CN113425409A - Round shaft-shaped tool adapter in optical surgical navigation system and calibration and method thereof - Google Patents
Round shaft-shaped tool adapter in optical surgical navigation system and calibration and method thereof Download PDFInfo
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- CN113425409A CN113425409A CN202110542316.3A CN202110542316A CN113425409A CN 113425409 A CN113425409 A CN 113425409A CN 202110542316 A CN202110542316 A CN 202110542316A CN 113425409 A CN113425409 A CN 113425409A
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- 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
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- 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
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Abstract
The invention discloses a circular shaft-shaped tool adapter in an optical surgery navigation system, which comprises a plurality of adapting arms, an adapting movable ring and an adapting fixed ring, wherein the adapting movable ring and the adapting fixed ring are coaxially arranged, the adapting movable ring is arranged on the inner wall of the adapting fixed ring through an elastic part, the adapting movable ring rotates in the adapting fixed ring, two corners of one end of each adapting arm are respectively connected with the adapting movable ring and the adapting fixed ring through a pin shaft, the other ends of the adapting arms rotate inwards to clamp the circular shaft-shaped tool when the adapting movable ring rotates to a closed state, the axes of the adapting movable ring and the adapting fixed ring are superposed with the axis of the circular shaft-shaped tool, and the other ends of the adapting arms rotate outwards to take out the circular shaft-shaped tool when the adapting movable ring rotates to an open state. Through the mode, the clamping device is simple in structure and reasonable in design, and is suitable for clamping circular shaft-shaped tools with different diameters.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a round shaft-shaped tool adapter and calibration thereof, and particularly relates to a round shaft-shaped tool adapter in an optical surgical navigation system and calibration and a method thereof.
Background
The operation navigation system is a computer-aided system which registers the image data of a patient with the operation area entity of the patient, thereby displaying the position of the surgical instrument on the image and achieving the purposes of assisting the operation of a doctor and judging the progress condition of the operation.
The conventional surgical navigation system is generally divided into the following parts as shown in fig. 1: 1. a computer; 2. a display; 3. an optical position finder; 4. a round shaft-like tool adapter; 5. and a reference frame. CT or MRI scanning data of a patient are obtained before an operation, processed, three-dimensionally reconstructed and tissue models are extracted to obtain a model structure of an affected part of the patient. This part of the work is performed by the computer 1 in fig. 1.
The operation navigation system determines the position of the reference frame through the optical positioning system 3 and the infrared ray reflective ball on the reference frame 5, and registers the position with the graphic information and the tissue space information in the patient image. And the navigation tool is tracked in real time, and the positioning information of the operation tool and the corresponding image information are fused during the operation and are displayed on the display 2 to assist the operation of a doctor.
The existing surgical navigation system has the bit method that: binocular recognition optical positioning method. Its positioning accuracy is high. And the center of the infrared reflecting ball is identified by adopting the locator, and then the space position of the target is reconstructed by applying a binocular identification principle.
The optical positioning realization principle of the surgical navigation system is as follows: the position sensor on the locator obtains the position of the infrared ray reflection ball through an exposure mode, calculates to obtain the central point of the infrared ray reflection ball, and determines the space position according to the binocular. The system records the positions of the infrared ray reflecting balls one by one, thereby calculating and fixing the position and the direction of the combined tool such as the round shaft-shaped tool adapter 4, the central point of the reference frame 5 and the like, wherein the mutual position relations of the three infrared ray reflecting balls of the round shaft-shaped tool adapter 4 and the reference frame 5 are inconsistent, so as to distinguish different tools.
During the operation, a circular shaft-shaped operation tool is usually used, for example, patent CN213075906U, and during the calibration process of such operation tool, a dedicated calibration module is usually used, which results in:
1) for calibrating the axis of the tool, it is necessary to provide a calibration module dedicated to calibrating the axis.
2) The calibration module tool, such as patent CN306013741S, has a complicated structure, which increases the processing difficulty.
3) In the use process, a circular shaft-shaped tool calibration mode is added, so that the calibration process is complicated.
4) The operation of the surgical tool in the operation of the doctor is increased, and the complexity of the calibration process is increased aiming at different diameters.
Disclosure of Invention
The invention aims to provide a circular shaft-shaped tool adapter in an optical surgical navigation system, calibration and a method thereof, which have the advantages of simple structure and reasonable design and are suitable for clamping circular shaft-shaped tools with different diameters.
