecting shaft 42 and a target mount 43 , and two ends of the connecting shaft 42 are respectively connected to the surgicaltool guide device 41 and the target mounting base 43 . The target mounting seat 43 is used for detachable connection with the end of therobotic arm 2 and can be connected with a position sensing component, such as an optical target, for positioning the robotic arm or a surgical tool. Specifically, the target mount 43 can be connected to the end of therobotic arm 2 through a connecting hole. Since the guide assembly 4 provided by the present application includes the surgicaltool guide device 41 described above, the present application can measure the information (such as at least one of depth, width and thickness) of the surgical tool affecting the tissue in real time during each surgical operation. ), for example, during the osteotomy process, the osteotomy depth, osteotomy width and osteotomy thickness of the surgical tool for the osteotomy operation, so that the chief operating doctor can compare the actual measured value measured by the surgicaltool guiding device 41 with the input value before the surgical operation. The input values are compared, so that each step of the surgical operation (such as osteotomy) can be evaluated and calibrated, which effectively improves the accuracy of the surgical operation (such as osteotomy). At the same time, the guide assembly 4 provided by the present application can also realize the verification function of the surgical operation (such as osteotomy operation) during the whole operation, so that each step of the surgical operation (such as the osteotomy operation) can be verified, ensuring early detection and early correction, reducing The risk of injury to the patient's body due to errors in surgical operations (eg, osteotomy operations) is eliminated. In addition, each measurement of thesurgical tool 50 affects the depth, width, and thickness of the target tissue, such as the depth of the osteotomy, the width of the osteotomy, and the thickness of the osteotomy, which can provide a reference for the doctor, so that the doctor can use the previous surgical operation (such as Osteotomy), adjust subsequent surgical operations (such as osteotomy), thereby improving the accuracy of surgical operations (such as osteotomy), but also reducing the surgical operation’s dependence on the doctor’s operating experience, shortening the operation time, and improving the surgical efficiency.

基于以上类似发明构思，本申请还提供一种手术系统，请参考图13，其示意性地给出了本申请的一实施例提供的用于进行骨科手术的手术系统的应用场景示意图。需要说明的是本申请的骨科手术系统对应用环境没有特别的限制，例如可以应用于膝关节置换，也可应用于其他的手术。以下描述中，以用于膝关节置换为示例对骨科手术系统进行说明，但不应以此作为对本申请的限定。此外，需要说明的是，虽然本申请是以用于进行骨科手术的手术系统为例进行说明，但是本申请并不以此为限，如本领域技术人员所能理解的，所述手术系统还可以为用于进行其它组织手术的手术系统。Based on the above similar inventive concepts, the present application also provides a surgical system. Please refer to FIG. 13 , which schematically shows an application scenario diagram of the surgical system for performing orthopedic surgery provided by an embodiment of the present application. It should be noted that the application environment of the orthopaedic surgery system of the present application is not particularly limited, for example, it can be applied to knee joint replacement, and can also be applied to other operations. In the following description, the orthopaedic surgical system is described by taking the knee joint replacement as an example, but this should not be taken as a limitation of the present application. In addition, it should be noted that although the present application takes the surgical system for performing orthopedic surgery as an example, the present application is not limited to this. As can be understood by those skilled in the art, the surgical system may also It may be a surgical system for performing other tissue surgery.

如图13所示，所述手术系统包括控制装置、导航设备6、机械臂2以及如上文所述的引导组件4。所述控制装置实际为一台计算机，该计算机配置了控制器16、主显示器8和键盘10，优选的，所述控制装置还包括辅助显示器7。在本实施例中，所述辅助显示器7和主显示器8所显示的内容一致，例如均用于显示截骨位置图像。所述导航设备6可以是电磁定位导航设备、光学定位导航设备或电磁定位导航设备。优选的，所述导航设备6为光学定位导航设备，相比于其他的导航方式，光学定位导航设备的测量精度高，可以有效提高引导组件4的定位精度。As shown in Figure 13, the surgical system includes a control device, anavigation device 6, arobotic arm 2, and a guide assembly 4 as described above. The control device is actually a computer, and the computer is configured with a controller 16 , a main display 8 and akeyboard 10 , and preferably, the control device also includes an auxiliary display 7 . In this embodiment, the contents displayed on the auxiliary display 7 and the main display 8 are the same, for example, both are used to display the image of the osteotomy position. Thenavigation device 6 may be an electromagnetic positioning and navigation device, an optical positioning and navigation device or an electromagnetic positioning and navigation device. Preferably, thenavigation device 6 is an optical positioning and navigation device. Compared with other navigation methods, the optical positioning and navigation device has high measurement accuracy, which can effectively improve the positioning accuracy of the guide assembly 4 .

以下描述中，以光学定位导航为示例进行说明，但不以此为限。In the following description, optical positioning and navigation are used as an example for description, but not limited thereto.

所述导航设备6具体包括导航标志物和跟踪仪，所述导航标志物包括基座靶标15和工具靶标3，基座靶标15固定不动，例如基座靶标15被固定在手术台车1上而用于提供一个基座标系(或称基座靶标15坐标系)，而工具靶标3安装在引导组件4上用于跟踪引导组件4的位置。所述引导组件4安装在机械臂2的末端，从而通过机械臂2来支撑引导组件4，并调整引导组件4的空间位置和姿态，进一步限定与所述引导组件配合的手术工具，例如摆锯5的位置和姿态。Thenavigation device 6 specifically includes a navigation marker and a tracker, the navigation marker includes abase target 15 and atool target 3, and thebase target 15 is fixed, for example, thebase target 15 is fixed on the operatingtrolley 1. It is used to provide a base frame (or abase target 15 coordinate system), and thetool target 3 is mounted on the guide assembly 4 for tracking the position of the guide assembly 4 . The guide assembly 4 is installed at the end of therobot arm 2, so that the guide assembly 4 is supported by therobot arm 2, and the spatial position and posture of the guide assembly 4 are adjusted to further define a surgical tool that cooperates with the guide assembly, such as an oscillating saw 5 position and attitude.

