CN112656509B - Registration auxiliary device - Google Patents
Registration auxiliary device Download PDFInfo
- Publication number
- CN112656509B CN112656509B CN202011511322.4A CN202011511322A CN112656509B CN 112656509 B CN112656509 B CN 112656509B CN 202011511322 A CN202011511322 A CN 202011511322A CN 112656509 B CN112656509 B CN 112656509B
- Authority
- CN
- China
- Prior art keywords
- calibration
- registration
- anchoring
- component
- marking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Apparatus For Radiation Diagnosis (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
Abstract
The invention provides a registration auxiliary device, which comprises a first calibration part, a second calibration part, a third calibration part and a transfer support ring, wherein the calibration part comprises a marking structure; the transfer 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 the anchoring bolts; the marking structure contains markings that can be used with surgical navigation or registration probes of a surgical robot.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a registration auxiliary device.
Background
Surgical navigation and surgical robots are increasingly in demand, and applications are becoming widespread, with registration having a tremendous impact on surgical accuracy.
Registration (registration) refers to the matching of spatial coordinates of different image patterns obtained by different imaging means in the same region, and is commonly found 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 marking points on the surface of the skin or bone nails embedded in the skull, the marking points on the surface of the skin are easy to drift when the skin is wrinkled by external force, and the bone nails embedded in the skull are easy to bring additional pain. How to accurately register painlessly is an urgent problem to be solved.
Disclosure of Invention
In order to solve or improve the above existing problems, the present invention provides a registration assistance apparatus, comprising:
a first calibration component comprising two calibration surfaces, each calibration surface having at least one marking structure thereon;
a second calibration component comprising a calibration surface having at least one marking structure thereon;
a third calibration component comprising a calibration surface having at least one marking structure thereon;
the switching support ring comprises a reference component, 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 structure is detachably connected with the adapting support ring through the anchoring through hole by means of an anchoring bolt, and the marking structure is used for being matched with a surgical navigation or surgical robot registration probe.
In the registration assistance device of the present invention, the calibration surface refers to a general direction in one dimension in the three-dimensional space, and does not have to be in one plane, for example, the calibration surface may be a plane, an arc surface, or a combination of two planes that are generally parallel but have a certain height difference.
In one embodiment, the marking structure of the aforementioned registration assistance device is capable of clearly displaying its contour in medical imaging; medical imaging may be of various prior art, such as Computed Tomography (CT) imaging or Magnetic Resonance Imaging (MRI).
In the registration auxiliary device, the marking structure on the calibration surface can comprise a plurality of conditions, and the number of the marking structures on each calibration surface can be the same or different; for example, each calibration surface has at least three or has three marking structures.
In the registration assistance device of the invention, the marker structure has an imprint indicative of the spatial position for matching with a surgical navigation or surgical robot registration probe. In one embodiment, the imprint is a circular depression or a 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 mark can be observed in medical imaging and visual business, and for convenience of manufacture, it may have the same and regular cross section; for example, the marking structure is a cylinder and the stamp is located in a central position.
In the auxiliary registration device, the transfer support ring is connected with a rigid structure with fixed relative positions of a patient through a clamping structure; the switching support 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 locating pins ensure the position of the adapter ring relative to the rigid connection.
