CN112656509A

CN112656509A - Registration auxiliary device

Info

Publication number: CN112656509A
Application number: CN202011511322.4A
Authority: CN
Inventors: 郭毅; 楚晨龙; 刘鹏亮
Original assignee: Sino Precision Beijing Medical Technology Co ltd
Current assignee: Sino Precision Beijing Medical Technology Co ltd
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2021-04-16
Anticipated expiration: 2040-12-18
Also published as: CN112656509B

Abstract

The invention provides a registration auxiliary device, which comprises a first calibration component, a second calibration component, a third calibration component and a switching support ring, wherein the calibration component comprises a marking structure; the switching support ring comprises a reference member, an anchoring through hole, a positioning hole and a clamping structure; the first calibration component, the second calibration component and the third calibration component are detachably connected with the transfer support ring through the anchoring through holes by means of anchoring bolts; the marker structure contains an imprint and can be used in conjunction with a surgical navigation or a registration probe of a surgical robot.

Description

Registration auxiliary device

Technical Field

The invention relates to the technical field of medical instruments, in particular to a registration auxiliary device.

Background

The requirements of surgical navigation and surgical robots are increasing day by day, the applications are also gradually wide, and the registration has a great influence on the surgical precision.

Registration (registration) refers to matching of spatial coordinates of different image graphs obtained by different imaging means in the same region, is commonly used in surgical navigation, surgical robots and the like, and is the most important link for ensuring positioning accuracy. The current registration link is mainly realized by mark points on the surface of the skin or bone nails embedded into the skull, the mark points on the surface of the skin are easy to drift when the skin is wrinkled due to external force, and the bone nails embedded into the skull easily bring extra pain. How to perform registration painlessly and accurately is an urgent problem to be solved.

Disclosure of Invention

To solve or improve the above existing problems, the present invention designs a registration assistance device, including:

the first calibration component comprises two calibration surfaces, and each calibration surface is provided with at least one mark structure;

a second calibration component having a calibration face with at least one marker structure thereon;

a third calibration component comprising a calibration surface having at least one marking structure thereon;

the switching support ring comprises a reference member, an anchoring through hole, a positioning hole and a clamping structure;

the first calibration component, the second calibration component and the third calibration component are respectively provided with an anchoring structure, the anchoring structures are detachably connected with the transfer support ring through anchoring through holes by means of anchoring bolts, and the marking structures are used for matching with a surgical navigation or surgical robot registration probe.

In the registration assistance device of the present invention, the calibration plane refers to a general direction in one dimension in a three-dimensional space, and is not necessarily on a plane, for example, the calibration plane may be a plane, an arc, and a combination of two planes that are substantially parallel but have a certain height difference.

In one embodiment, the marker structure of the aforementioned registration aid is capable of clearly revealing its contour in medical imaging; the medical imaging may be of various prior art techniques, such as computed tomography imaging (CT) or Magnetic Resonance Imaging (MRI).

In the registration assisting device of the present invention, the calibration surface having at least one mark structure may include multiple conditions, and the number of the mark structures on each calibration surface may be the same or different; for example, each calibration face has at least three or has three marker structures.

In the registration assistance device, the marking structure is provided with a mark capable of indicating a space position and is used for matching with a surgical navigation or surgical robot registration probe. In one embodiment, the imprint is a circular depression or ball pit; in another embodiment, the imprint is a cross-star groove.

Further, the shape of the marking structure has no influence on the implementation of the present invention, and may be any shape as long as the imprint can be observed in medical imaging and visual industries, and for manufacturing convenience, it may have the same cross section with regular shape; for example, the marking structure is a cylinder and the imprint is located in the central position.

In the registration auxiliary device, the switching support ring is connected with a rigid structure fixed at the relative position of a patient through a clamping structure; the transfer supporting ring provides a rigid plane which can be used as a unified reference for the first calibration component, the second calibration component and the third calibration component; the positioning pins ensure the position of the adapter ring relative to the rigid connection.

In the registration aid of the present invention, the rigid structure is attached as a head frame, which may be a commercially available commercial head frame, such as a Leksell head frame.

Drawings

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

FIG. 1 is a schematic view of the registration aid of the present invention in connection with a headgear;

fig. 2 is a schematic structural diagram of a main body of the registration assistance device of the present invention, not showing the clamping structure 440;

fig. 3 is an isometric view of a first calibration component 100 of the registration aid;

fig. 4 is a partially enlarged view of the marking structure 111 of the first calibration component 100;

fig. 5 is a partially enlarged view of the marking structure 112 of the first calibration component 100;

fig. 6 is a partially enlarged view of the marking structure 113 of the first calibration component 100;

fig. 7 is a partial enlarged view of the marking structure 121 of the first calibration component 100;

fig. 8 is a partially enlarged view of the marking structure 122 of the first calibration component 100;

fig. 9 is a partially enlarged view of the marking structure 123 of the first calibration component 100;

fig. 10 is a front view of a first calibration component 100 of the registration aid;

fig. 11 is a right side view of the first calibration component 100 of the registration aid;

fig. 12 is a left side view of the first calibration component 100 of the registration assistance device;

fig. 13 is a lower view of the first calibration component 100 of the registration assistance device;

fig. 14 is a top view of a first calibration component 100 of the registration aid;

fig. 15 is a rear view of the first calibration component 100 of the registration aid;

fig. 16 is an isometric view of a second calibration component 200 of the registration aid;

fig. 17 is a front view of a second calibration component 200 of the registration aid;

fig. 18 is a right side view of a second calibration component 200 of the registration aid;

fig. 19 is a left side view of a second calibration component 200 of the registration aid;

fig. 20 is a top view of a second calibration component 200 of the registration aid;

fig. 21 is a lower view of a second calibration component 200 of the registration aid;

fig. 22 is a rear view of a second calibration component 200 of the registration aid;

fig. 23 is an isometric view of a third calibration component 300 of the registration aid;

fig. 24 is a front view of a third calibration component 300 of the registration aid;

fig. 25 is a right side view of a third calibration component 300 of the registration aid;

fig. 26 is a left side view of the third calibration component 300 of the registration assistance device;

fig. 27 is a top view of a third calibration component 300 of the registration aid;

fig. 28 is a lower view of a third calibration component 300 of the registration assistance device;

fig. 29 is a rear view of a third calibration component 300 of the registration aid;

fig. 30 is an isometric view of an adaptor ring 400 (in addition to clamping structure 440) of a registration aid;

fig. 31 is a top view of an adaptor ring 400 (other than the clamping structure 440) of the registration aid;

fig. 32 is a schematic view of the clamping structure 440 of the adaptor ring 400 of the registration aid;

reference numerals: first calibration component 100, the

calibration face

110, 120,

mark structure

111, 112, 113, 121, 122, 123, connecting structure 130, bolt 132, locating pin 131, second calibration component 200, the calibration face 210,

mark structure

211, 212, 213, connecting structure 220, bolt 222, locating pin 221, third calibration component 300, calibration face 310,

mark structure

311, 312, 313, connecting structure 320, bolt 322, locating pin 321, switching support ring 400, locating

hole

411, 421, 431, anchor through-

hole

412, 422, 432, fastening structure 440, fastening member 441, bolt 442, fastening cap 443.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

For the understanding of the present embodiment, the registration assistance device disclosed in the present invention will be described in detail first.

Referring to fig. 1, a specific example of the registration aid of the present invention is shown, which comprises a first calibration component 100, a second calibration component 200, a third calibration component 300, an adaptor ring 400, and a clamping structure 440, and is in a state of being attached to the head.

Fig. 2 is a schematic structural view of the registration assistance device shown in fig. 1, and the clamping structure 440 is omitted for convenience, and the clamping structure 440 is described in detail in fig. 32.

The first, second and third definitions of the indexing features in this invention are provided only to distinguish one feature from another and do not represent any order, and may be used interchangeably without substantial effect.

Referring to fig. 3 to 15, the calibration component 100 is described in detail, and includes a first calibration surface 110, a second calibration surface 120, a connecting structure 130; the first calibration surface 110 is provided with

mark structures

111, 112 and 113; the second calibration surface 120 is provided with marking

structures

121, 122, 123; the connection structure 130 includes a positioning pin 131 and a bolt 132 for anchoring, the positioning pin 131 is used for aligning with the adaptor ring 400, and the bolt 132 is used for fixing.

The marker structures may alternatively be cylinders, the

marker structures

111, 112, 113, 121, 122, 123 having an imprint on the outer surface indicating the spatial position for matching the registration probes. The imprint may be in various forms, such as a circular depression, a cross-star groove, etc. The first and second calibration surfaces 110, 120 of the calibration member 100 are planar in this example, but in other examples a surface with a curvature or a splice of different planar surfaces of comparable heights may be used.

Referring to fig. 16 to 22, an example of the second calibration member 200 will be described in detail, the second calibration member 200 includes a calibration surface 210, a connection structure 220, and the calibration surface 210 has marking

structures

211, 212, and 213, the connection structure 220 includes a positioning pin 221 and a bolt 222 for anchoring, the positioning pin 221 is used for aligning with the adaptor ring 400, and the bolt 222 is used for fixing.

Referring to fig. 23 to 29, an example of the third calibration member 300 will be described in detail, the third calibration member 300 includes a calibration surface 310 and a connection structure 320, the calibration surface 310 has marking

structures

311, 312 and 313, the connection structure 320 includes a positioning pin 321 and a bolt 322 for anchoring, the positioning pin 321 is used for aligning with the adaptor ring 400, and the bolt 322 is used for fixing.

Referring to fig. 30 to 32, an example of the joint holder ring 400 will be described in detail.

Fig. 30 shows an isometric view of an adaptor ring 400 (in addition to clamping structure 440) of a registration aid; fig. 31 is a top view of the adaptor ring 400 (a portion other than the clamping structure 440) of the registration aid, showing that the adaptor ring 400 has

positioning holes

411, 421 and 431, fixing

holes

412, 422 and 432, the positioning hole 411 connecting the positioning pin 131, the positioning hole 421 connecting the positioning pin 221, the positioning hole 431 connecting the positioning pin 321, the anchor through hole 412 connecting the bolt 132, the anchor through hole 422 connecting the bolt 222, and the anchor through hole connecting the bolt 322.

Fig. 32 shows a schematic view of the clamping structure 440 of the adaptor ring 400, showing clamping member 441, bolt 442, and clamping cap 443; the connection of the adaptor ring 400 body is formed by clamping member 441, and in an unused state, the bolt 442 is in a loose state, the distance between clamping cap 443 and clamping member 441 is greater than the height of the rigid structure (head frame), and in use, a portion of the head frame is placed between clamping cap 443 and clamping member 441, and the bolt 442 is tightened to fix the attachment of the adaptor ring 400 to the head frame, which is shown in fig. 1.

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

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A registration assistance apparatus, comprising:

a third calibration component having a calibration face with at least one marker structure thereon;

the first calibration component, the second calibration component and the third calibration component are respectively provided with an anchoring structure, the anchoring structures are detachably connected with the adapter bracket through the anchoring through holes by means of anchoring bolts, and the marking structures are used for matching with a surgical navigation or surgical robot registration probe.

2. The registration aid of claim 1, wherein the marker structure is capable of clearly revealing its contours in medical imaging.

3. The registration aid of claim 2, wherein the medical imaging is computed tomography imaging (CT) or Magnetic Resonance Imaging (MRI).

4. The registration aid of claim 1, wherein the marker structure has an imprint that can indicate a spatial position.

5. The registration aid of claim 4, wherein the imprint is a circular depression or ball pit matching a registration probe of a surgical navigation or surgical robot.

6. The registration aid of claim 4, wherein the printing is a cross-star notch matching a surgical navigation or surgical robotic registration probe.

7. The registration aid of claim 1, wherein the adapter ring is connected to a rigid structure via the clamping structure.

8. The registration aid of claim 7, wherein the rigid structural connection is a headgear.

9. The registration aid of claim 1, wherein the calibration face has at least 3 marker structures thereon.

10. The registration aid of claim 9, wherein the calibration face has 3 marker structures thereon.