In order to solve the technical problems, the invention adopts a technical scheme that: the utility model provides a circle shaft form instrument adapter among optical surgery navigation, including adaptation rotating ring and the adaptation fixed ring that a plurality of adaptation arms, coaxial line set up, the adaptation rotating ring passes through the elastic component and installs in the inner wall of adaptation fixed ring, the adaptation rotating ring is at adaptation fixed ring internal rotation, the both corners department of adaptation arm one end is connected with adaptation rotating ring and adaptation fixed ring respectively through the round pin axle, the other end internal rotation of a plurality of adaptation arms when the adaptation rotating ring is rotatory to the closure state holds circle shaft form instrument, the axis of adaptation rotating ring, adaptation fixed ring coincides with the axis of circle shaft form instrument, the other end external rotation of a plurality of adaptation arms takes out circle shaft form instrument when the adaptation rotating ring is rotatory to the state of opening.
Furthermore, a limit groove is formed in the ring wall of the adaptive fixed ring, a handle is respectively installed on the adaptive movable ring and the adaptive fixed ring, and the handle of the adaptive movable ring is arranged in the limit groove.
Further, the elastic part is a torsion spring, a spring or a tension spring.
Further, an adaptive buffer is fixedly mounted at the other end of the adaptive arm.
Further, the adaptive bumper is made of a hard plastic part.
Further, the inner wall of the adaptation rotating ring is provided with an avoiding groove, and the adaptation buffer is positioned in the avoiding groove when the adaptation rotating ring rotates to the opening state.
Further, the adaptation arm is by the arc of wide attenuate, the both ends of the wide portion of adaptation arm are connected with adaptation rotating ring, adaptation stationary ring through the round pin axle respectively, the thin portion fixed mounting of adaptation arm has the adaptation buffer, when the adaptation rotating ring rotates to the open mode, the centre of a circle of the pitch arc of the lateral wall of a plurality of adaptation arms is the same and is the same with the axis of adaptation rotating ring, adaptation stationary ring simultaneously.
A calibration module of a round shaft-shaped tool in an optical surgery navigation system comprises a reference frame, an infrared ray reflecting ball array, an adapter and the round shaft-shaped tool, wherein the infrared ray reflecting ball is in rigid connection with the reference frame, the reference frame is in rigid connection with the adapter, and the adapter is the adapter.
Further, the diameter of the round shaft-shaped tool is 1.5mm to 6 mm.
A calibration method for a round shaft-shaped tool in an optical surgical navigation system comprises the following steps:
s1, under the condition that an adapter is set to be in an open state, a round shaft-shaped tool is inserted into a middle opening of the adapter and goes deep into a proper position, fingers are loosened, and the round shaft-shaped tool is clamped and fixed through the self spring force of the adapter;
s2, determining the vertex of the round shaft-shaped tool, namely the tip of the round shaft-shaped tool in the deep direction, determining the axis direction of the round shaft-shaped tool, and enabling the point to reach the position of the calibration point of the reference frame, wherein the vertex is realized based on the position of the calibration point of the reference frame, the axis is realized by the axis position and the axis direction of an adapter of the round shaft-shaped tool and is superposed with the calibration point of the reference frame, the calibration point of the reference frame is defined by the mechanical design of the reference frame and is usually a small pit, and the lowest point of the pit is the calibration point.
The round shaft-shaped tool adapter in the optical operation navigation system and the calibration module thereof have the advantages that:
1) and a calibration module is omitted, so that the cost is directly reduced.
2) The process of calibrating the round shaft-shaped tool is simplified while the positioning precision is ensured.
3) The use efficiency of the reference frame is improved, and the utilization rate of the reference frame is improved in normal use.
4) The operation of a doctor in the calibration process is reduced, and the tool is not required to be calibrated in a special mode of a calibration module.
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, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a prior art schematic diagram of a circular shaft-like tool adapter and its calibration module in an optical surgical navigation system of the present invention;
FIG. 2 is a schematic structural diagram of a circular shaft-shaped tool adapter and its calibration module in the optical surgical navigation system of the present invention;
FIG. 3 is a schematic structural diagram of the adapter of the round shaft-shaped tool adapter and its calibration module in the optical surgical navigation system in a closed state according to the present invention;
FIG. 4 is a structural diagram of the adapter of the round shaft-shaped tool adapter and its calibration module in the optical surgical navigation system according to the present invention in an open state;
FIG. 5 is a perspective view of the adapter of the round shaft-shaped tool adapter and its calibration module in the optical surgical navigation system of the present invention.
1. A computer; 2. a display; 3. an optical position finder; 4. a round shaft-like tool adapter; 5. a reference frame; 6. an adapter arm; 7. adapting the movable ring; 8. adapting the fixed ring; 9. a limiting groove; 10. a handle; 11. adapting a buffer; 12. avoiding the groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in detail below with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the accompanying drawings. The embodiments of the invention shown in the drawings and described in accordance with the drawings are exemplary only, and the invention is not limited to these embodiments.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
Also, in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 2 to 5, an embodiment of the present invention includes: the utility model provides a circle shaft form instrument adapter among optical surgery navigation, includes adaptation rotating ring 7 and adaptation stationary ring 8 that a plurality of adaptation arms 6, coaxial line set up, adaptation rotating ring 7 passes through the elastic component and installs in the inner wall of adaptation stationary ring 8, adaptation rotating ring 7 is at 8 internal rotations of adaptation stationary ring, the both corners department of 6 one end of adaptation arm is connected with adaptation rotating ring 7 and adaptation stationary ring 8 respectively through the round pin axle, the other end internal rotation of a plurality of adaptation arms 6 when 7 rotatory to the closure state of adaptation rotating ring is lived the centre gripping of circle shaft form instrument, the axis coincidence of adaptation rotating ring 7, adaptation stationary ring 8 and circle shaft form instrument, the other end external rotation of a plurality of adaptation arms 6 when 7 rotatory to the opening state of adaptation rotating ring takes out circle shaft form instrument.
Furthermore, a limit groove 9 is arranged on the ring wall of the adaptation fixed ring 8, a handle 10 is respectively arranged on the adaptation movable ring 7 and the adaptation fixed ring 8, and the handle 10 of the adaptation movable ring 7 is arranged in the limit groove 9.
Further, the elastic part is a torsion spring, a spring or a tension spring.
Further, an adaptive buffer 11 is fixedly mounted at the other end of the adaptive arm 6.
Further, the adaptive bumper 11 is made of a hard plastic material.
Further, the inner wall of the adapting movable ring 7 is provided with an avoiding groove 12, and the adapting buffer 11 is positioned in the avoiding groove 12 when the adapting movable ring 7 rotates to the opening state.
Further, the adaptation arm 6 is an arc plate with a wide thinning, two ends of a wide part of the adaptation arm 6 are respectively connected with the adaptation movable ring 7 and the adaptation fixed ring 8 through pin shafts, an adaptation buffer 11 is fixedly installed on the thin part of the adaptation arm 6, and when the adaptation movable ring 7 rotates to an opening state, the circle centers of arcs of the side walls of the multiple adaptation arms 6 are the same and are the same as the axes of the adaptation movable ring 7 and the adaptation fixed ring 8.
A calibration module of a round shaft-shaped tool in an optical surgery navigation system comprises a reference frame, an infrared ray reflecting ball array, an adapter and the round shaft-shaped tool, wherein the infrared ray reflecting ball is in rigid connection with the reference frame, the reference frame is in rigid connection with the adapter, and the adapter is the adapter. Still further, the infrared reflective ball array is typically an array of 3-4 infrared reflective balls.
Further, the diameter of the round shaft-shaped tool is 1.5mm to 6 mm.
Further, the round shaft-shaped surgical tool may be a puncture needle, a biopsy needle, or the like.
A calibration method for a round shaft-shaped tool in an optical surgical navigation system comprises the following steps:
s1, under the condition that an adapter is set to be in an open state, a round shaft-shaped tool is inserted into a middle opening of the adapter and goes deep into a proper position, fingers are loosened, and the round shaft-shaped tool is clamped and fixed through the self spring force of the adapter;
s2, determining the vertex of the round shaft-shaped tool, namely the tip of the round shaft-shaped tool in the deep direction, determining the axis direction of the round shaft-shaped tool, and enabling the vertex to be located at the calibration point of the reference frame, wherein the vertex is realized based on the calibration point of the reference frame, and the axis is realized by the axis position and the axis direction of an adapter of the round shaft-shaped tool and is superposed with the calibration point of the reference frame.
Further, the index point of the reference frame is defined by the mechanical design of the reference frame, and is usually designed as a small pit, and the lowest point of the pit is usually called index point, zero point or origin, and usually the origin (0,0,0) coordinate position of the reference frame is also the position.
The round shaft-shaped tool adapter in the optical operation navigation system and the calibration module thereof have the advantages that:
1) and a calibration module is omitted, so that the cost is directly reduced.
2) The process of calibrating the round shaft-shaped tool is simplified while the positioning precision is ensured.
3) The use efficiency of the reference frame is improved, and the utilization rate of the reference frame is improved in normal use.
4) The operation of a doctor in the calibration process is reduced, and the tool is not required to be calibrated in a special mode of a calibration module.
Furthermore, it should be noted that in the present specification, "include" or any other variation thereof is intended to cover a non-exclusive inclusion, so that a process, a method, an article or an apparatus including a series of elements includes not only those elements but also other elements not explicitly listed, or further includes elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should take the description as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a circle shaft form instrument adapter among optical surgery navigation, its characterized in that includes adaptation rotating ring and the adaptation fixed ring of a plurality of adaptation arms, coaxial line setting, the adaptation rotating ring passes through the elastic component and installs in the inner wall of adaptation fixed ring, the adaptation rotating ring is at adaptation fixed ring internal rotation, the both corners department of adaptation arm one end is connected with adaptation rotating ring and adaptation fixed ring respectively through the round pin axle, the other end internal rotation of a plurality of adaptation arms when the adaptation rotating ring is rotatory to the closure state and the elasticity through the elastic component is fixed with circle shaft form instrument chucking, the axis of adaptation rotating ring, adaptation fixed ring coincides with the axis of circle shaft form instrument, the other end external rotation of a plurality of adaptation arms takes out circle shaft form instrument when the adaptation rotating ring is rotatory to the opening state.
2. The round shaft-like tool adaptor in optical surgical navigation system according to claim 1, wherein: the adapter is characterized in that a limiting groove is formed in the ring wall of the adapter fixed ring, a handle is respectively installed on the adapter movable ring and the adapter fixed ring, and the handle of the adapter movable ring is arranged in the limiting groove.
3. The round shaft-like tool adaptor in optical surgical navigation system according to claim 1, wherein: the elastic part is a torsion spring, a spring or a tension spring.
4. The round shaft-like tool adaptor in optical surgical navigation system according to claim 1, wherein: and the other end of the adapting arm is fixedly provided with an adapting buffer.
5. The round shaft-like tool adaptor in optical surgical navigation system according to claim 4, wherein: the adaptive bumper is made of a harder plastic piece.
6. The round shaft-like tool adaptor in optical surgical navigation system according to claim 1, wherein: the inner wall of adaptation rotating ring is equipped with dodges the groove, adaptation buffer is located dodges the inslot when the adaptation rotating ring is rotatory to the open mode.
7. The round shaft-like tool adaptor in optical surgical navigation system according to claim 1, wherein: the adapter arm is an arc-shaped plate with a thinned width, two ends of the wide portion of the adapter arm are respectively connected with the adapter moving ring and the adapter fixed ring through pin shafts, an adapter buffer is fixedly mounted on the thin portion of the adapter arm, and when the adapter moving ring rotates to an opening state, the circle centers of arcs of side walls of the multiple adapter arms are the same and are the same as the axes of the adapter moving ring and the adapter fixed ring.
8. A circular shaft-shaped tool calibration in an optical surgery navigation system is characterized by comprising a reference frame, an infrared ray reflective ball array, an adapter and a circular shaft-shaped tool, wherein the infrared ray reflective ball array is in rigid connection with the reference frame, the reference frame is in rigid connection with the adapter, and the adapter is the adapter disclosed in the claims 1 to 7.
9. The optical surgical navigation system of claim 8, wherein the circular shaft-shaped tool calibration is performed by: the diameter of the round shaft-shaped tool is 1.5mm to 6 mm.
10. A calibration method of a round shaft-shaped tool in an optical surgery navigation system is characterized in that: the calibration method comprises the following steps:
s1, under the condition that an adapter is set to be in an open state, a round shaft-shaped tool is inserted into a middle opening of the adapter and goes deep into a proper position, fingers are loosened, and the round shaft-shaped tool is clamped and fixed through the self spring force of the adapter;
s2, determining the vertex of the round shaft-shaped tool, namely the tip of the round shaft-shaped tool in the deep direction, determining the axis direction of the round shaft-shaped tool, enabling the point to reach the position of a calibration point of the reference frame, wherein the vertex of the round shaft-shaped tool is realized based on the position of the calibration point of the reference frame, the axis is realized by the axis position and the axis direction of an adapter of the round shaft-shaped tool and is superposed with the calibration point of the reference frame, the calibration point of the reference frame is defined by the mechanical design of the reference frame and is usually a small pit, and the lowest point of the pit is the calibration point.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110542316.3A CN113425409A (en) | 2021-05-18 | 2021-05-18 | Round shaft-shaped tool adapter in optical surgical navigation system and calibration and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110542316.3A CN113425409A (en) | 2021-05-18 | 2021-05-18 | Round shaft-shaped tool adapter in optical surgical navigation system and calibration and method thereof |
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| US20200281659A1 (en) * | 2016-12-22 | 2020-09-10 | Synaptive Medical (Barbados) Inc. | Calibration apparatus and methods for calibrating a medical instrument |
| CN213075906U (en) * | 2020-04-14 | 2021-04-30 | 上海优医基医疗器械有限公司 | Adapter clamp and adapter for optical surgery navigation |
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| US6306126B1 (en) * | 1998-09-18 | 2001-10-23 | Stryker Leibinger Gmbh & Co Kg | Calibrating device |
| CN2502823Y (en) * | 2001-10-31 | 2002-07-31 | 林涛 | Electric drilling machine |
| US20040054489A1 (en) * | 2002-09-18 | 2004-03-18 | Moctezuma De La Barrera Jose Luis | Method and system for calibrating a surgical tool and adapter therefor |
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| CN101099673A (en) * | 2007-08-09 | 2008-01-09 | 上海交通大学 | Surgical instrument positioning method using infrared reflecting ball as symbolic point |
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