实际中，利用跟踪仪来捕捉工具靶标3反射的信号(优选为光信号)并记录工具靶标3的位置(即工具靶标3在基座标系下的位置和姿态)，再由控制器16内存储的计算机程序根据工具靶标3的位置，控制机械臂2运动，机械臂2驱动引导组件4和工具靶标3运动，以使引导组件4运动到预定位置。In practice, a tracker is used to capture the signal (preferably a light signal) reflected by thetool target 3 and record the position of the tool target 3 (that is, the position and posture of thetool target 3 under the base frame), and then use the controller 16 to record the position and posture of thetool target 3. The stored computer program controls the movement of therobot arm 2 according to the position of thetool target 3, and therobot arm 2 drives the guide assembly 4 and thetool target 3 to move, so as to move the guide assembly 4 to a predetermined position.

因此，手术系统的应用，可实现引导组件4的自动定位，且手术过程中由工具靶标3跟踪并反馈引导组件4的实时位姿，并通过控制机械臂2的运动实现引导组件4的位置和姿态的调整，不仅引导组件4的定位精度高，而且通过机械臂2来支撑引导组件4，而无需将引导组件4固定在人体上，可避免对人体产生二次伤害。Therefore, the application of the surgical system can realize the automatic positioning of the guiding component 4, and the real-time pose of the guiding component 4 can be tracked and fed back by thetool target 3 during the operation, and the position and the position and the position of the guiding component 4 can be realized by controlling the movement of therobotic arm 2. The posture adjustment not only has high positioning accuracy of the guide assembly 4, but also supports the guide assembly 4 through themechanical arm 2 without fixing the guide assembly 4 on the human body, thereby avoiding secondary injury to the human body.

一般的，所述手术系统还包括手术台车1和导航台车9，所述控制装置和一部分所述导航设备6安装在所述导航台车9上，例如所述控制器16安装在所述导航台车9的内部，所述键盘10放置在所述导航台车9的外部进行操作，所述主显示器8、辅助显示器7和跟踪仪均安装在一个支架上，所述支架竖直固定在导航台车9上，而所述机械臂2安装在所述手术台车1上。所述手术台车1和导航台车9的使用，使整个手术操作更为方便。Generally, the surgical system further includes an operatingtrolley 1 and anavigation trolley 9, and the control device and a part of thenavigation equipment 6 are installed on thenavigation trolley 9, for example, the controller 16 is installed on thenavigation trolley 9. Inside thenavigation trolley 9, thekeyboard 10 is placed outside thenavigation trolley 9 for operation, the main display 8, the auxiliary display 7 and the tracker are all mounted on a bracket, and the bracket is vertically fixed on the On thenavigation trolley 9 , and therobotic arm 2 is mounted on the operatingtrolley 1 . The use of the operatingtrolley 1 and thenavigation trolley 9 makes the entire surgical operation more convenient.

在执行膝关节置换手术时，本实施例的手术系统的使用过程大致包括以下操作：When performing knee replacement surgery, the use process of the surgical system of this embodiment generally includes the following operations:

首先，将手术台车1及导航台车9移动至病床旁边合适的位置；First, move the operatingtrolley 1 and thenavigation trolley 9 to a suitable position beside the hospital bed;

然后，安装导航标志物(导航标志物还包括股骨12靶标11、胫骨14靶标13)、引导组件4以及其他相关部件(如无菌袋)；Then, install the navigation markers (the navigation markers also include thefemur 12target 11, the tibia 14 target 13), the guide assembly 4 and other related components (such as sterile bags);

之后，医生将患者的骨头CT/MR扫描模型导入所述计算机进行术前规划，得到截骨方案，该截骨方案例如包括截骨平面坐标、假体的型号以及假体的安装方位等信息；具体地，根据CT/MR扫描得到的患者膝关节影像数据，创建三维膝关节数字模型，进而根据三维膝关节数字模型创建截骨方案，以便手术医生根据截骨方案进行术前评估；更具体地，基于三维膝关节数字模型，并结合得到的假体的尺寸规格以及引导组件4的安装位置等确定截骨方案。所述截骨方案最终以手术报告形式输出，其记录有截骨平面坐标、截骨量、截骨角度、假体规格、假体的安装位置、手术辅助工具等一系列参考数据，特别还包括一系理论说明，如选取该截骨角度的原因说明等，以为手术医生提供参考；其中，三维膝关节数字模型可通过主显示器8进行显示，且医生可通过键盘10输入手术参数，以便进行术前规划；After that, the doctor imports the CT/MR scan model of the patient's bone into the computer for preoperative planning, and obtains an osteotomy plan, which includes, for example, information such as the coordinates of the osteotomy plane, the model of the prosthesis, and the installation orientation of the prosthesis; Specifically, a three-dimensional knee joint digital model is created according to the image data of the patient's knee joint obtained by CT/MR scan, and then an osteotomy plan is created according to the three-dimensional knee joint digital model, so that the surgeon can perform preoperative evaluation according to the osteotomy plan; more specifically , based on the three-dimensional knee joint digital model, combined with the obtained size specification of the prosthesis and the installation position of the guide component 4 to determine the osteotomy plan. The osteotomy plan is finally output in the form of a surgical report, which records a series of reference data such as the coordinates of the osteotomy plane, the amount of osteotomy, the angle of osteotomy, the size of the prosthesis, the installation position of the prosthesis, and surgical aids, especially including: A series of theoretical explanations, such as the reasons for selecting the osteotomy angle, etc., provide reference for the surgeon; the three-dimensional knee joint digital model can be displayed on the main display 8, and the surgeon can input the surgical parameters through thekeyboard 10, so as to carry out the operation pre-planning;

