CN114587594B - Put formula operation positioner - Google Patents
Put formula operation positioner Download PDFInfo
- Publication number
- CN114587594B CN114587594B CN202210490277.1A CN202210490277A CN114587594B CN 114587594 B CN114587594 B CN 114587594B CN 202210490277 A CN202210490277 A CN 202210490277A CN 114587594 B CN114587594 B CN 114587594B
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- Prior art keywords
- positioning
- panel
- inclined plane
- bracket
- metal
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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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
-
- 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
- A61B2034/2065—Tracking using image or pattern recognition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3966—Radiopaque markers visible in an X-ray image
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
Abstract
The invention discloses a placing type operation positioning device, and relates to the field of medical appliances. The technical scheme is characterized by comprising a positioning panel and a positioning bracket connected with the positioning panel, wherein the positioning bracket is matched with the positioning panel to support the device; all be provided with the metalwork on locating panel and the locating support, just metalwork on the locating panel and the metalwork cooperation on the locating support can form three-dimensional coordinate in the X-ray image. The invention can directly acquire three-dimensional information, is directly placed on the body surface of a patient, does not cause secondary damage, does not need an additional mounting bracket, reduces the error collision of a doctor and is beneficial to improving the positioning precision.
Description
Technical Field
The invention relates to the field of medical appliances, in particular to a placing type operation positioning device.
Background
In an orthopedic robot surgery, a positioning ruler (also called as a tracer, a marker, a positioning plate, etc.) is an important positioning device for spatial positioning, and the positioning accuracy of a mechanical arm is directly influenced. The existing positioning ruler is basically designed in two forms, one is arranged on the skeleton of a human body to facilitate positioning in an operation, and the other is arranged on a frame outside the human body, so that secondary damage to the human body cannot be caused.
The prior chinese patent with publication number CN206026446U discloses a surgical positioning device, which comprises a first positioning plate and a second positioning plate perpendicular to each other, wherein a plurality of metal parts are respectively embedded in the base bodies of the first positioning plate and the second positioning plate, and at least three icons which are not on a straight line are respectively printed on the base bodies of the first positioning plate and the second positioning plate.
However, the surgical positioning device in the above patent has the following problems: (1) the identification points on the first positioning plate or the second positioning plate are planar in the X-ray image, lack third-dimensional information, are not beneficial to acquiring spatial information and influence positioning accuracy; (2) need install the locating support at the operation table limit, perhaps fix the locating support on the patient, and the locating support is easily bumped by the doctor mistake, influences the operation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the placing type operation positioning device which can directly acquire three-dimensional information, is directly placed on the body surface of a patient, cannot cause secondary damage, does not need an additional mounting bracket, reduces the error collision of a doctor and is beneficial to improving the positioning precision.
In order to achieve the purpose, the invention provides the following technical scheme:
a placing type operation positioning device comprises a positioning panel and a positioning bracket connected with the positioning panel, wherein the positioning bracket and the positioning panel are matched to support the device;
all be provided with the metalwork on locating panel and the locating support, just metalwork on the locating panel and the metalwork cooperation on the locating support can form three-dimensional coordinate in the X-ray image.
Further, a plurality of metal pieces on the positioning panel can form a plane.
Furthermore, four metal pieces are arranged on the positioning panel, and any three metal pieces are not on the same straight line.
Further, two mutually parallel sides of location panel department is provided with first inclined plane and second inclined plane respectively, first inclined plane and second inclined plane all face towards the back of location panel, it is equipped with two to inlay respectively in first inclined plane and the second inclined plane the metalwork.
Furthermore, a third inclined plane serving as a device supporting surface is arranged at the bottom end of the positioning support, the third inclined plane and the first inclined plane are located on the same plane, and one metal piece is embedded in the third inclined plane.
Further, the second inclined surface is perpendicular to the first inclined surface.
Furthermore, the included angle between the front surface of the positioning panel and the third inclined surface is 25-50 degrees.
Furthermore, the front surface of the positioning panel is provided with a visual identifier, and a plane formed by the metal pieces on the positioning panel is parallel to the front surface of the positioning panel.
Furthermore, the positioning panel and the positioning bracket are T-shaped.
Further, the positioning bracket is U-shaped.
Furthermore, an auxiliary positioning connecting structure is arranged on the positioning bracket or the positioning panel.
Further, the auxiliary positioning connecting structure comprises a strap assembly or an adhesive piece.
In conclusion, the invention has the following beneficial effects:
1. the device is directly placed on the body surface of a patient, so that three-dimensional information can be directly obtained, secondary damage is avoided, an additional mounting bracket is not needed, and error touch of a doctor is reduced, so that the positioning precision is improved;
2. the positioning bracket and the positioning panel are matched to support the device, so that the stability of the device after being placed can be effectively ensured, and the positioning precision is favorably improved;
3. the structure is simple, and the transportation and the storage are convenient;
4. the auxiliary positioning connecting structure is favorable for improving the stability of the positioning device.
