CN112656509B - A registration auxiliary device - Google Patents
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Abstract
Description
技术领域Technical field
本发明涉及医疗器械技术领域，尤其是涉及一种配准辅助装置。The present invention relates to the technical field of medical devices, and in particular to a registration auxiliary device.
背景技术Background technique
手术导航和手术机器人的需求日益增加，应用也逐渐广泛，配准对于手术精度有着巨大的影响。The demand for surgical navigation and surgical robots is increasing day by day, and their applications are becoming more and more widespread. Registration has a huge impact on surgical accuracy.
配准(registration)是指同一区域内以不同成像手段所获得的不同图像图形的空间坐标的匹配，常见于手术导航，手术机器人等，是保证定位精度的最重要环节。当前的配准环节主要由皮肤表面的标记点或者嵌入颅骨的骨钉来实现，皮肤表面的标记点在皮肤受到外力发生褶皱时比较容易发生漂移，而嵌入颅骨的骨钉容易会带来额外的痛苦。如何能够无痛精准的进行配准是急需解决的问题。Registration refers to the matching of spatial coordinates of different image graphics obtained by different imaging methods in the same area. It is common in surgical navigation, surgical robots, etc., and is the most important link to ensure positioning accuracy. The current registration process is mainly achieved by marking points on the skin surface or bone nails embedded in the skull. Marking points on the skin surface are more likely to drift when the skin is wrinkled by external forces, and bone nails embedded in the skull are likely to cause additional problems. pain. How to perform registration painlessly and accurately is an urgent problem that needs to be solved.
发明内容Contents of the invention
为解决或改善以上现有问题，本发明设计了一种配准辅助装置，包含：In order to solve or improve the above existing problems, the present invention designs a registration auxiliary device, which includes:
第一标定部件，其含有两个标定面，每个标定面上具有至少一个标记结构；A first calibration component containing two calibration surfaces, each calibration surface having at least one marking structure;
第二标定部件，其含有一个标定面，该标定面上具有至少一个标记结构；a second calibration component, which contains a calibration surface with at least one marking structure;
第三标定部件，其含一个标定面，该标定面上具有至少一个标记结构；The third calibration component includes a calibration surface with at least one marking structure;
转接托环，其含有基准构件、锚定通孔、定位孔和拤紧结构；Adapter support ring, which contains reference components, anchoring through holes, positioning holes and tightening structures;
第一标定部件、第二标定部件和第三标定部件各自具有锚定结构，锚定结构借助锚定螺栓经锚定通孔与转接托环可拆卸的连接，标记结构用于配合手术导航或者手术机器人配准探针。The first calibration component, the second calibration component and the third calibration component each have an anchoring structure. The anchoring structure is detachably connected to the adapter ring through the anchoring through hole by an anchor bolt. The marking structure is used to cooperate with surgical navigation or Surgical robot registration probe.
本发明的配准辅助装置中，标定面是指在三维空间中一个维度上的大致方向，而不必在一个平面上，例如标定面可以是平面、弧面、以及大致平行但具有一定高度差的两个平面组合而成。In the registration auxiliary device of the present invention, the calibration surface refers to the general direction in one dimension in three-dimensional space, and does not have to be on a plane. For example, the calibration surface can be a flat surface, an arc surface, or a surface that is roughly parallel but has a certain height difference. It is composed of two planes.
在一个实施方案中，前述配准辅助装置的标记结构能够在医学成像中清晰显示其轮廓；医学成像可以是各种现有技术，例如计算机断层扫描成像(CT)或磁共振成像(MRI)。In one embodiment, the marking structure of the aforementioned registration auxiliary device can clearly display its outline in medical imaging; the medical imaging can be various existing technologies, such as computed tomography (CT) or magnetic resonance imaging (MRI).
本发明的配准辅助装置中，前述标定面上具有至少一个标记结构可以包括多种情况，每个标定面上标记结构数量可以相同也可以不同；例如每个标定面具有至少三个或具有三个标记结构。In the registration auxiliary device of the present invention, the aforementioned calibration surface may have at least one marking structure in various situations. The number of marking structures on each calibration surface may be the same or different; for example, each calibration surface may have at least three or three marking structures. tag structure.
本发明的配准辅助装置中，标记结构具有可指示空间位置的印记，用于匹配手术导航或者手术机器人配准探针。在一个实施方案中，印记为圆形凹陷或球坑；在另一个实施方案中，印记为十字星凹槽。In the registration auxiliary device of the present invention, the marking structure has a mark that can indicate the spatial position, and is used for matching surgical navigation or surgical robot registration probes. In one embodiment, the markings are circular depressions or ball pits; in another embodiment, the markings are cross-star grooves.
进一步地，标记结构的形状对实现本发明没有影响，可以是任意形状，只要印记能够在医学成像和目视事业中被观测到即可，为了制造方便，其可以具有相同且形状规则的横截面；例如，标记结构为圆柱体，印记位于中心位置。Further, the shape of the marking structure has no impact on the implementation of the present invention and can be any shape, as long as the mark can be observed in medical imaging and visual field. For the convenience of manufacturing, it can have the same and regular cross-section. ;For example, the mark structure is a cylinder with the imprint in the center.
本发明的配准辅助装置中，转接托环通过拤紧结构与患者相对位置固定的刚性结构连接；转接托环给第一标定部件，第二标定部件，第三标定部件提供了可以作为统一基准的刚性平面；定位销确保了转接托环相对于刚性连接的位置。In the registration auxiliary device of the present invention, the transfer support ring is connected to a rigid structure that fixes the relative position of the patient through a tightening structure; the transfer support ring provides the first calibration component, the second calibration component, and the third calibration component with a function that can be used as A uniformly referenced rigid plane; locating pins secure the adapter ring's position relative to the rigid connection.
本发明的配准辅助装置中，刚性结构连接为头架，头架可以为市售的商业头架，例如Leksell头架。In the registration auxiliary device of the present invention, the rigid structure is connected as a head frame, and the head frame can be a commercially available head frame, such as a Leksell head frame.
附图说明Description of the drawings
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly explain the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description The drawings illustrate some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.
图1为本发明的配准辅助装置与头架连接状态的示意图；Figure 1 is a schematic diagram of the connection state between the registration auxiliary device and the head frame of the present invention;
图2为本发明的配准辅助装置的主体结构示意图，未示出拤紧结构440；Figure 2 is a schematic diagram of the main structure of the registration auxiliary device of the present invention, and the tightening structure 440 is not shown;
图3为配准辅助装置的第一标定部件100的等轴测图；Figure 3 is an isometric view of the first calibration component 100 of the registration aid;
图4为第一标定部件100的标记结构111的局部放大图；Figure 4 is a partial enlarged view of the marking structure 111 of the first calibration component 100;
图5为第一标定部件100的标记结构112的局部放大图；Figure 5 is a partial enlarged view of the marking structure 112 of the first calibration component 100;
图6为第一标定部件100的标记结构113的局部放大图；Figure 6 is a partial enlarged view of the marking structure 113 of the first calibration component 100;
图7为第一标定部件100的标记结构121的局部放大图；Figure 7 is a partial enlarged view of the marking structure 121 of the first calibration component 100;
图8为第一标定部件100的标记结构122的局部放大图；Figure 8 is a partial enlarged view of the marking structure 122 of the first calibration component 100;
图9为第一标定部件100的标记结构123的局部放大图；Figure 9 is a partial enlarged view of the marking structure 123 of the first calibration component 100;
图10为配准辅助装置的第一标定部件100的前视图；Figure 10 is a front view of the first calibration component 100 of the registration auxiliary device;
图11为配准辅助装置的第一标定部件100的右视图；Figure 11 is a right view of the first calibration component 100 of the registration auxiliary device;
图12为配准辅助装置的第一标定部件100的左视图；Figure 12 is a left view of the first calibration component 100 of the registration auxiliary device;
图13为配准辅助装置的第一标定部件100的下视图；Figure 13 is a bottom view of the first calibration component 100 of the registration auxiliary device;
图14为配准辅助装置的第一标定部件100的上视图；Figure 14 is a top view of the first calibration component 100 of the registration auxiliary device;
图15为配准辅助装置的第一标定部件100的后视图；Figure 15 is a rear view of the first calibration component 100 of the registration auxiliary device;
图16为配准辅助装置的第二标定部件200的等轴测图；Figure 16 is an isometric view of the second calibration component 200 of the registration aid;
图17为配准辅助装置的第二标定部件200的前视图；Figure 17 is a front view of the second calibration component 200 of the registration auxiliary device;
图18为配准辅助装置的第二标定部件200的右视图；Figure 18 is a right view of the second calibration component 200 of the registration auxiliary device;
图19为配准辅助装置的第二标定部件200的左视图；Figure 19 is a left view of the second calibration component 200 of the registration auxiliary device;
图20为配准辅助装置的第二标定部件200的上视图；Figure 20 is a top view of the second calibration component 200 of the registration auxiliary device;
图21为配准辅助装置的第二标定部件200的下视图；Figure 21 is a bottom view of the second calibration component 200 of the registration auxiliary device;
图22为配准辅助装置的第二标定部件200的后视图；Figure 22 is a rear view of the second calibration component 200 of the registration auxiliary device;
图23为配准辅助装置的第三标定部件300的等轴测图；Figure 23 is an isometric view of the third calibration component 300 of the registration aid;
图24为配准辅助装置的第三标定部件300的前视图；Figure 24 is a front view of the third calibration component 300 of the registration auxiliary device;
图25为配准辅助装置的第三标定部件300的右视图；Figure 25 is a right view of the third calibration component 300 of the registration auxiliary device;
图26为配准辅助装置的第三标定部件300的左视图；Figure 26 is a left view of the third calibration component 300 of the registration auxiliary device;
图27为配准辅助装置的第三标定部件300的上视图；Figure 27 is a top view of the third calibration component 300 of the registration auxiliary device;
图28为配准辅助装置的第三标定部件300的下视图；Figure 28 is a bottom view of the third calibration component 300 of the registration auxiliary device;
图29为配准辅助装置的第三标定部件300的后视图；Figure 29 is a rear view of the third calibration component 300 of the registration auxiliary device;
图30为配准辅助装置的转接托环400(除了拤紧结构440之外的部分)的等轴测图；Figure 30 is an isometric view of the adapter support ring 400 of the registration assist device (parts other than the tightening structure 440);
图31为配准辅助装置的转接托环400(除了拤紧结构440之外的部分)的上视图；Figure 31 is a top view of the adapter support ring 400 of the registration auxiliary device (the part except the tightening structure 440);
图32为配准辅助装置的转接托环400的拤紧结构440的示意图；Figure 32 is a schematic diagram of the tightening structure 440 of the adapter ring 400 of the registration auxiliary device;
附图标记：第一标定部件100，标定面110、120，标记结构111、112、113、121、122、123，连接结构130，螺栓132，定位销131，第二标定部件200，标定面210，标记结构211、212、213，连接结构220，螺栓222，定位销221，第三标定部件300，标定面310，标记结构311、312、313，连接结构320，螺栓322，定位销321，转接托环400，定位孔411、421、431，锚定通孔412、422、432，拤紧结构440，拤紧件441，螺栓442，拤紧帽443。Reference signs: first calibration component 100, calibration surfaces 110, 120, marking structures 111, 112, 113, 121, 122, 123, connecting structure 130, bolts 132, positioning pins 131, second calibration component 200, calibration surface 210 , marking structure 211, 212, 213, connecting structure 220, bolt 222, positioning pin 221, third calibration component 300, calibration surface 310, marking structure 311, 312, 313, connecting structure 320, bolt 322, positioning pin 321, turn Supporting ring 400, positioning holes 411, 421, 431, anchoring through holes 412, 422, 432, tightening structure 440, tightening parts 441, bolts 442, and tightening caps 443.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, 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 in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.
为便于对本实施例进行理解，首先对本发明所公开的配准辅助装置进行详细介绍。In order to facilitate understanding of this embodiment, the registration auxiliary device disclosed in the present invention is first introduced in detail.
参照图1，其示出了本发明的配准辅助装置的一个具体实例，包括第一标定部件100，第二标定部件200，第三标定部件300，转接托环400，拤紧结构440，并且处于和头架连接的状态。Referring to Figure 1, it shows a specific example of the registration auxiliary device of the present invention, including a first calibration component 100, a second calibration component 200, a third calibration component 300, an adapter ring 400, and a tightening structure 440. And it is connected to the head frame.
图2是图1中所示配准辅助装置的结构示意图，方便起见，省略了拤紧结构440，拤紧结构440在图32中进行详细描述。FIG. 2 is a schematic structural diagram of the registration auxiliary device shown in FIG. 1 . For convenience, the tightening structure 440 is omitted. The tightening structure 440 is described in detail in FIG. 32 .
本发明中对于标定部件的第一、第二、第三的限定仅仅用于区分部件的不同，而不代表任何顺序，可以交换使用而没有实质影响。The definitions of first, second, and third for the calibration components in the present invention are only used to distinguish between different components, and do not represent any order, and can be used interchangeably without substantial impact.
参照图3至15，对标定部件100进行了详细的描述，其包括第一标定面110，第二标定面120，连接结构130；第一标定面110上有标记结构111、112、113；第二标定面120上有标记结构121、122、123；连接结构130包含定位销131和用于锚定的螺栓132，定位销131用于与转接托环400进行对准，螺栓132用于固定。Referring to Figures 3 to 15, the calibration component 100 is described in detail, which includes a first calibration surface 110, a second calibration surface 120, and a connecting structure 130; the first calibration surface 110 has marking structures 111, 112, and 113; There are marking structures 121, 122, and 123 on the two calibration surfaces 120; the connecting structure 130 includes positioning pins 131 and bolts 132 for anchoring. The positioning pins 131 are used to align with the adapter ring 400, and the bolts 132 are used for fixation. .
标记结构可以选择为圆柱体，标记结构111、112、113、121、122、123在外表面上具有可指示空间位置的印记，用于匹配配准探针。印记可以为多种方案，例如圆形凹陷、十字星凹槽等。标定部件100的第一标定面110、第二标定面120在此实例中为平面，但是在其他实例中可以使用具有一定弧度的面，或者高度相差不大的不同的平面拼接。The marking structure can be selected as a cylinder, and the marking structures 111, 112, 113, 121, 122, 123 have marks on the outer surface that can indicate the spatial position for matching the registration probe. Imprints can be in various designs, such as circular depressions, cross-star grooves, etc. The first calibration surface 110 and the second calibration surface 120 of the calibration component 100 are flat surfaces in this example, but in other examples, surfaces with a certain arc can be used, or different flat surfaces with little difference in height can be spliced together.
参照图16至22，对第二标定部件200的一个实例进行详细描述，第二标定部件200含有标定面210，连接结构220，标定面210上有标记结构211、212、213，连接结构220包含定位销221和用于锚定的螺栓222，定位销221用于与转接托环400进行对准，螺栓222用于固定。Referring to Figures 16 to 22, an example of the second calibration component 200 is described in detail. The second calibration component 200 includes a calibration surface 210 and a connecting structure 220. The calibration surface 210 has marking structures 211, 212, 213, and the connecting structure 220 includes The positioning pin 221 and the bolt 222 are used for anchoring. The positioning pin 221 is used for aligning with the adapter ring 400 and the bolt 222 is used for fixing.
参照图23至29，对第三标定部件300的一个实例进行详细描述，第三标定部件300含有标定面310，连接结构320，标定面310上有标记结构311、312、313，连接结构320包含定位销321和用于锚定的螺栓322，定位销321用于与转接托环400进行对准，螺栓322用于固定。Referring to Figures 23 to 29, an example of the third calibration component 300 is described in detail. The third calibration component 300 includes a calibration surface 310 and a connecting structure 320. The calibration surface 310 has marking structures 311, 312, 313, and the connecting structure 320 includes Positioning pins 321 and bolts 322 for anchoring. The positioning pins 321 are used for aligning with the adapter ring 400 and the bolts 322 are used for fixing.
参照图30至32，对转接托环400的一个实例进行详细描述。Referring to Figures 30 to 32, an example of the adapter ring 400 is described in detail.
图30示出了配准辅助装置的转接托环400(除了拤紧结构440之外的部分)的等轴测图；图31为配准辅助装置的转接托环400(除了拤紧结构440之外的部分)的上视图，示出了转接托环400有定位孔411、421和431，固定孔412、422和432，定位孔411连接定位销131，定位孔421连接定位销221，定位孔431连接定位销321，锚定通孔412连接螺栓132，锚定通孔422连接螺栓222，锚定通孔连接螺栓322。Figure 30 shows an isometric view of the adapter ring 400 of the registration aid (except for the tightening structure 440); Figure 31 shows the adapter ring 400 of the registration aid (except for the tightening structure). 440), showing that the adapter support ring 400 has positioning holes 411, 421 and 431, fixing holes 412, 422 and 432, the positioning hole 411 is connected to the positioning pin 131, the positioning hole 421 is connected to the positioning pin 221 , the positioning hole 431 is connected to the positioning pin 321, the anchoring through hole 412 is connected to the bolt 132, the anchoring through hole 422 is connected to the bolt 222, and the anchoring through hole is connected to the bolt 322.
图32示出了转接托环400的拤紧结构440的示意图，示出了拤紧件441，螺栓442，拤紧帽443；通过拤紧件441构成了转接托环400主体的连接，在未使用状态下，螺栓442处于松弛状态，拤紧帽443与拤紧件441之间的距离大于刚性结构(头架)的高度，使用时，将头架的一部分放置在拤紧帽443和拤紧件441之间，拧紧螺栓442，从完成转接托环400与头架的连接固定，连接后的实例参见图1。Figure 32 shows a schematic diagram of the tightening structure 440 of the adapter support ring 400, showing the tightening parts 441, bolts 442, and tightening caps 443; the connection of the main body of the adapter support ring 400 is formed by the tightening parts 441. In the unused state, the bolt 442 is in a loose state, and the distance between the tightening cap 443 and the tightening piece 441 is greater than the height of the rigid structure (head frame). When in use, a part of the head frame is placed between the tightening cap 443 and the tightening piece 441. Tighten the bolts 442 between the fasteners 441 to complete the connection and fixation between the adapter ring 400 and the head frame. See Figure 1 for an example after the connection.
另外，在本发明实施例的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In addition, in the description of the embodiments of the present invention, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
最后应说明的是：以上所述实施例，仅为本发明的具体实施方式，用以说明本发明的技术方案，而非对其限制，本发明的保护范围并不局限于此，尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的精神和范围，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应所述以权利要求的保护范围为准。Finally, it should be noted that the above-mentioned embodiments are only specific implementations of the present invention and are used to illustrate the technical solutions of the present invention rather than to limit them. The protection scope of the present invention is not limited thereto. Although refer to the foregoing The embodiments illustrate the present invention in detail. Those of ordinary skill in the art should understand that any person familiar with the technical field can still modify the technical solutions recorded in the foregoing embodiments within the technical scope disclosed by the present invention. It may be easy to think of changes, or equivalent substitutions of some of the technical features; and these modifications, changes or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and they should all be included in the present invention. within the scope of protection. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
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| WO2019098742A2 (en) * | 2017-11-17 | 2019-05-23 | 주식회사 고영테크놀러지 | Stereotactic device, stereotactic system, and registration method using stereotactic system |
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