CN109044531B - Contact induction type terminal position navigation tracking device - Google Patents
Contact induction type terminal position navigation tracking device Download PDFInfo
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- CN109044531B CN109044531B CN201810950511.8A CN201810950511A CN109044531B CN 109044531 B CN109044531 B CN 109044531B CN 201810950511 A CN201810950511 A CN 201810950511A CN 109044531 B CN109044531 B CN 109044531B
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- probe
- navigation tracking
- contact
- control system
- tracking
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- 230000006698 induction Effects 0.000 title claims abstract description 12
- 239000000523 sample Substances 0.000 claims abstract description 61
- 238000000034 method Methods 0.000 claims description 6
- 239000011324 bead Substances 0.000 claims 1
- 235000014676 Phragmites communis Nutrition 0.000 description 12
- 239000008188 pellet Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
Abstract
The invention relates to medical equipment, in particular to a contact induction type terminal position navigation tracking device. The contact induction type tail end position navigation tracking device comprises a navigation tracking tool and a control system, wherein the navigation tracking tool comprises a probe, and a contact signal sensor is arranged between the navigation tracking tool and the control system; when the probe is not in contact with the target area, the contact signal sensor is in a closed state, and the control system is disconnected with the navigation tracking tool; when the probe is in contact with the target area, the contact signal sensor is in an open state, and the control system is connected with the navigation tracking tool, so that the navigation tracking tool is controlled to collect position coordinate information of the bottom end of the probe. The contact induction type terminal position navigation tracking device effectively avoids the condition that the probe does not touch the target area but the target point is acquired, and further effectively avoids unnecessary errors.
Description
Technical Field
The invention relates to medical equipment, in particular to a contact induction type terminal position navigation tracking device.
Background
Among current clinical operation navigation devices, photoelectric navigation is the most common navigation device, and generally for such devices, if a spatial coordinate of a certain clinical position needs to be acquired, the coordinate of the corresponding probe tip can be obtained only by placing the corresponding tracking probe at the position.
However, in the actual operation process, the probe is often required to acquire coordinates of a large number of points, for example, for ICP registration, a large-scale point cloud coordinate of a target position needs to be acquired, and in the process of acquiring the points, due to the limited surgical field, the human hand operation error and other reasons, the condition that the tip of the probe does not touch the target area but acquires the target point occurs, so that unavoidable errors are introduced.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to provide a contact induction type terminal position navigation tracking device, wherein a probe starts to collect position coordinate information of a target point only when the terminal (namely the bottom end of the probe) contacts a target area, so that the situation that the probe does not contact the target area but the target point is collected is avoided.
(II) technical scheme
In order to solve the technical problems, the invention provides a contact induction type terminal position navigation tracking device, which comprises a navigation tracking tool and a control system, wherein the navigation tracking tool comprises a probe, and a contact signal sensor is arranged between the navigation tracking tool and the control system; when the probe is not in contact with the target area, the contact signal sensor is in a closed state, and the control system is disconnected with the navigation tracking tool; when the probe is in contact with the target area, the contact signal sensor is in an open state, and the control system is connected with the navigation tracking tool, so that the navigation tracking tool is controlled to collect position coordinate information of the bottom end of the probe.
Further, the navigation tracking tool further comprises a support arranged at the top end of the probe, the contact signal sensor comprises a shell arranged between the probe and the support, an operation button is arranged in the shell, the probe comprises an outer cylinder and an inner cylinder which is sleeved in the outer cylinder in a sliding manner, the top end of the outer cylinder is connected with the bottom end of the support, the top end of the inner cylinder is connected with the bottom end of the operation button, and the bottom end of the inner cylinder stretches out of the bottom end of the outer cylinder in a natural state;
the operating button can extend out of the shell in a natural state so as to enable the contact signal sensor to be in a closed state, and the inner cylinder can enable the operating button to retract into the shell when touching a target area and enable the contact signal sensor to be in an open state in the retracting process.
Further, the contact signal sensor is a micro switch or a pressure sensor.