Drawings
FIG. 1 is a first schematic view of a surgical positioning apparatus according to an embodiment;
FIG. 2 is a second schematic structural view of a placeable surgical positioning apparatus of an embodiment;
FIG. 3 is a cross-sectional view of an embodiment of a placer surgical positioning apparatus;
fig. 4 is a third schematic structural view of the placer-type surgical positioning apparatus in the embodiment.
In the figure: 1. a positioning panel; 11. a first inclined plane; 12. a second inclined plane; 13. a first card slot; 14. a second card slot; 2. positioning the bracket; 21. a third inclined plane; 22. a third card slot; 3. and (6) visual identification.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Example (b):
a put type operation positioning device, referring to fig. 1 to 4, comprises a positioning panel 1 and a positioning bracket 2 connected with the positioning panel 1, wherein the positioning bracket 2 is matched with the positioning panel 1 to support the device; metal parts are arranged on the positioning panel 1 and the positioning bracket 2, and the metal parts on the positioning panel 1 and the positioning bracket 2 are matched in the X-ray image to form a three-dimensional coordinate; the device is directly placed on the body surface of a patient, and three-dimensional information can be directly obtained; secondary damage can not be caused, an additional mounting bracket is not needed, and the error collision of a doctor is reduced, so that the positioning precision is improved; the positioning support 2 and the positioning panel 1 are matched to support the device, so that the stability of the device after being placed can be effectively guaranteed, and the improvement of the positioning precision is facilitated.
Referring to fig. 1 to 4, preferably, a plurality of metal pieces on the positioning panel 1 can form a plane, thereby facilitating the formation of three-dimensional coordinates; in this embodiment, four metal pieces are arranged on the positioning panel 1, and any three metal pieces are not in a straight line; the four metal pieces are adopted to form a plane, which is beneficial to forming a three-dimensional coordinate, thereby improving the positioning precision; specifically, in this embodiment, a first inclined plane 11 and a second inclined plane 12 are respectively disposed at two parallel side edges of the positioning panel 1, the first inclined plane 11 and the second inclined plane 12 both face the back of the positioning panel 1, and two metal pieces are respectively embedded in the first inclined plane 11 and the second inclined plane 12; in the embodiment, the metal piece is a lead ball, the first inclined plane 11 is provided with two first clamping grooves 13 matched with the lead ball, and the second inclined plane 12 is provided with two second clamping grooves 14 matched with the lead ball, so that the stability of the lead ball can be ensured; of course, the metal piece may be a metal bead made of other materials, so as to facilitate imaging in X-ray.
Referring to fig. 1 to 4, in this embodiment, a third inclined surface 21 serving as a device supporting surface is disposed at the bottom end of the positioning bracket 2, the third inclined surface 21 and the first inclined surface 11 are located on the same plane, a metal member is embedded in the third inclined surface 21, and specifically, a third clamping groove 22 matched with a lead ball is formed in the third inclined surface 21; the first inclined plane 11 and the third inclined plane 21 are matched to support the device, so that the stability of the device can be ensured, and the positioning precision is improved; preferably, in this embodiment, the second inclined surface 12 is perpendicular to the first inclined surface 11, which not only facilitates installation of the metal part, but also facilitates improvement of positioning accuracy; of course, in other alternative embodiments, the number and the installation position of the metal members on the positioning panel 1, and the number and the installation position of the metal members on the positioning bracket 2 can be adjusted according to the needs, and are not limited herein.
Referring to fig. 1 to 4, in particular, in the present embodiment, an included angle between the front surface of the positioning panel 1 and the third inclined surface 21 is 25 ° to 50 °, and preferably, the included angle is 30 °, so that the entire device can form a triangular shape, and thus, the structural strength of the device can be ensured; the included angle is 25-50 degrees, which is beneficial to improving the placing stability of the positioning device; of course, in other alternative embodiments, the angle of the included angle may be adjusted as needed, and is not limited herein; specifically, in the embodiment, the positioning bracket 2 is U-shaped, and the positioning bracket 2 is vertically connected to the back of the positioning panel 1, so that the positioning bracket 2 and the positioning panel 1 are T-shaped, and the size of the device can be reduced; in this embodiment, the positioning bracket 2 and the positioning panel 1 are integrally formed, and in other alternative embodiments, the positioning bracket 2 and the positioning panel 1 may also be connected by a fastening member or the like, which is not limited herein.
Referring to fig. 1 to 4, in the present embodiment, an auxiliary positioning connection structure (not shown in the drawings) is disposed on the positioning bracket 2 or the positioning panel 1, and when the positioning device is placed on the patient, the auxiliary positioning connection structure is adopted to improve the stability of the positioning device; the auxiliary positioning connecting structure comprises a binding belt component or an adhesive piece; by adopting the bandage component, the bandage can be bound on the body of a patient or an operating bed after passing through the positioning bracket 2, so that the stability of the positioning device can be improved; the binding belt component can be fastened by nylon fastener tapes or eye-splices, meanwhile, the binding belt component can be arranged on the positioning bracket 2 in a penetrating way or fixed on the positioning bracket 2, the number of the binding belt components can be one or more, and the limitation is not made; by adopting the bonding pieces, the bonding pieces can be respectively arranged on the first inclined surface 11 and the third inclined surface 21, and when the positioning device is placed on a patient, the bonding pieces are contacted with the clothes of the patient or the surgical cloth, so that the stability of the positioning device can be improved; the adhesive piece can be a nylon hook tape or a double-sided adhesive tape, and is not limited herein; of course, in other alternative embodiments, the auxiliary positioning connection structure may also take other structural forms, and is not limited herein.
Referring to fig. 1, in the present embodiment, a visual identifier 3 is disposed on a front surface of a positioning panel 1, and a plane formed by a plurality of metal members on the positioning panel 1 is parallel to the front surface of the positioning panel 1; the visual identifier 3 is used for binocular camera recognition on the mechanical arm so as to establish a mapping relation between a robot coordinate system and a positioning device coordinate system, and lay a foundation for the mechanical arm (with a surgical instrument at the tail end) to position the surgical area of a patient.
Claims (4)
1. The utility model provides a put formula operation positioner which characterized in that: the device comprises a positioning panel and a positioning bracket connected with the positioning panel, wherein the positioning bracket and the positioning panel are matched to support the device;
metal parts are arranged on the positioning panel and the positioning bracket, and the metal parts on the positioning panel and the metal parts on the positioning bracket are matched in the X-ray image to form a three-dimensional coordinate;
the metal pieces on the positioning panel can form a plane;
four metal pieces are arranged on the positioning panel, and any three metal pieces are not on the same straight line;
a first inclined plane and a second inclined plane are respectively arranged at two mutually parallel side edges of the positioning panel, the first inclined plane and the second inclined plane face the back of the positioning panel, two first clamping grooves matched with metal pieces are formed in the first inclined plane, a metal piece is embedded in each first clamping groove, two second clamping grooves matched with the metal pieces are formed in each second inclined plane, and a metal piece is embedded in each second clamping groove;
the second inclined plane is perpendicular to the first inclined plane;
a third inclined plane serving as a device supporting surface is arranged at the bottom end of the positioning support, the third inclined plane and the first inclined plane are located on the same plane, a third clamping groove matched with a metal piece is formed in the third inclined plane, and the metal piece is embedded in the third clamping groove;
the positioning panel and the positioning bracket are in a T shape;
the included angle between the front surface of the positioning panel and the third inclined surface is 25-50 degrees;
the positioning bracket is U-shaped.
2. The placer surgical positioning apparatus of claim 1, wherein: the front of locating panel is provided with visual identification, just the plane that a plurality of metalworks on the locating panel formed is on a parallel with the front of locating panel.
3. The placer surgical positioning apparatus of claim 1, wherein: and an auxiliary positioning connecting structure is arranged on the positioning bracket or the positioning panel.
4. The posed surgical positioning device according to claim 3, wherein: the auxiliary positioning connecting structure comprises a strap assembly or an adhesive piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210490277.1A CN114587594B (en) | 2022-05-07 | 2022-05-07 | Put formula operation positioner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210490277.1A CN114587594B (en) | 2022-05-07 | 2022-05-07 | Put formula operation positioner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114587594A CN114587594A (en) | 2022-06-07 |
| CN114587594B true CN114587594B (en) | 2022-08-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210490277.1A Active CN114587594B (en) | 2022-05-07 | 2022-05-07 | Put formula operation positioner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114587594B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2276328Y (en) * | 1996-08-07 | 1998-03-18 | 朱成 | No-frame intracranial focus batter board |
| US9044190B2 (en) * | 2006-09-25 | 2015-06-02 | Mazor Robotics Ltd. | C-arm computerized tomography system |
| CN206026446U (en) * | 2016-06-20 | 2017-03-22 | 深圳市鑫君特智能医疗器械有限公司 | Operation positioning device |
| FR3057757B1 (en) * | 2016-10-21 | 2021-04-16 | Medtech | AUTOMATIC REGISTRATION DEVICE AND METHOD FOR 3D INTRA-OPERATIVE IMAGES |
| CN206333963U (en) * | 2017-01-10 | 2017-07-18 | 北京积水潭医院 | Noninvasive fixing device for spinal operation navigation tracer |
| CN107028659B (en) * | 2017-01-23 | 2023-11-28 | 新博医疗技术有限公司 | Surgical navigation system and navigation method under guidance of CT image |
| CN107049488B (en) * | 2017-05-27 | 2022-01-07 | 北京航空航天大学 | Single-plane operation positioning method and model |
| CN211156332U (en) * | 2019-09-17 | 2020-08-04 | 北京天智航医疗科技股份有限公司 | Patient tracer and surgical positioning system |
| CN211985710U (en) * | 2020-03-03 | 2020-11-24 | 天津市天津医院 | Positioner used before and during thoracolumbar surgery |
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2022
- 2022-05-07 CN CN202210490277.1A patent/CN114587594B/en active Active
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| CN114587594A (en) | 2022-06-07 |
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