In the registration assistance device of the present invention, the rigid structure is connected as a head, which may be a commercial head, such as a Leksell head.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of the connection state of the registration assistance apparatus of the present invention with a head frame;
fig. 2 is a schematic main structure of the registration assistance apparatus of the present invention, and a clamping structure 440 is not shown;
FIG. 3 is an isometric view of a first calibration component 100 of the registration assistance apparatus;
FIG. 4 is an enlarged view of a portion of the marking structure 111 of the first calibration member 100;
FIG. 5 is an enlarged view of a portion of the marking structure 112 of the first calibration member 100;
FIG. 6 is an enlarged view of a portion of the marking structure 113 of the first calibration member 100;
FIG. 7 is an enlarged view of a portion of the marking structure 121 of the first calibration member 100;
FIG. 8 is an enlarged partial view of the marking structure 122 of the first calibration member 100;
FIG. 9 is an enlarged partial view of the marking structure 123 of the first calibration member 100;
FIG. 10 is a front view of the first calibration component 100 of the registration assistance;
FIG. 11 is a right side view of the first calibration component 100 of the registration assistance;
FIG. 12 is a left side view of the first calibration component 100 of the registration assistance;
FIG. 13 is a lower view of the first calibration component 100 of the registration assistance;
FIG. 14 is a top view of the first calibration component 100 of the registration assistance;
FIG. 15 is a rear view of the first calibration component 100 of the registration assistance;
FIG. 16 is an isometric view of a second calibration component 200 of the registration assistance apparatus;
FIG. 17 is a front view of a second calibration component 200 of the registration assistance;
FIG. 18 is a right side view of a second calibration component 200 of the registration assistance;
FIG. 19 is a left side view of a second calibration component 200 of the registration assistance;
FIG. 20 is a top view of a second calibration component 200 of the registration assistance;
FIG. 21 is a lower view of a second calibration component 200 of the registration assistance;
FIG. 22 is a rear view of the second calibration component 200 of the registration assistance;
FIG. 23 is an isometric view of a third calibration component 300 of the registration assistance apparatus;
FIG. 24 is a front view of a third calibration component 300 of the registration assistance;
FIG. 25 is a right side view of a third calibration component 300 of the registration assistance;
FIG. 26 is a left side view of a third calibration component 300 of the registration assistance;
FIG. 27 is a top view of a third calibration component 300 of the registration assistance;
FIG. 28 is a lower view of a third calibration component 300 of the registration assistance;
FIG. 29 is a rear view of a third calibration component 300 of the registration assistance;
FIG. 30 is an isometric view of an adapter bracket 400 (except for a clamping structure 440) of the registration aid;
fig. 31 is a top view of the adapter ring 400 (except for the clamping mechanism 440) of the registration aid;
fig. 32 is a schematic view of a clamping structure 440 of an adapter ring 400 of the registration assistance device;
reference numerals: the first calibration component 100, the calibration surfaces 110, 120, the marking structures 111, 112, 113, 121, 122, 123, the connecting structure 130, the bolts 132, the positioning pins 131, the second calibration component 200, the calibration surface 210, the marking structures 211, 212, 213, the connecting structure 220, the bolts 222, the positioning pins 221, the third calibration component 300, the calibration surface 310, the marking structures 311, 312, 313, the connecting structure 320, the bolts 322, the positioning pins 321, the transfer bracket 400, the positioning holes 411, 421, 431, the anchoring through holes 412, 422, 432, the clamping structures 440, the clamping members 441, the bolts 442, and the clamping caps 443.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, 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 embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
For ease of understanding the present embodiment, the disclosed registration assistance apparatus will be described in detail first.
Referring to fig. 1, there is shown an embodiment of the registration assistance apparatus of the present invention, comprising a first calibration member 100, a second calibration member 200, a third calibration member 300, an adapter bracket 400, a clamp structure 440, and in a state of connection with a headgear.
Fig. 2 is a schematic structural view of the registration assistance apparatus shown in fig. 1, in which 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 calibration components in the present invention are merely used to distinguish the components from one another and do not represent any order, and may be used interchangeably without substantial impact.
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, and a connection structure 130; the first calibration surface 110 is provided with marking structures 111, 112 and 113; the second calibration surface 120 is provided with marking structures 121, 122 and 123; the connection structure 130 includes a positioning pin 131 for aligning with the adaptor bracket 400 and a bolt 132 for anchoring, the bolt 132 for fixing.
The marker structures may alternatively be cylindrical, the marker structures 111, 112, 113, 121, 122, 123 having markings on the outer surface indicative of the spatial position for matching the registration probes. The imprint may be in a variety of ways, such as a circular depression, a cross star groove, etc. The first and second calibration surfaces 110, 120 of the calibration component 100 are planar in this example, but in other examples surfaces having a curvature, or a splice of different planes 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, wherein the second calibration member 200 includes a calibration surface 210, a connection structure 220, and the calibration surface 210 has marking structures 211, 212, 213 thereon, and 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 bracket 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, wherein the third calibration member 300 includes a calibration surface 310, a connection structure 320, and the calibration surface 310 has marking structures 311, 312, 313 thereon, and 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 bracket 400, and the bolt 322 is used for fixing.