术前评估后，医生再使用靶标笔在患者的股骨12及胫骨14上标定特征点(即医生于患者的股骨12实体上标定多个股骨12解剖特征点，在胫骨14实体上标定多个胫骨14解剖特征点)，并通过导航设备6以基座靶标15为基准，记录患者胫骨14和股骨12上所有 特征点的位置，并将所有特征点的位置发生给所述控制器16，然后所述控制器16通过特征匹配算法得到股骨12及胫骨14的实际方位，并与股骨12及胫骨14上的CT/MR图像方位相对应。After the preoperative evaluation, the doctor then uses the target pen to mark the feature points on the patient'sfemur 12 and tibia 14 (that is, the doctor marks a plurality offemur 12 anatomical feature points on the patient'sfemur 12 entity, and marks a plurality of tibiae on the tibia 14 entity. 14 anatomical feature points), and use thebase target 15 as a reference through thenavigation device 6 to record the positions of all feature points on the patient's tibia 14 andfemur 12, and generate the positions of all feature points to the controller 16, and then all The controller 16 obtains the actual orientation of thefemur 12 and the tibia 14 through a feature matching algorithm, and corresponds to the orientation of the CT/MR images on thefemur 12 and the tibia 14 .

随后，通过导航设备6将股骨12及胫骨14的实际方位与安装在股骨12及胫骨14上的相应靶标相联系，使得股骨12靶标11和胫骨14靶标13可以实时跟踪骨头的实际位置，且手术过程中，只要靶标与骨头间的相对位置固定，骨头移动不会影响手术效果。Then, the actual positions of thefemur 12 and the tibia 14 are linked with the corresponding targets installed on thefemur 12 and the tibia 14 through thenavigation device 6, so that thefemur 12target 11 and the tibia 14target 13 can track the actual position of the bone in real time, and the operation During the process, as long as the relative position between the target and the bone is fixed, the movement of the bone will not affect the surgical effect.

最后，通过导航设备6将术前规划的截骨平面坐标发送给机械臂2，所述机械臂2通过工具靶标3定位截骨平面并运动到预定位置后，使机械臂2进入保持状态(即不动)。此后，医生即可使用摆锯5或电钻等手术工具通过引导组件4进行截骨和/或钻孔操作。完成截骨及钻孔操作后，医生即可安装假体及进行其他手术操作。Finally, the coordinates of the preoperatively planned osteotomy plane are sent to therobotic arm 2 through thenavigation device 6, and after therobotic arm 2 locates the osteotomy plane through thetool target 3 and moves to a predetermined position, therobotic arm 2 enters the holding state (ie Do not move). After that, the surgeon can use surgical tools such as an oscillating saw 5 or an electric drill to perform osteotomy and/or drilling operations through the guide assembly 4 . After the osteotomy and drilling are completed, the doctor can install the prosthesis and perform other surgical procedures.

本实施例中，所述导航标志物还包括股骨靶标11和胫骨靶标13。其中股骨靶标11用于定位股骨12的空间位置和姿态，胫骨靶标13用于定位胫骨14的空间位置和姿态。如前所说的，所述工具靶标安装在引导组件4上，但在其它实施例中，所述工具靶标3也可以安装在机械臂2的末端关节上。In this embodiment, the navigation markers further include afemoral target 11 and atibial target 13 . Thefemoral target 11 is used to locate the spatial position and posture of thefemur 12 , and thetibial target 13 is used to locate the spatial position and posture of the tibia 14 . As mentioned above, the tool target is mounted on the guide assembly 4 , but in other embodiments, thetool target 3 can also be mounted on the end joint of therobotic arm 2 .

由于本申请提供的手术系统，包括上文所述的引导组件4，因此通过所述引导组件4中的手术工具引导装置41可以实时测量每一次的手术工具进行手术操作时影响目标组织的信息，例如截骨操作的截骨深度、截骨宽度和截骨厚度中的任一者，以便于主操作医生将通过将所述手术工具引导装置41测得的影响目标组织的信息(例如截骨操作的截骨深度、截骨宽度、截骨厚度的实测值)与输入值进行比对，进而可以对每一步的手术操作(例如截骨操作)进行评估和校准，有效提高了手术操作(例如截骨操作)的准度。同时，本申请提供的手术系统也可以在整个术中实现手术操作(例如截骨操作)验证功能，使得每一步的手术操作(例如截骨操作)都得到验证，保证早发现早纠正，降低了因手术操作(例如截骨操作)失误而对病人身体造成损伤的风险。此外，每一次测得的手术工具影响目标组织的信息，例如截骨操作的截骨深度、截骨宽度和截骨厚度，可以为医生提供参考，使得医生可以根据前一步的手术操作(例如截骨操作)，调整后续的手术操作(例如截骨操作)，由此在提高手术操作(例如截骨操作)精度的同时也降低了手术操作对医生操作经验的依赖，缩短了手术时间，提高了手术效率。Since the surgical system provided by the present application includes the above-mentioned guide assembly 4, the surgicaltool guide device 41 in the guide assembly 4 can measure the information affecting the target tissue every time the surgical tool performs a surgical operation in real time, For example, any one of the osteotomy depth, the osteotomy width, and the osteotomy thickness of the osteotomy operation, so that the chief operating doctor can measure the information affecting the target tissue (eg, the osteotomy operation) measured by the surgicaltool guiding device 41 . The actual measured values of osteotomy depth, osteotomy width, and osteotomy thickness) are compared with the input values, so that each step of the surgical operation (such as osteotomy) can be evaluated and calibrated, which effectively improves the surgical operation (such as osteotomy). bone manipulation). At the same time, the surgical system provided by the present application can also realize the verification function of the surgical operation (such as osteotomy operation) in the whole operation, so that each step of the surgical operation (such as the osteotomy operation) can be verified, ensuring early detection and early correction, reducing the cost of The risk of injury to the patient's body due to an incorrect surgical procedure (eg osteotomy). In addition, the information about the impact of the surgical tool on the target tissue each time, such as the depth of the osteotomy, the width of the osteotomy, and the thickness of the osteotomy, can provide a reference for the doctor, so that the doctor can use the previous surgical operation (such as the cut (bone operation), adjust the subsequent operation (such as osteotomy), thereby improving the precision of the operation (such as osteotomy), but also reducing the dependence of the operation on the operation experience of the doctor, shortening the operation time, and improving the surgical efficiency.

与上述的手术系统相对应，本申请还提供一种手术操作校验方法，请参考图14，其示意性地给出了本申请的一实施方式的手术操作校验方法的示意图。如图14所示，所述手术操作校验方法包括如下步骤：Corresponding to the above-mentioned surgical system, the present application also provides a method for verifying a surgical operation. Please refer to FIG. 14 , which schematically shows a schematic diagram of a method for verifying a surgical operation according to an embodiment of the present application. As shown in FIG. 14 , the method for verifying the surgical operation includes the following steps:

步骤S1、获取当前手术工具影响目标组织的信息。Step S1 , obtaining the information that the current surgical tool affects the target tissue.

具体的，在本步骤中，采用上文所述的手术工具引导装置41，获取当前手术工具影响目标组织的深度、宽度和厚度中的至少一者，例如截骨手术中的截骨深度、截骨宽度和截骨厚度。进一步的，在本步骤中，还获取当前手术工具影响目标组织的角度。具体的，可采用上文所述的手术工具引导装置获取当前手术工具相对于导向部的倾斜角度和所述导向部的角度；以及根据当前所述手术工具的倾斜角度和所述导向部的角度获取当前所述 手术工具影响目标组织的角度。Specifically, in this step, the surgicaltool guiding device 41 described above is used to obtain at least one of the depth, width and thickness of the current surgical tool affecting the target tissue, such as the osteotomy depth, Bone width and osteotomy thickness. Further, in this step, the angle at which the current surgical tool affects the target tissue is also acquired. Specifically, the surgical tool guiding device described above can be used to obtain the current inclination angle of the surgical tool relative to the guide portion and the angle of the guide portion; and the current inclination angle of the surgical tool and the angle of the guide portion Obtain the angle at which the surgical tool currently affects the target tissue.

步骤S2、根据所获取的当前手术工具影响目标组织的信息以及预先获取的目标组织的影像数据，创建所述目标组织的手术操作模型。Step S2: Create a surgical operation model of the target tissue according to the acquired information about the current surgical tool affecting the target tissue and the pre-acquired image data of the target tissue.

具体的，在本步骤中，根据所获取的当前手术工具影响目标组织的深度、宽度、厚度中的至少一者、和手术工具在导向部的实际倾斜角度以及预先获取的目标组织的影像数据，创建所述目标组织的手术操作模型。例如，针对截骨手术，根据所获取的当前手术工具的截骨深度、截骨宽度、截骨厚度、截骨角度以及预先获取的待截骨头的影像数据，创建截骨模型。Specifically, in this step, according to the acquired at least one of the depth, width, and thickness of the current surgical tool affecting the target tissue, the actual inclination angle of the surgical tool at the guide portion, and the pre-acquired image data of the target tissue, Create a surgical manipulation model of the target tissue. For example, for an osteotomy operation, an osteotomy model is created according to the obtained osteotomy depth, osteotomy width, osteotomy thickness, osteotomy angle, and pre-acquired image data of the head to be cut.

步骤S3、根据所述手术操作模型评估当前所述手术工具的手术操作效果。Step S3, evaluating the current surgical operation effect of the surgical tool according to the surgical operation model.

例如，针对截骨手术，根据所创建的截骨模型评估当前截骨操作的截骨效果。For example, for an osteotomy operation, the osteotomy effect of the current osteotomy operation is evaluated according to the created osteotomy model.

具体的，可采用上文所述的手术工具引导装置41测量手术工具50的移动深度、移动宽度、所述手术工具50的厚度并结合导向部430的角度以获取当前手术工具影响目标组织的深度、宽度、厚度和角度，例如截骨手术中的截骨深度、截骨宽度、截骨厚度和截骨角度。在实际操作时，首先，机械臂2按照指定的规划路径将上文所述的手术工具引导装置41移动到指定的手术操作位置(例如截骨位置)并处于保持状态；然后，将手术工具50(例如摆锯锯片)插入对应的导向部430中至目标位置处，启动所述手术工具引导装置41上的对应的检测模块420，并开始读取所述手术工具50此时的起始位置；之后手术工具50开始进行手术操作(例如截骨操作)。在手术过程中(例如截骨过程)中，检测模块420会实时将携带有手术工具50相对于所述导向部430的移动距离和手术工具50的自身厚度的数字信号同步传输给控制器16进行处理，所述控制器16通过计算可得到手术工具50相对于导向部430的移动距离、倾斜角度和自身厚度，并结合相应的导向部430角度得到所述手术工具50在当前方向上影响目标组织的深度、宽度、厚度和角度(例如截骨手术中的截骨深度、截骨宽度、截骨厚度和截骨角度)的信息。这些信息再结合预先获取的目标组织(例如待截骨头)的影像数据(例如CT数据)，对三维目标组织手术操作模型(例如截骨模型)进行重建，从而得到实时的三维手术操作模型(截骨模型)。Specifically, the surgicaltool guiding device 41 described above can be used to measure the moving depth, moving width, and thickness of thesurgical tool 50 of thesurgical tool 50 combined with the angle of theguide portion 430 to obtain the depth at which the current surgical tool affects the target tissue , width, thickness and angle, such as osteotomy depth, osteotomy width, osteotomy thickness and osteotomy angle in osteotomy. In actual operation, first, therobotic arm 2 moves thesurgical tool guide 41 described above to a designated surgical operation position (eg, an osteotomy position) according to a designated planned path and keeps it in a holding state; then, moves the surgical tool 50 (eg, an oscillating saw blade) is inserted into thecorresponding guide portion 430 to the target position, the correspondingdetection module 420 on the surgicaltool guide device 41 is activated, and the starting position of thesurgical tool 50 is read at this time. ; and then thesurgical tool 50 begins to perform a surgical operation (eg, an osteotomy). During an operation (such as an osteotomy process), thedetection module 420 will synchronously transmit a digital signal carrying the moving distance of thesurgical tool 50 relative to theguide portion 430 and the thickness of thesurgical tool 50 to the controller 16 in real time for processing. processing, the controller 16 can obtain the moving distance, the inclination angle and the thickness of thesurgical tool 50 relative to theguide part 430 by calculating, and combined with the corresponding angle of theguide part 430 to obtain the effect of thesurgical tool 50 on the target tissue in the current direction Depth, width, thickness, and angle (e.g., depth of osteotomy, width of osteotomy, thickness of osteotomy, and angle of osteotomy in an osteotomy). These information are combined with the pre-acquired image data (such as CT data) of the target tissue (such as the bone to be cut) to reconstruct the three-dimensional target tissue surgical operation model (such as the osteotomy model), so as to obtain a real-time three-dimensional surgical operation model (cutting model). bone model).

由此，本申请提供的手术操作校验方法通过获取每一次手术操作后手术工具影响目标组织的信息(例如截骨手术中的截骨深度、截骨宽度、截骨厚度和截骨角度)，并根据所获取的手术工具影响目标组织的信息(例如截骨手术中的截骨深度、截骨宽度、截骨厚度和截骨角度)以及预先获取的目标组织(例如待截骨头)的影像数据，创建所述目标组织(例如骨头)的手术操作模型(例如截骨模型)，优选为三维模型，从而可以便于医生根据所述目标组织的手术操作模型(例如截骨模型)，评估当前手术工具的操作效果(例如截骨操作的截骨效果)，进而可以根据当前手术工具的操作效果确定下一次的手术操作数据(例如，根据当前的截骨效果确定下一次截骨操作的截骨方向和截骨量(包括截骨深度、截骨宽度和截骨厚度))，从而能够有效提高手术操作(例如截骨手术)的精度和效果。Therefore, the surgical operation verification method provided by the present application obtains the information that the surgical tool affects the target tissue after each surgical operation (for example, the osteotomy depth, the osteotomy width, the osteotomy thickness and the osteotomy angle in the osteotomy), And according to the acquired surgical tool information affecting the target tissue (such as osteotomy depth, osteotomy width, osteotomy thickness and osteotomy angle) and pre-acquired image data of the target tissue (such as the bone to be cut) , creating a surgical operation model (such as an osteotomy model) of the target tissue (such as bone), preferably a three-dimensional model, so that it is convenient for doctors to evaluate the current surgical tool according to the surgical operation model (such as an osteotomy model) of the target tissue The operation effect (such as the osteotomy effect of the osteotomy operation), and then the next surgical operation data can be determined according to the operation effect of the current surgical tool (for example, the osteotomy direction and direction of the next osteotomy operation can be determined according to the current osteotomy effect The amount of osteotomy (including the depth of the osteotomy, the width of the osteotomy and the thickness of the osteotomy)) can effectively improve the precision and effect of surgical operations (such as osteotomy).

本申请还提供了一种可读存储介质，所述可读存储介质内存储有计算机程序，所述计算机程序被处理器执行时可以实现上文所述的手术操作校验方法。本申请提供的存储介质 通过获取每一次手术操作后手术工具影响目标组织的信息(例如截骨手术中的截骨深度、截骨宽度、截骨厚度和截骨角度)，并根据所获取的手术工具影响目标组织的信息(例如截骨手术中的截骨深度、截骨宽度、截骨厚度和截骨角度)以及预先获取的目标组织(例如待截骨头)的影像数据，创建所述目标组织(例如骨头)的手术操作模型(例如截骨模型)，优选为三维模型，从而可以便于医生根据所述目标组织的手术操作模型(例如截骨模型)，评估当前手术工具的操作效果(例如截骨操作的截骨效果)，进而可以根据当前手术工具的操作效果确定下一次的手术操作数据(例如根据当前的截骨效果确定下一次截骨操作的截骨方向和截骨量(包括截骨深度、截骨宽度和截骨厚度))，从而能够有效提高手术操作(例如截骨手术)的精度和效果。The present application also provides a readable storage medium, where a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the above-mentioned surgical operation verification method can be implemented. The storage medium provided by the present application obtains the information of the surgical tool affecting the target tissue after each surgical operation (such as the depth of the osteotomy, the width of the osteotomy, the thickness of the osteotomy, and the angle of the osteotomy), and according to the obtained surgery The tool affects the information of the target tissue (such as the depth of the osteotomy, the width of the osteotomy, the thickness of the osteotomy, and the angle of the osteotomy) and the pre-acquired image data of the target tissue (such as the bone to be cut), which is created A surgical operation model (such as an osteotomy model) of the target tissue (such as an osteotomy model), preferably a three-dimensional model, so that it is convenient for doctors to evaluate the operation effect of the current surgical tool (such as an osteotomy model) according to the surgical operation model (such as an osteotomy model) of the target tissue. The osteotomy effect of the bone operation), and then the next surgical operation data can be determined according to the operation effect of the current surgical tool (for example, the osteotomy direction and the amount of osteotomy of the next osteotomy can be determined according to the current osteotomy effect (including osteotomy). depth, osteotomy width and osteotomy thickness)), so that the precision and effect of surgical operations (such as osteotomy) can be effectively improved.

本申请的实施方式的可读存储介质，可以采用一个或多个计算机可读的介质的任意组合。可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是但不限于电、磁、光、电磁、红外线或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机硬盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与指令执行系统、装置或者器件组合使用。The readable storage medium of the embodiments of the present application may adopt any combination of one or more computer-readable media. The readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connections having one or more wires, portable computer hard disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. As used herein, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, apparatus, or device.

计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与指令执行系统、装置或者器件结合使用的程序。A computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can be sent, propagated, or transmitted for use by or with the instruction execution system, apparatus, or device. A program used in conjunction with an apparatus or device.

可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言-诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言-诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)连接到用户计算机，或者可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。Computer program code for carrying out the operations of the present application may be written in one or more programming languages, including object-oriented programming languages - such as Java, Smalltalk, C++, but also conventional Procedural programming language - such as the "C" language or similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. Where a remote computer is involved, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider to connect through the Internet) ).

综上所述，与现有技术相比，本申请提供的手术工具引导装置、引导组件、手术系统和存储介质具有以下优点：本申请通过在手术工具引导装置上设置导向部和检测模块而可以通过所述检测模块实时感测与所述导向部配合的手术工具影响目标组织的信息(例如影响目标组织的深度、宽度和厚度中的任一种或任几种)，因而可以便于主操作医生将所述检测模块感测到的实测值与手术操作前输入的输入值进行比对，以对每一步的手术操作 (例如截骨操作)进行评估和校准，有效提高了手术操作(例如截骨操作)的准度。同时，本申请也可以在整个术中实现手术操作(例如截骨操作)验证功能，使得每一步的手术操作(例如截骨操作)都得到验证，保证早发现早纠正，降低了因手术操作(例如截骨操作)失误而对病人身体造成损伤的风险。此外，每一次测得的手术工具影响目标组织的信息，可以为医生提供参考，使得医生可以根据前一步的手术操作(例如截骨操作)结果，调整后续的手术操作(例如截骨操作)的数据，由此在提高手术操作(例如截骨操作)精度的同时也降低了对医生操作经验的依赖，缩短了手术时间，提高了手术效率。另外，本申请通过采用检测模块感测手术工具影响目标组织的信息，来替代采用人工来测量手术操作(例如截骨操作)的数据，不仅可以提高手术操作(例如截骨操作)数据的测量精度，同时也可以避免医生术中多次测量产生的工作量，提高了手术效率。To sum up, compared with the prior art, the surgical tool guiding device, the guiding assembly, the surgical system and the storage medium provided by the present application have the following advantages: The detection module senses the information that the surgical tool matched with the guide part affects the target tissue in real time (for example, any one or several of the depth, width and thickness of the target tissue are affected), so it can be convenient for the main operating doctor The measured value sensed by the detection module is compared with the input value input before the surgical operation to evaluate and calibrate each step of the surgical operation (such as osteotomy), which effectively improves the surgical operation (such as osteotomy). operation) accuracy. At the same time, the present application can also realize the verification function of surgical operation (such as osteotomy operation) in the whole operation, so that each step of the surgical operation (such as osteotomy operation) can be verified, ensure early detection and early correction, and reduce the risk of surgical operation (such as osteotomy). The risk of injury to the patient's body due to errors such as osteotomy. In addition, the information about the impact of the surgical tool on the target tissue measured each time can provide a reference for the doctor, so that the doctor can adjust the subsequent surgical operation (such as osteotomy) according to the results of the previous surgical operation (such as osteotomy). Therefore, while improving the precision of surgical operations (such as osteotomy operations), the dependence on the doctor's operating experience is also reduced, the operation time is shortened, and the operation efficiency is improved. In addition, the present application uses the detection module to sense the information that the surgical tool affects the target tissue, instead of manually measuring the data of the surgical operation (such as osteotomy), which can not only improve the measurement accuracy of the data of the surgical operation (such as the osteotomy) At the same time, it can also avoid the workload caused by multiple measurements during the operation, and improve the operation efficiency.

应当注意的是，在本文的实施方式中所揭露的装置和方法，也可以通过其他的方式实现。以上所描述的装置实施方式仅仅是示意性的，例如，附图中的流程图和框图显示了根据本文的多个实施方式的装置、方法和计算机程序产品可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。It should be noted that the devices and methods disclosed in the embodiments herein can also be implemented in other manners. The apparatus embodiments described above are merely illustrative, eg, the flowcharts and block diagrams in the Figures illustrate the possible architecture, functionality, and operation of apparatuses, methods and computer program products according to various embodiments herein. In this regard, each block in the flowchart or block diagrams may represent a module, program segment, or portion of code, which comprises one or more configurable functions for implementing the specified logical function(s) Execute the instruction. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

另外，在本文各个实施方式中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。In addition, each functional module in the various embodiments herein may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

上述描述仅是对本申请的较佳实施方式的描述，并非对本申请的范围的任何限定，本申请领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于本申请的保护范围。显然，本领域的技术人员可以对发明进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请及其等同技术的范围之内，则本申请也意图包括这些改动和变型在内。The above description is only a description of the preferred embodiments of the present application, and is not intended to limit the scope of the present application. Any changes and modifications made by those of ordinary skill in the field of the present application based on the above disclosure all belong to the protection scope of the present application. It will be apparent to those skilled in the art that various changes and modifications can be made to the invention without departing from the spirit and scope of the present application. Thus, provided that these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application is also intended to include these modifications and variations.

Claims (17)

1. 一种手术工具引导装置，其中，包括导块本体；A surgical tool guiding device, comprising a guide block body;

   所述导块本体上设有若干导向部和若干检测模块，所述导向部用于与手术工具配合以为手术操作提供导向，所述检测模块用于感测与所述导向部配合的手术工具影响目标组织的深度、宽度和厚度中的至少一者。The guide block body is provided with a number of guide parts and a number of detection modules, the guide parts are used to cooperate with surgical tools to provide guidance for surgical operations, and the detection modules are used to sense the influence of the surgical tools matched with the guide parts. At least one of depth, width, and thickness of the target tissue.
2. 根据权利要求1所述的手术工具引导装置，其中，所述检测模块包括至少一个第一传感器单元、至少一个第二传感器单元和至少一个第三传感器单元中的至少一者；The surgical tool guide of claim 1, wherein the detection module includes at least one of at least one first sensor unit, at least one second sensor unit, and at least one third sensor unit;

   所述第一传感器单元用于感测与所述导向部配合的手术工具影响目标组织的深度；the first sensor unit is used for sensing the depth of the surgical tool matched with the guide part affecting the target tissue;

   所述第二传感器单元用于感测与所述导向部配合的手术工具影响目标组织的宽度；the second sensor unit is used for sensing the width of the target tissue affected by the surgical tool matched with the guide part;

   所述第三传感器单元用于感测与所述导向部配合的手术工具影响目标组织的厚度。The third sensor unit is used for sensing the thickness of the target tissue affected by the surgical tool matched with the guide portion.
3. 根据权利要求2所述的手术工具引导装置，其中，所述第一传感器单元、所述第二传感器单元、所述第三传感器单元中的至少一者为光编码器单元，所述光编码器单元包括光源、转换电路和光电传感器；The surgical tool guide device of claim 2, wherein at least one of the first sensor unit, the second sensor unit, and the third sensor unit is an optical encoder unit, the optical encoder The unit includes a light source, a conversion circuit and a photoelectric sensor;

   所述光源用于向与所述导向部配合的手术工具的第一面和第二面或第三面提供照射光，其中，所述第一面和所述第二面与所述手术工具的厚度方向相垂直，所述第三面与所述手术工具的宽度方向相垂直；The light source is used for providing illumination light to the first surface and the second surface or the third surface of the surgical tool matched with the guide portion, wherein the first surface and the second surface are the same as the surface of the surgical tool. The thickness direction is vertical, and the third surface is vertical to the width direction of the surgical tool;

   所述光电传感器用于接收由所述手术工具的所述第一面、所述第二面或所述第三面反射回来的反射光，并对所述反射光进行光电转换，以形成电信号并输出至所述转换电路；The photoelectric sensor is used for receiving the reflected light reflected from the first surface, the second surface or the third surface of the surgical tool, and photoelectrically converts the reflected light to form an electrical signal and output to the conversion circuit;

   所述转换电路用于对所接收的电信号进行模数转换与放大处理并输出对应的脉冲信号至控制器；The conversion circuit is used for performing analog-to-digital conversion and amplifying processing on the received electrical signal and outputting the corresponding pulse signal to the controller;

   所述控制器根据所接收的脉冲信号计算所述手术工具影响所述目标组织的深度、宽度或厚度。The controller calculates the depth, width or thickness at which the surgical tool affects the target tissue based on the received pulse signal.
4. 根据权利要求3所述的手术工具引导装置，其中，所述手术工具的第一面、第二面和第三面中的至少一者设有码道，并且对应所述第一面、所述第二面和所述第三面的所述码道分别定义为第一码道、第二码道和第三码道；The surgical tool guiding device according to claim 3, wherein at least one of the first, second and third surfaces of the surgical tool is provided with a track, and corresponds to the first, second and third surfaces. The code channels of the second surface and the third surface are respectively defined as a first code channel, a second code channel and a third code channel;

   所述第一码道包括多个与所述手术工具的宽度方向平行且等间隔设置的第一不透光条带；The first yard track includes a plurality of first opaque strips arranged in parallel with the width direction of the surgical tool and at equal intervals;

   所述第二码道包括多个与所述手术工具的长度方向平行且等间隔设置的第二不透光条带；The second track includes a plurality of second opaque strips parallel to the length of the surgical tool and at equal intervals;

   所述第三码道包括多个与所述手术工具的长度方向平行且等间隔设置的第三不透光条带。The third track includes a plurality of third opaque strips parallel to the length of the surgical tool and at equal intervals.
5. 根据权利要求2所述的手术工具引导装置，其中，所述第二传感器单元和所述第三传感器单元中的至少一者为激光传感器单元，所述激光传感器单元包括激光发射器、激光接收器和转换电路；The surgical tool guide device of claim 2, wherein at least one of the second sensor unit and the third sensor unit is a laser sensor unit, the laser sensor unit comprising a laser transmitter, a laser receiver and conversion circuit;

   所述激光发射器用于向与所述导向部配合的手术工具发射与所述导向部的宽度方向或长度方向相平行的激光；The laser transmitter is used to emit laser light parallel to the width direction or the length direction of the guide part to the surgical tool matched with the guide part;

   所述激光接收器用于接收未被所述手术工具阻断的激光，以计算未被接收的激光的宽度并输出对应的电信号至所述转换电路；The laser receiver is used to receive the laser light that is not blocked by the surgical tool, so as to calculate the width of the unreceived laser light and output a corresponding electrical signal to the conversion circuit;

   所述转换电路用于对所接收的电信号进行模数转换与放大处理并输出对应的数字信号至控制器；The conversion circuit is used for performing analog-to-digital conversion and amplifying processing on the received electrical signal and outputting the corresponding digital signal to the controller;

   所述控制器根据所接收的数字信号计算所述手术工具影响所述目标组织的宽度或厚度。The controller calculates the width or thickness of the target tissue affected by the surgical tool based on the received digital signal.
6. 根据权利要求2所述的手术工具引导装置，其中，所述第一传感器单元、所述第二传感器单元和所述第三传感器单元中的至少一者为磁编码器单元，所述磁编码器单元包括磁感应器和转换电路；The surgical tool guide device of claim 2, wherein at least one of the first sensor unit, the second sensor unit, and the third sensor unit is a magnetic encoder unit, the magnetic encoder The unit includes a magnetic inductor and a conversion circuit;

   所述磁感应器用于读取与所述导向部配合的手术工具的第一面和第二面或第三面的对应位置处的磁场强度，并将读取的所述磁场强度转换为对应的电信号，其中，所述第一面和所述第二面与所述手术工具的厚度方向相垂直，所述第三面与所述手术工具的宽度方向相垂直；The magnetic sensor is used to read the magnetic field strengths at the corresponding positions of the first face and the second face or the third face of the surgical tool matched with the guide portion, and convert the read magnetic field strengths into corresponding electrical fields. a signal, wherein the first surface and the second surface are perpendicular to the thickness direction of the surgical tool, and the third surface is perpendicular to the width direction of the surgical tool;

   所述转换电路用于对所接收的电信号进行模数转换与放大处理并输出对应的数字信号至控制器；The conversion circuit is used for performing analog-to-digital conversion and amplifying processing on the received electrical signal and outputting the corresponding digital signal to the controller;

   所述控制器根据所接收的数字信号计算所述手术工具影响所述目标组织的深度、宽度或厚度。The controller calculates the depth, width or thickness at which the surgical tool affects the target tissue based on the received digital signal.
7. 根据权利要求6所述的手术工具引导装置，其中，所述手术工具的第一面、第二面和第三面中的至少一者设有磁体。The surgical tool guide of claim 6, wherein at least one of the first, second, and third faces of the surgical tool is provided with a magnet.
8. 根据权利要求2所述的手术工具引导装置，其中，所述第一传感器单元、所述第二传感器单元和所述第三传感器单元中的至少一者为光电传感器单元，所述光电传感器单元包括光源、透镜、光电传感器和转换电路；The surgical tool guide device of claim 2, wherein at least one of the first sensor unit, the second sensor unit, and the third sensor unit is a photosensor unit, the photosensor unit comprising Light source, lens, photoelectric sensor and conversion circuit;

   所述光源用于向与所述导向部配合的手术工具提供照射光；the light source is used for providing illumination light to the surgical tool matched with the guide part;

   所述照射光中的至少一部分经所述手术工具折射后穿过所述透镜并到达所述光电传感器；At least a portion of the illumination light is refracted by the surgical tool, passes through the lens and reaches the photosensor;

   所述光电传感器用于将所接收的光信号转换为电信号并输出至所述转换电路；The photoelectric sensor is used to convert the received optical signal into an electrical signal and output to the conversion circuit;

   所述转换电路用于对所接收的电信号进行模数转换与放大处理并输出对应的数字信号至控制器；The conversion circuit is used for performing analog-to-digital conversion and amplifying processing on the received electrical signal and outputting the corresponding digital signal to the controller;

   所述控制器根据所接收的数字信号计算所述手术工具影响所述目标组织的深度、宽度和厚度中的至少一者。The controller calculates at least one of a depth, a width, and a thickness at which the surgical tool affects the target tissue based on the received digital signal.
9. 根据权利要求2所述的手术工具引导装置，其中，所述第一传感器单元和所述第二传感器单元的个数均为两个。The surgical tool guide device according to claim 2, wherein the number of the first sensor unit and the number of the second sensor unit is two.
10. 根据权利要求1所述的手术工具引导装置，其中，所述检测模块与所述导块本体 之间为一体式结构或者可拆卸式连接。The surgical tool guiding device according to claim 1, wherein the detection module and the guide block body are integrally or detachably connected.
11. 根据权利要求10所述的手术工具引导装置，其中，所述检测模块上设有第一固定孔和插槽，所述导块本体上设有与所述第一固定孔对应设置的第二固定孔，所述插槽与所述导向部对应设置。The surgical tool guiding device according to claim 10, wherein the detection module is provided with a first fixing hole and a slot, and the guide block body is provided with a second fixing hole corresponding to the first fixing hole A hole is provided, and the slot is arranged corresponding to the guide portion.
12. 一种引导组件，应用于手术系统，其中，包括权利要求1至11中的任一项所述的手术工具引导装置、连接轴和靶标安装座，所述连接轴的两端分别连接所述手术工具引导装置以及所述靶标安装座，所述靶标安装座用于与所述手术系统的机械臂的末端可拆卸式连接。A guide assembly, applied to a surgical system, comprising the surgical tool guide device according to any one of claims 1 to 11, a connecting shaft and a target mounting seat, two ends of the connecting shaft are respectively connected to the surgery A tool guide and the target mount for detachable connection with the end of the robotic arm of the surgical system.
13. 一种手术系统，其中，包括控制器、机械臂和如权利要求12所述的引导组件，所述机械臂的末端用于连接所述引导组件，所述控制器用于控制所述机械臂运动，以调整所述引导组件的位置和姿态。A surgical system, comprising a controller, a robotic arm and a guide assembly as claimed in claim 12, the distal end of the robotic arm is used to connect the guide assembly, the controller is used to control the movement of the robotic arm, to adjust the position and attitude of the guide assembly.
14. 一种可读存储介质，其中，所述可读存储介质内存储有计算机程序，所述计算机程序被处理器执行时，实施如下步骤：A readable storage medium, wherein a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the following steps are performed:

    获取当前手术工具影响目标组织的信息；Obtain information on how current surgical tools affect target tissue;

    根据所获取的当前手术工具影响目标组织的信息以及预先获取的目标组织的影像数据，创建所述目标组织的手术操作模型；以及creating a surgical operation model of the target tissue according to the acquired information that the current surgical tool affects the target tissue and pre-acquired image data of the target tissue; and

    根据所述手术操作模型评估当前所述手术工具的手术操作效果。The surgical operation effect of the current surgical tool is evaluated according to the surgical operation model.
15. 根据权利要求14所述的可读存储介质，其中，所述获取当前手术工具影响目标组织的信息，包括：The readable storage medium according to claim 14, wherein the obtaining information that the current surgical tool affects the target tissue comprises:

    获取当前手术工具影响目标组织的深度、宽度和厚度中的至少一者。At least one of depth, width, and thickness at which the current surgical tool affects the target tissue is obtained.
16. 根据权利要求15所述的可读存储介质，其中，所述获取当前手术工具影响目标组织的信息，包括：The readable storage medium according to claim 15, wherein the obtaining information that the current surgical tool affects the target tissue comprises:

    获取当前手术工具影响目标组织的角度。Obtain the angle at which the current surgical tool affects the target tissue.
17. 根据权利要求16所述的可读存储介质，其中，所述获取当前手术工具影响目标组织的角度，包括：The readable storage medium of claim 16, wherein the obtaining the current angle at which the surgical tool affects the target tissue comprises:

    获取当前手术工具相对于导向部的倾斜角度和所述导向部的角度；以及obtaining the current inclination angle of the surgical tool relative to the guide and the angle of the guide; and

    根据当前所述手术工具的倾斜角度和所述导向部的角度获取当前所述手术工具影响目标组织的角度。The current angle at which the surgical tool affects the target tissue is obtained according to the current inclination angle of the surgical tool and the angle of the guide portion.

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