Further, the micro switch also comprises a pull rod, a drag hook, a tension spring, a reed, a normally closed contact and a normally open contact which are arranged in the shell; a chute is arranged in the shell, and the operation button is arranged in the chute and can extend out of or retract into the shell from the chute; the first end of the pull rod is fixed on the shell, the second end of the pull rod is connected with the first end of the drag hook, and the second end of the drag hook is contacted with the inner end of the operation button; the normally closed contact and the normally open contact are oppositely arranged in the shell; the first end of the reed is fixed on the pull rod, the second end of the reed is provided with a contact, and the contact is positioned between the normally closed contact and the normally open contact; the reed is connected with the drag hook through the tension spring; the normally closed contact and the normally open contact are respectively arranged on the shell through a normally closed pin and a normally open pin, and the normally open pin is connected with the control system through a lead.
Further, the navigation tracking tool further comprises a plurality of tracking positioning marks arranged on the support, and the tracking positioning marks are used for collecting position coordinate information of the bottom end of the probe.
Further, the number of the tracking and positioning marks is at least three, and the tracking and positioning marks are arranged on the support at intervals.
Further, the tracking positioning mark is an infrared positioning small ball.
Further, the contact induction type terminal position navigation tracking device further comprises an infrared tracking system, and the infrared tracking system can receive the position coordinate information transmitted back by the tracking positioning mark. Specifically, the infrared tracking system transmits infrared light to the tracking and positioning mark, and the infrared light is reflected back to the infrared tracking system by the tracking and positioning mark, so that the infrared tracking system obtains the position coordinate information of the bottom end of the probe.
Further, the contact induction type terminal position navigation tracking device further comprises a computer connected with the control system, and the control system is connected with the infrared tracking system to receive the position coordinate information and transmit the position coordinate information to the computer.
Further, the control system is a singlechip.
Further, the singlechip synchronously records and collects data.
(III) beneficial effects
The technical scheme of the invention has the following beneficial effects:
the invention relates to a contact induction type terminal position navigation tracking device, wherein a contact signal sensor is arranged between a navigation tracking tool and a control system; the contact signal sensor can be opened and closed; when the probe is not in contact with the target area, the contact signal sensor is in a closed state, the control system is disconnected with the navigation tracking tool, and the control system loses control over the navigation tracking tool; when the probe contacts with the target area, the contact signal sensor is in an open state, and the control system is connected with the navigation tracking tool, so that the navigation tracking tool is controlled to collect the position coordinate information of the bottom end of the probe. Therefore, the contact signal sensor is in an open state only when the probe touches the target area, so that the navigation tracking tool starts to collect the position coordinate information of the bottom end of the probe, the condition that the probe does not touch the target area but the position information of the target point is collected is effectively avoided, and unnecessary errors are further effectively avoided.
Drawings
FIG. 1 is a schematic diagram of a touch-sensitive end position navigation tracking device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a touch signal sensor according to an embodiment of the present invention (closed state);
fig. 3 is a schematic structural view (open state) of a contact signal sensor according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a navigation tracking tool according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the operation of the navigation tracking tool according to the embodiment of the present invention;
wherein, 1, a probe; 2. a housing; 3. an operation knob; 4. a pull rod; 5. a drag hook; 6. a tension spring; 7. a reed; 8. a normally closed contact; 9. a normally open contact; 10. a chute; 11. a contact; 12. tracking a positioning mark; 13. a bracket; 14. a control system; 15. a computer; 16. a contact signal sensor; 17. normally closed pins; 18. an infrared tracking system; 19. a normally open pin; 20. and (5) a lead wire.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more. The terms "upper," "lower," "left," "right," "inner," "outer," "top," "bottom," "front," "back," "leading," "trailing," and the like are used in an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
As shown in fig. 1 to 5, the present embodiment provides a contact-sensing type terminal position navigation tracking device, which includes a navigation tracking tool and a control system 14, wherein the navigation tracking tool includes a probe 1, and a contact signal sensor 16 is disposed between the navigation tracking tool and the control system 14; the contact signal sensor 16 is openable and closable; when the probe 1 is not in contact with the target area, the contact signal sensor 16 is in a closed state, and the control system 14 is disconnected from the navigation tracking tool; when the probe 1 contacts with the target area, the contact signal sensor 16 is in an on state, and the control system 14 is connected with the navigation tracking tool, so that the navigation tracking tool is controlled to collect the position coordinate information of the bottom end of the probe 1.
Specifically:
the navigation tracking tool also comprises a support 13 arranged at the top end of the probe 1, the contact signal sensor 16 comprises a shell 2 arranged between the probe 1 and the support 13, an operation button 3 is arranged in the shell 2, the probe 1 comprises an outer cylinder and an inner cylinder sleeved in the outer cylinder in a sliding way, the top end of the outer cylinder is connected with the bottom end of the support 13, the top end of the inner cylinder is connected with the bottom end of the operation button 3 (namely the outer end of the operation button 3), and the bottom end of the inner cylinder stretches out of the bottom end of the outer cylinder in a natural state; the operation knob 3 may be extended out of the housing 2 in a natural state to put the contact signal sensor 16 in a closed state, and the inner cylinder may retract the operation knob 3 into the housing 2 when touching the target area and put the contact signal sensor 16 in an open state during retraction.
The contact signal sensor 16 may be a micro switch or a pressure sensor. The contact signal sensor 16 of the present embodiment is preferably a micro switch. Specifically, the micro switch comprises an operation button 3, a shell 2, a pull rod 4, a drag hook 5, a tension spring 6, a reed 7, a normally closed contact 8 and a normally open contact 9 which are arranged in the shell 2; a chute 10 is arranged in the shell 2, an operation button 3 is arranged in the chute 10, and the shell 2 can be extended or retracted from the chute 10; the first end of the pull rod 4 is fixed on the shell 2, the second end of the pull rod 4 is connected with the first end of the drag hook 5, and the arch part of the second end of the drag hook 5 is contacted with the inner end of the operation button 3; the first end of the reed 7 is fixed on the pull rod 4, the second end of the reed 7 is provided with a contact 11, and the contact 11 is positioned between the normally closed contact 8 and the normally open contact 9; the reed 7 is connected with the drag hook 5 through the tension spring 6; the normally closed contact 8 and the normally open contact 9 are oppositely arranged in the shell 2 through a normally closed pin 17 and a normally open pin 19 respectively, and the normally open pin 19 is connected with the control system 14 through a lead 20.
When the inner cylinder of the probe 1 touches a target area, the inner cylinder stretches into the outer cylinder under the action of extrusion force, so that the operation button 3 is driven to move into the shell 2 along the chute 10, the draw hook 5 is pressed, and the draw hook 5 stretches the tension spring 6; when the tension spring 6 is pulled to a certain length, the contact 11 of the reed 7 is in contact with the normally open contact 9, namely, the micro switch is in an open state (see fig. 3), so that the control system 14 is communicated with the probe 1 of the navigation tracking tool through the lead 20, and after the communication, the control system 14 starts to control the navigation tracking tool to start to collect the position coordinate information of the tail end (namely, the bottom end) of the probe 1. When the probe 1 is separated from the target area, the extrusion force is eliminated, the inner cylinder is restored to a natural state, and the operation button 3 is restored to a natural state, so that the tension spring 6 is restored to elasticity; in the process of recovering the elasticity of the tension spring 6, the tension spring 6 pulls the contact 11 of the reed 7 to enable the contact 11 of the reed 7 to be in contact with the normally closed contact 8, so that the micro switch is in a closed state (see fig. 2), the control system 14 is disconnected with the probe of the navigation tracking tool, the control system 14 loses control over the navigation tracking tool, and the navigation tracking tool stops collecting the position coordinate information of the tail end of the probe 1.
The navigation tracking tool further comprises a plurality of tracking positioning marks 12 arranged on the support 13, wherein the tracking positioning marks 12 are used for collecting position coordinate information of the bottom end of the probe 1.
Further, the number of the tracking and positioning marks 12 is at least three, and the tracking and positioning marks are arranged on the bracket 13 at intervals. The shape of the bracket 13 is a shape including, but not limited to, a Y-shape, a cross shape, a square shape, a triangle shape, a circle shape, or an irregular shape.
As shown in fig. 4, the support 13 in this embodiment is Y-shaped, and the tracking and positioning marks 12 are infrared positioning pellets. The number of the infrared positioning pellets is four, and the four infrared positioning pellets are respectively positioned at the three end parts and the middle position of the Y-shaped bracket 13. The navigation tracking tool can calibrate the position of the tail end of the probe 1, the calibration process is as shown in fig. 5, the navigation tracking tool rotates around a certain fixed point to acquire the position information of the four infrared positioning pellets at the moment, and the position information is fitted to the position of the tail end of the probe 1, so that the fixed position of the tail end (needle point) of the probe 1 relative to the four infrared positioning pellets on the navigation tracking tool can be calibrated.
The touch-sensitive tip position navigation tracking device also includes an infrared tracking system 18 and a computer 15 coupled to the control system 14.
The infrared tracking system 18 may receive position coordinate information transmitted back from the tracking position markers 12. Specifically, the infrared tracking system 18 emits infrared light to the tracking and positioning mark 12, and the infrared light is reflected back to the infrared tracking system 18 by the tracking and positioning mark 12, so that the infrared tracking system 18 obtains position coordinate information of the bottom end of the probe 1.
The control system 14 is connected to the infrared tracking system 18 to receive the position coordinate information and to transmit the position coordinate information to the computer 15, so that the position coordinate information of the tip of the probe 1 is recorded on the computer 15. The control system 14 is preferably a single-chip microcomputer, which synchronously records the acquired data.
In summary, in the contact-sensing type terminal position navigation tracking device of the present embodiment, a contact signal sensor is disposed between the navigation tracking tool and the control system; the contact signal sensor can be opened and closed; when the probe is not in contact with the target area, the contact signal sensor is in a closed state, the control system is disconnected with the navigation tracking tool, and the control system loses control over the navigation tracking tool; when the probe contacts with the target area, the contact signal sensor is in an open state, and the control system is connected with the navigation tracking tool, so that the navigation tracking tool is controlled to collect the position coordinate information of the bottom end of the probe. Therefore, the contact signal sensor is in an open state only when the probe touches the target area, so that the navigation tracking tool starts to collect the position coordinate information of the bottom end of the probe, the condition that the probe does not touch the target area but the position information of the target point is collected is effectively avoided, and unnecessary errors are further effectively avoided.
The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (7)
1. The contact induction type terminal position navigation tracking device is characterized by comprising a navigation tracking tool and a control system, wherein the navigation tracking tool comprises a probe, and a contact signal sensor is arranged between the navigation tracking tool and the control system; when the probe is not in contact with the target area, the contact signal sensor is in a closed state, and the control system is disconnected with the navigation tracking tool; when the probe contacts with the target area, the contact signal sensor is in an open state, and the control system is connected with the navigation tracking tool, so that the navigation tracking tool is controlled to acquire position coordinate information of the bottom end of the probe;
the navigation tracking tool further comprises a support arranged at the top end of the probe, the contact signal sensor comprises a shell arranged between the probe and the support, an operation button is arranged in the shell, the probe comprises an outer cylinder and an inner cylinder sleeved in the outer cylinder in a sliding manner, the top end of the outer cylinder is connected with the bottom end of the support, the top end of the inner cylinder is connected with the bottom end of the operation button, and the bottom end of the inner cylinder stretches out of the bottom end of the outer cylinder in a natural state;
the operating button can extend out of the shell in a natural state so as to enable the contact signal sensor to be in a closed state, and the inner cylinder can enable the operating button to retract into the shell when touching a target area and enable the contact signal sensor to be in an open state in the retracting process;
the contact signal sensor is a micro switch or a pressure sensor;
the navigation tracking tool also comprises a plurality of tracking positioning marks arranged on the support, and the tracking positioning marks are used for collecting position coordinate information of the bottom end of the probe.
2. The touch-sensitive tip position navigation tracking device of claim 1, wherein the tracking and positioning marks are at least three and are spaced apart on the support.
3. The touch-sensitive tip position navigation tracking device of claim 1, wherein the tracking positioning indicia is an infrared positioning bead.
4. The touch-sensitive tip position navigation tracking device of claim 1, further comprising an infrared tracking system that receives the position coordinate information transmitted back from the tracking location markers.
5. The touch sensitive tip position navigation tracking device of claim 4, further comprising a computer coupled to the control system, the control system communicatively coupled to the infrared tracking system to receive the position coordinate information and transmit the position coordinate information to the computer.
6. The touch-sensitive tip position navigation tracking device of claim 5, wherein the control system is a single chip microcomputer.
7. The touch-sensitive tip position navigation tracking device of claim 6, wherein the single-chip microcomputer synchronously records the collected data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810950511.8A CN109044531B (en) | 2018-08-20 | 2018-08-20 | Contact induction type terminal position navigation tracking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810950511.8A CN109044531B (en) | 2018-08-20 | 2018-08-20 | Contact induction type terminal position navigation tracking device |
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| CN109044531A CN109044531A (en) | 2018-12-21 |
| CN109044531B true CN109044531B (en) | 2024-02-06 |
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| CN201810950511.8A Active CN109044531B (en) | 2018-08-20 | 2018-08-20 | Contact induction type terminal position navigation tracking device |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998682B (en) * | 2019-04-28 | 2020-08-18 | 北京天智航医疗科技股份有限公司 | Probe device, precision detection method, precision detection system and positioning system |
| CN110974454B (en) * | 2019-12-19 | 2021-09-28 | 长春理工大学 | Orthodontic anchorage nail calibration method and device |
| CN113576663B (en) * | 2021-07-30 | 2023-06-27 | 武汉联影智融医疗科技有限公司 | Probe device for contact positioning and positioning system |
| WO2024067753A1 (en) * | 2022-09-29 | 2024-04-04 | 武汉联影智融医疗科技有限公司 | Registration method, registration system, navigation information determination method, and navigation system |
| CN116549114B (en) * | 2023-05-12 | 2024-04-02 | 北京长木谷医疗科技股份有限公司 | Intelligent perception interaction device and system of surgical robot |
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| CN102781336A (en) * | 2009-10-30 | 2012-11-14 | 约翰霍普金斯大学 | Visual tracking and annotation of clinically important anatomical landmarks for surgical interventions |
| CN105073054A (en) * | 2013-01-16 | 2015-11-18 | 史赛克公司 | Navigation system and method for indicating line of sight errors |
| CN105873521A (en) * | 2014-01-02 | 2016-08-17 | 皇家飞利浦有限公司 | Instrument alignment and tracking with ultrasound imaging plane |
| CN209032633U (en) * | 2018-08-20 | 2019-06-28 | 真健康（北京）医疗科技有限公司 | A kind of terminal position navigation tracking device of Contact Sensor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013162227A1 (en) * | 2012-04-25 | 2013-10-31 | 주식회사 고영테크놀러지 | Navigation system for surgery |
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- 2018-08-20 CN CN201810950511.8A patent/CN109044531B/en active Active
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| CN102781336A (en) * | 2009-10-30 | 2012-11-14 | 约翰霍普金斯大学 | Visual tracking and annotation of clinically important anatomical landmarks for surgical interventions |
| CN105073054A (en) * | 2013-01-16 | 2015-11-18 | 史赛克公司 | Navigation system and method for indicating line of sight errors |
| CN105873521A (en) * | 2014-01-02 | 2016-08-17 | 皇家飞利浦有限公司 | Instrument alignment and tracking with ultrasound imaging plane |
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