An example of an adapter ring 400 is described in detail with reference to fig. 30-32.
Fig. 30 shows an isometric view of an adapter ring 400 (other than the clamping structure 440) of the registration aid; fig. 31 is a top view of the adaptor bracket 400 (except for the clamping structure 440) of the registration assistance device, showing that the adaptor bracket 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 bracket 400, showing the clamping member 441, the bolt 442, and the clamping cap 443; the connection of the body of the adaptor bracket 400 is formed by the clamping member 441, in the unused state, the bolt 442 is in a loose state, the distance between the clamping cap 443 and the clamping member 441 is larger than the height of the rigid structure (head frame), when in use, a part of the head frame is placed between the clamping cap 443 and the clamping member 441, the bolt 442 is screwed, and the connection and fixation of the adaptor bracket 400 and the head frame are completed, and the example after connection is shown in fig. 1.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A registration assistance apparatus, comprising:
a first calibration part (100) comprising a connection structure (130) and two calibration surfaces (110) and (120) arranged perpendicular to each other, each calibration surface having at least one marking structure thereon, the connection structure (130) comprising a locating pin (131) and a bolt (132) for anchoring;
a second calibration component (200) comprising a connection structure (220) and a calibration surface (210), said calibration surface (210) having at least one marking structure thereon, said connection structure (220) comprising a locating pin (221) and a bolt (222) for anchoring;
a third calibration component (300) comprising a connection structure (320) and a calibration surface (310), the calibration surface (310) having at least one marking structure thereon, the connection structure (320) comprising a locating pin (321) and a bolt (322) for anchoring;
the shapes of the first calibration component (100), the second calibration component (200) and the third calibration component (300) and the distribution of the marking structures are different;
the transfer support ring (400) comprises a reference component, an anchoring through hole, a positioning hole and a clamping structure, the transfer support ring (400) is connected with the headstock through the clamping structure, four groups of anchoring through holes and positioning holes are formed, and the first calibration component (100), the second calibration component (200) and the third calibration component (300) can be combined with the four groups of anchoring through holes and the positioning holes at will through respective connection structures;
the first calibration component (100), the second calibration component (200) and the third calibration component (300) are matched with a group of anchoring through holes and positioning holes through respective connection structures to realize detachable connection with different sides of the transfer support ring (400), and the marking structures are used for being matched with surgical navigation or surgical robot registration probes.
2. Registration assistance apparatus according to claim 1, wherein the marker structure is capable of clearly displaying its contour in medical imaging.
3. Registration assistance apparatus according to claim 2, wherein the medical imaging is Computed Tomography (CT) imaging or Magnetic Resonance Imaging (MRI).
4. Registration assistance apparatus according to claim 1 wherein the marking structure has an imprint indicative of a spatial position.
5. The registration assistance apparatus of claim 4, wherein the footprint is a circular depression or ball pit matching a registration probe of a surgical navigation or surgical robot.
6. The registration assistance apparatus of claim 4, wherein the footprint is a cross-star groove matching a surgical navigation or surgical robot registration probe.
7. Registration assistance apparatus according to claim 1, wherein the calibration surface has at least 3 marking structures thereon.
8. Registration assistance apparatus according to claim 7 wherein the calibration surface has 3 marker structures thereon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011511322.4A CN112656509B (en) | 2020-12-18 | 2020-12-18 | Registration auxiliary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011511322.4A CN112656509B (en) | 2020-12-18 | 2020-12-18 | Registration auxiliary device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112656509A CN112656509A (en) | 2021-04-16 |
| CN112656509B true CN112656509B (en) | 2023-09-22 |
Family
ID=75406209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011511322.4A Active CN112656509B (en) | 2020-12-18 | 2020-12-18 | Registration auxiliary device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112656509B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208808648U (en) * | 2018-04-09 | 2019-05-03 | 上海术凯机器人有限公司 | A kind of probe registration apparatus |
| WO2019098742A2 (en) * | 2017-11-17 | 2019-05-23 | 주식회사 고영테크놀러지 | Stereotactic device, stereotactic system, and registration method using stereotactic system |
| CN110462681A (en) * | 2017-02-23 | 2019-11-15 | 港大科桥有限公司 | For physics to image/image to multiple surfaces of physics registration and image authentication |
| CN111714206A (en) * | 2019-03-22 | 2020-09-29 | 格罗伯斯医疗有限公司 | Neuro-navigation registration and robot trajectory guidance system and related method and device |
| CN111728701A (en) * | 2020-07-28 | 2020-10-02 | 北京航空航天大学 | Rapid registration method and device for robot-assisted spinal surgery |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060281991A1 (en) * | 2003-05-09 | 2006-12-14 | Fitzpatrick J M | Fiducial marker holder system for surgery |
| EP2298223A1 (en) * | 2009-09-21 | 2011-03-23 | Stryker Leibinger GmbH & Co. KG | Technique for registering image data of an object |
-
2020
- 2020-12-18 CN CN202011511322.4A patent/CN112656509B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110462681A (en) * | 2017-02-23 | 2019-11-15 | 港大科桥有限公司 | For physics to image/image to multiple surfaces of physics registration and image authentication |
| WO2019098742A2 (en) * | 2017-11-17 | 2019-05-23 | 주식회사 고영테크놀러지 | Stereotactic device, stereotactic system, and registration method using stereotactic system |
| CN208808648U (en) * | 2018-04-09 | 2019-05-03 | 上海术凯机器人有限公司 | A kind of probe registration apparatus |
| CN111714206A (en) * | 2019-03-22 | 2020-09-29 | 格罗伯斯医疗有限公司 | Neuro-navigation registration and robot trajectory guidance system and related method and device |
| CN111728701A (en) * | 2020-07-28 | 2020-10-02 | 北京航空航天大学 | Rapid registration method and device for robot-assisted spinal surgery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112656509A (en) | 2021-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11801097B2 (en) | Robotic fluoroscopic navigation | |
| US20060281991A1 (en) | Fiducial marker holder system for surgery | |
| CN101879092B (en) | Registration assembly for electromagnetic positioning operation navigation system and calibration method thereof | |
| WO2002085232A1 (en) | Simplified stereotactic apparatus and methods | |
| US20130035585A1 (en) | Instrument guiding during magnetic resonance imaging | |
| CN109498156A (en) | A kind of head operation air navigation aid based on 3-D scanning | |
| EP3307189A1 (en) | Dynamic reference frame for surgical navigation system | |
| CN108124421B (en) | Positioning aid for surgical procedures | |
| US20050113677A1 (en) | Apparatus and method for registering the position of a surgical robot | |
| CN112656509B (en) | Registration auxiliary device | |
| CN214632321U (en) | Novel registration is supplementary device | |
| CN112656508B (en) | Novel registration auxiliary device | |
| CN209490094U (en) | A kind of magnetic induction locator | |
| WO2004100767A2 (en) | Fiducial marker holder system for surgery | |
| KR20190056637A (en) | Stereotactic apparatus, stereotactic system, and registration method using stereotactic system | |
| CN111728701A (en) | Rapid registration method and device for robot-assisted spinal surgery | |
| CN114848170B (en) | Registration method of framed stereotactic system | |
| CN217696828U (en) | Double-layer calibration plate | |
| CN217408810U (en) | Nuclear magnetic positioning device | |
| CN210250030U (en) | Fixing support for assisting fracture reduction based on electromagnetic navigation technology | |
| CN110037783B (en) | Fixed support for assisting fracture reduction based on electromagnetic navigation operation system | |
| CN117580542A (en) | Ablation probe with guide indicators to support position and orientation guide system | |
| EP4146116A2 (en) | Devices for assisting neurosurgical interventions | |
| CN219021522U (en) | Headstock assembly for registration, operation navigation system and operation navigation positioning system | |
| CN108309451B (en) | A craniocerebral focus navigation for primary hospital |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |