CN115153841A - Tracking device and calibration method for surgical power tool - Google Patents

Tracking device and calibration method for surgical power tool Download PDF

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Publication number
CN115153841A
CN115153841A CN202210764748.3A CN202210764748A CN115153841A CN 115153841 A CN115153841 A CN 115153841A CN 202210764748 A CN202210764748 A CN 202210764748A CN 115153841 A CN115153841 A CN 115153841A
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power tool
tracking device
point
surgical power
surgical
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赵向蕊
许珂
师述昌
朱罡
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Beijing Luosen Bote Technology Co ltd
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Beijing Luosen Bote Technology Co ltd
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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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • 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 provides a tracking device and a calibration method for a surgical power tool. The surgical power tool tracking device includes: a mounting portion removably mounted on the surgical power tool, the mounting portion including a direction adjustment device; and the tracer is arranged on the direction adjusting device. The tracking device for the surgical power tool can track the positions of a surgical tool, a guide pin, a kirschner wire and the like in the process of placing screws in a surgery, improve the efficiency of placing the screws in the surgery and shorten the surgery time. The tracking device can adjust the direction according to application requirements, and the tracking device is prevented from being shielded. The operation power tool is quickly and accurately recalibrated by the calibration method, and the calibration method is convenient to apply and simple to operate.

Description

Tracking device and calibration method for surgical power tool
Technical Field
The invention relates to the technical field of medical instruments, relates to a surgical tool navigation technology, and particularly relates to a tracking device and a calibration method for a surgical power tool.
Background
In the orthopedic surgery, the operations of screw insertion, holding needle insertion and the like are often required, but at present, doctors mainly rely on experience and multiple X-ray fluoroscopy, the insertion precision is not high, the fluoroscopy radiation quantity of patients is large, and the surgery time is long. In the prior art, a tracking device is additionally arranged on a surgery power tool, and a doctor is guided to carry out implantation operation in a mode of tracking the tracking device by using an optical tracking system.
Currently, many optical tracking devices clinically used for navigation surgery select an optical positioning and tracking system manufactured by NDI corporation of canada. The system irradiates infrared light emitted by the binocular position sensor on the surgical equipment or instrument provided with the tracking device, the infrared light can be reflected back to the position sensor by the infrared light reflecting ball on the tracking device, and position coordinates including position and angle of the tracking device are obtained through calculation of software built in the system, so that the corresponding surgical equipment and instrument are positioned and tracked.
However, in the conventional tracking device for the surgical power tool, the tracking device is generally in a fixed orientation, and the problems that the tracking device is shielded, the tracking device exceeds the range of an optical tracking system and the like exist in the operation process. For example, tracking loss may occur in certain directions or angles during use, or the position of the surgical power tool may need to be moved frequently, rotated, or repositioned to ensure that the surgical power tool is tracked by the optical tracking system.
Therefore, it is desirable to provide a method for conveniently adjusting the orientation of the tracking device and providing a convenient calibration method, which can assist the operation of the doctor, improve the operation precision, reduce the perspective radiation and shorten the operation time.
Disclosure of Invention
In order to solve the technical problems, the invention designs a tracking device of a surgical power tool and provides a calibration method of the surgical power tool, which is used for tracking the positions of a surgical tool, a screw, a guide pin, a holding pin and the like in the surgical process and improving the surgical implantation precision.
According to one aspect of the present invention, there is provided a surgical power tool tracking apparatus comprising:
a mounting portion removably mounted on the surgical power tool, the mounting portion including a direction adjustment device;
and the tracer is arranged on the direction adjusting device.
Further, the direction adjusting device comprises a base and a rotating ring, the rotating ring is rotatably arranged on the base, and the tracer is arranged on the rotating ring.
Further, the direction adjusting device further comprises a locking device for locking the rotating ring on the base.
Furthermore, the locking device comprises a screw rod and an adjusting knob, one end of the screw rod is rotatably arranged on the base, the rotating ring is sleeved on the screw rod, the other end of the screw rod is connected to the adjusting knob, and the rotating ring can be locked on the base by rotating the adjusting knob.
Further, the contact surface between the rotating ring and the base has a face tooth structure.
Further, the base further comprises a spring, the spring is arranged in the hole of the base, and the spring is partially exposed out of the end face tooth structure.
Further, the tracer includes support and sets up the optical indication point more than three on the support, and the optical indication point satisfies that the distance between two points is not less than 30mm, and the difference of distance is not less than 5mm.
According to another aspect of the present invention, there is provided a calibration method for a surgical power tool having a tracking device mounted thereon, the calibration method comprising the steps of:
installing a cylinder of a calibration device on a rotating shaft of a surgical power tool, and selecting a first point P1 and a second point P2 on the cylinder of the calibration device, wherein the calibration device comprises a tracer and a section of cylinder connected with the tracer;
the optical tracking system is used for obtaining the space position of the calibration device and the surgical power tool tracking device, and the first point P1 and the second point P2 are calculated in the coordinate system C of the tracking device through coordinate transformation d Coordinate P of (1) d 1 and P d 2；
Based on P d 1 and P d 2 calculating the coordinate system C of the rotating shaft of the operation power tool in the tracking device d The normal vector v in (1);
taking off the calibration device, installing the surgical instrument, according to P d 1 determining the tail position Ne from the normal vectors v, P d 1. The length of the surgical instrument is calculated by the front end point at the heelCoordinate system C of tracking device d Coordinates Ns in (1).
Further, the first point P1 and the second point P2 are calculated at the tracking device coordinate system C d Coordinate P of (1) d 1 and P d 2 comprises the following steps:
obtaining the coordinates P of the first point P1 and the second point P2 in the coordinate system of the calibration device t 1 and P t 2；
According to P t 1 and P t 2, calculating the coordinates P of the first point P1 and the second point P2 in the optical tracking system coordinate system n 1 and P n 2；
According to P n 1 and P n 2, calculating the coordinate system C of the first point P1 and the second point P2 in the tracking device d Coordinate P of (1) d 1 and P d 2。
Further, the coordinate P in the coordinate system of the calibration device based on the first point P1 and the second point P2 t 1(X t1 ,Y t1 ,Z t1 ) And P t 2(X t2 ,Y t2 ,Z t2 ) Calculating a pose matrix Mt by the space pose parameters of the calibration device to obtain the coordinates P of P1 and P2 in the coordinate system of the optical tracking system n 1(X n1 ,Y n1 ,Z n1 ) And P n 2(X n2 ,Y n2 ,Z n2 ) Comprises the following steps:
Figure BDA0003724986350000031
further, the coordinate P in the optical tracking system coordinate system is based on the first point P1 and the second point P2 n 1(X n1 ,Y n1 ,Z n1 ) And P n 2(X n2 ,Y n2 ,Z n2 ) Calculating a pose matrix Md from the spatial pose parameters of the tracking device 0 Obtaining P1, P2 in the coordinate system C of the tracking device d Coordinate P of (1) d 1(X d1 ,Y d1 ,Z d1 ) And P d 2(X d2 ,Y d2 ,Z d2 ) Comprises the following steps:
Figure BDA0003724986350000032
further, the calibration step is repeated when the needle placement position is changed or the orientation of the surgical power tool tracking device is adjusted.
The invention provides a tracking device for a surgical power tool, which can track the positions of a surgical tool, a guide pin, a kirschner wire and the like in the process of placing screws in a surgery, improve the efficiency of placing the screws in the surgery and shorten the surgery time.
The tracking device can adjust the direction according to application requirements, and the tracking device is prevented from being shielded. The operation power tool is quickly and accurately recalibrated by the calibration method, and the calibration method is convenient to apply and simple to operate.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in greater detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
FIG. 1 is a schematic view of a surgical power tool tracking apparatus according to an embodiment of the present invention.
Fig. 2 is a partial cross-sectional view of a surgical power tool tracking device according to an embodiment of the present invention.
Fig. 3 is an assembly schematic of a surgical power tool tracking apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a calibration apparatus according to an embodiment of the present invention.
Fig. 5 is an assembly diagram of the calibration device according to the embodiment of the present invention.
Fig. 6 is a schematic illustration of an application of the surgical power tool tracking apparatus of an embodiment of the present invention.
In the figure:
the device comprises an installation part 1, a direction adjusting device 2, an adjusting knob 3, a tracer 4, a reflective ball 5, an electric drill 6, a calibration device 7, a rotating ring 8, a base 9, a screw rod 10, a spring 11, a bearing 12, a thread 13 and a stop block 14.
Detailed Description
Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The invention designs a tracking device of a surgical power tool, which can be arranged on the surgical power tool, such as an electric drill for surgery, a hand-held electric drill or an automatic electric drill controlled by a robot. The device is used for tracking the insertion of a screw guide needle, a holding needle and the like in the operation process, and improves the operation precision. In addition, a calibration device and a rapid calibration method are provided, and when the position of the needle is changed or the orientation of the tracer is adjusted, the calibration device and the rapid calibration method can be used for recalibrating.
The invention provides a tracking device for a surgical power tool, comprising: a mounting portion removably mounted on the surgical power tool, the mounting portion including a direction adjustment device; and the tracer is arranged on the direction adjusting device.
Optionally, the direction adjustment device comprises a base and a rotating ring, the rotating ring being rotatably arranged on the base, the tracer being arranged on the rotating ring. The tracer can rotate along with the swivel becket, can be located operation power tool's upper portion, left side or right side to satisfy more use scenes, can avoid it to be sheltered from through rotating the tracer, influence location tracking.
Further, the direction adjusting device further comprises a locking device for locking the rotating ring on the base. Through setting up locking device, can be after the tracer is adjusted to suitable position, with its locking, realize accurate localization tracking.
Preferably, the locking device comprises a screw and an adjusting knob, one end of the screw is rotatably arranged on the base, the rotating ring is sleeved on the screw, the other end of the screw is connected to the adjusting knob, and the rotating ring can be locked on the base by rotating the adjusting knob. Alternatively, other locking means may be employed.
Preferably, the contact surface between the rotating ring and the base is provided with a face tooth structure, so that the tracer can be more stably fixed, and the rotation in use is avoided.
Specifically, one end of the screw rod is fixedly connected with the adjusting knob, and the other end of the screw rod is arranged in the base and is in threaded connection with the base. Preferably, a stopper is arranged at the other end of the screw rod, and the stopper is rotatably clamped at the bottom of the base. The distance between the two end face tooth structures is adjusted by rotating the adjusting knob, and the two end face tooth structures can be locked and loosened. When needs adjustment spike ware position, loosen two terminal surface tooth structures through adjust knob, but the swivel becket free rotation that has the spike ware adjusts to suitable angle, adjusts the back well, rotates adjust knob and makes the terminal surface tooth interlock, can fix the spike ware at suitable angle.
Preferably, a spring can be arranged between the two end face tooth structures, the spring is arranged in a hole of the base, sleeved outside the screw rod and positioned in an inner ring of the end face tooth to play a role in supporting and damping. The spring in the middle of the end face tooth structure enables two ends of the end face tooth to have a certain tensioning force, so that one side of the tracer can hover at any angle, and adjustment is convenient.
Preferably, the optical indication points of the tracer can be luminous bodies or reflecting bodies, the shapes of the optical indication points can be small balls, sheets with various shapes, prisms with a plurality of reflecting surfaces, cones, platforms and the like, different optical indication points can be selected according to the use scene, and the optical indication points are mainly convenient for an optical navigation system to track so as to determine the position of the tracer. The optical indication points are preferably infrared reflective beads, more preferably three or more infrared reflective beads.
Preferably, the plurality of optical indication points are located on the same plane, but not on the same straight line. Preferably, more than three optical indication points are provided, the plane in which the optical indication points are located can be determined, and more preferably, four optical indication points are provided, the spatial position in which the tracer is located can be calculated and calibrated more accurately.
Preferably, the plurality of optical indication points satisfy that the distance between two points is not less than 30mm and the difference in distance is not less than 5mm.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1 and 2, the mounting part 1 of the tracking device comprises a direction adjustment device 2. The direction adjusting device 2 comprises a base 9 and a rotating ring 8, wherein a face tooth structure is arranged between the rotating ring 8 and the base 9, and the two face tooth structures are meshed oppositely. The tracer 4 is mounted on a rotating ring 8.
One end of the screw rod 10 is provided with a stop block 14 which is rotatably clamped at the bottom of the base 8, and the screw rod 10 is in threaded connection with the base 8. The other end of the screw rod 10 is fixedly connected with the adjusting knob 3. Turning the adjustment knob 3 causes the threaded rod 10 to rotate relative to the base, thereby adjusting the distance of the face tooth arrangement between the rotary ring 8 and the base 9.
In the present embodiment, springs 11 are provided in the face tooth structure of the base 9, and the springs 11 are partially exposed at the end face, thereby providing a certain tension between the two face tooth structures. A bearing 12 is provided in the rotating ring 8, and the screw 10 is inserted into the bearing 12, so that the screw 10 can rotate smoothly.
The tracer 4 comprises 4 light-reflecting spheres 5, and the 4 light-reflecting spheres 5 are located on the same plane, but not on the same line. The 4 reflective balls 5 are positioned in the same plane, so that the distance between the two reflective balls 5 is not less than 30mm, and the difference of the distances is not less than 5mm.
As shown in fig. 3, the surgical power tool in this embodiment is an electric drill 6. The tracer 4 is mounted on the drill 6 via the mounting portion 1. The orientation of the tracer 4 can be adjusted by means of the adjusting knob 3. The direction of the tracer 4 can be adjusted by the adjusting knob 3 in multiple angles. The tracer 4 can be scanned by an optical tracking system in the operation, the real-time tracking navigation of the position of the electric drill 6 is realized, and the positions of the electric drill 6 and a needle or a screw installed at the front end can be displayed in real time by combining a visualization technology.
As shown in fig. 4, the calibration device 7 comprises a tracer and a length of cylinder connected to the tracer. The tracer includes 4 reflective spheres, the set-up requirements are as described above. Two points are selected on the cylinder, preferably the front end point P1 of the cylinder, and another point P2 on the cylinder. When the needle placement position is changed or the orientation of the tracer is adjusted, the coordinates of the drill and the needle (or nail) can be recalibrated by using the calibration device 7.
As shown in fig. 5, the cylinder of the calibration device 7 is inserted into the setting position at the front end of the drill 6. Setting the coordinate system of the optical tracking system as a world coordinate system, and knowing the coordinates P1 and P2 in the coordinate system of the calibration device as P t 1(X t1 ,Y t1 ,Z t1 ) And P t 2(X t2 ,Y t2 ,Z t2 )。
An optical tracking system (not shown, existing equipment such as NDI can be selected) is used for obtaining the spatial position and pose of the tracer 4 on the calibration device 7 and the electric drill 6, and the first point P1 and the second point P2 are calculated in a tracking device coordinate system C through coordinate transformation d Coordinate P of (1) d 1 and P d 2. Based on P d 1 and P d 2 calculating the coordinate system C of the rotating shaft of the electric drill 6 in the tracking device d The normal vector v (vx, vy, vz).
The calibration device 7 is removed and the required kirschner wire (as shown in fig. 6) is mounted according to P d 1, determining the tail position Ne of the Kirschner wire according to the normal vectors v, P d 1. Calculating the length of the Kirschner wire to obtain the coordinate system C of the front end point of the wire in the tracking device d And (4) coordinates Ns, thereby completing the calibration.
After the calibration is finished, the space pose of the tracking device of the electric drill 6 in the world coordinate system is obtained in real time through the optical tracking system, so that the space pose of the Kirschner wire can be calculated, and can be displayed through a visualization method, and real-time tracking navigation is realized.
Specifically, a first point P1 and a second point P2 are calculated in the tracking device coordinate system C d Coordinate P of (1) d 1 and P d 2 comprises the following steps: to obtainCoordinates P of the first point P1 and the second point P2 in the coordinate system of the calibration device t 1 and P t 2; according to P t 1 and P t 2, calculating the coordinates P of the first point P1 and the second point P2 in the optical tracking system coordinate system n 1 and P n 2; according to P n 1 and P n 2, calculating the first point P1 and the second point P2 in the tracking device coordinate system C d Coordinate P of (1) d 1 and P d 2。
Further, the coordinate P in the coordinate system of the calibration device based on the first point P1 and the second point P2 t 1(X t1 ,Y t1 ,Z t1 ) And P t 2(X t2 ,Y t2 ,Z t2 ) Calculating a pose matrix Mt by the space pose parameters of the calibration device 7 to obtain the coordinates P of P1 and P2 in the optical tracking system coordinate system n 1(X n1 ,Y n1 ,Z n1 ) And P n 2(X n2 ,Y n2 ,Z n2 ) Comprises the following steps:
Figure BDA0003724986350000081
the pose matrix Mt can be calculated from the spatial pose parameters of the calibration device 7, the spatial pose parameters of the calibration device 7 can be provided by an optical tracking system, the pose matrix Mt represents the pose relationship between the origins of the two coordinate systems, and the specific calculation process is the prior art and is not described in detail.
Further, the coordinates P in the optical tracking system coordinate system are determined according to the first point P1 and the second point P2 n 1(X n1 ,Y n1 ,Z n1 ) And P n 2(X n2 ,Y n2 ,Z n2 ) Calculating a pose matrix Md from the spatial pose parameters of the tracer 4 0 Obtaining P1, P2 in the coordinate system C of the tracking device d Coordinate P of (1) d 1(X d1 ,Y d1 ,Z d1 ) And P d 2(X d2 ,Y d2 ,Z d2 ) Comprises the following steps:
Figure BDA0003724986350000082
the position and pose matrix Md can be calculated by the space position and pose parameters of the tracer 4 0 The space position and pose parameters of the tracer 4 can be provided by an optical tracking system, and a position and pose matrix Md 0 The position and pose relationship between the origins of the two coordinate systems is shown, and the specific calculation process is in the prior art and is not described any more.
When the needle placement position changes or the tracer 4 is shielded, the orientation of the tracer 4 needs to be adjusted, and after the direction is adjusted, the drill axis of the electric drill 6 can be calibrated again by using the calibration method, so that the navigation precision is ensured.
It will be appreciated by persons skilled in the art that the above description of embodiments of the invention is for the purpose of illustrating the benefits of embodiments of the invention only, and is not intended to limit embodiments of the invention to any examples given.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.

Claims (10)

1. A surgical power tool tracking device, comprising:
a mounting portion detachably mounted on the surgical power tool, the mounting portion including a direction adjustment device;
and the tracer is arranged on the direction adjusting device.
2. The surgical power tool tracking device of claim 1, wherein the orientation adjustment device includes a base and a rotating ring rotatably disposed on the base, the tracer being disposed on the rotating ring.
3. The surgical power tool tracking device of claim 2, wherein the orientation adjustment device further comprises a locking device for locking the rotation ring to the base.
4. The surgical power tool tracking device of claim 3, wherein the locking device comprises a threaded rod and an adjustment knob, one end of the threaded rod is rotatably disposed on the base, the rotation ring is sleeved on the threaded rod, the other end of the threaded rod is connected to the adjustment knob, and the rotation ring can be locked on the base by rotating the adjustment knob.
5. A surgical power tool tracking device according to claim 2, wherein the interface between the rotating ring and the base has a face tooth configuration.
6. The surgical power tool tracking device of claim 5, wherein the base further comprises a spring disposed in a hole in the base partially exposing the end face tooth structure.
7. The surgical power tool tracking device of claim 1, wherein the tracer includes a support and three or more optical indicator points disposed on the support, the optical indicator points being such that the distance between the two points is no less than 30mm and the difference in distance is no less than 5mm.
8. A method for calibrating a surgical power tool having a tracking device according to any one of claims 1 to 5 mounted thereon, comprising the steps of:
installing a cylinder of a calibration device on a rotating shaft of a surgical power tool, and selecting a first point P1 and a second point P2 on the cylinder of the calibration device, wherein the calibration device comprises a tracer and a section of cylinder connected with the tracer;
the optical tracking system is used for obtaining the space poses of the calibration device and the operation power tool tracking device, and the first point P1 and the second point P2 are calculated in the tracking process through coordinate transformationDevice coordinate system C d Coordinate P of (1) d 1 and P d 2；
Based on P d 1 and P d 2 calculating the coordinate system C of the rotating shaft of the operation power tool in the tracking device d The normal vector v in (1);
taking down the calibration device, installing the surgical instrument according to P d 1 determining the tail position Ne from the normal vectors v, P d 1. Surgical instrument length calculation front end point in the tracking device coordinate system C d Coordinates Ns in (1).
9. A method of calibrating a surgical power tool as claimed in claim 8, wherein the first and second points P1 and P2 are calculated in a tracking device coordinate system C d Coordinate P of (1) d 1 and P d 2 comprises the following steps:
obtaining the coordinates P of the first point P1 and the second point P2 in the coordinate system of the calibration device t 1 and P t 2；
According to P t 1 and P t 2, calculating the coordinates P of the first point P1 and the second point P2 in the optical tracking system coordinate system n 1 and P n 2；
According to P n 1 and P n 2, calculating the coordinate system C of the first point P1 and the second point P2 in the tracking device d Coordinate P of (1) d 1 and P d 2。
10. A method of calibrating a surgical power tool according to claim 8, wherein the step of calibrating is repeated when the needle placement position is changed or the orientation of the surgical power tool tracking device is adjusted.
CN202210764748.3A 2022-07-01 2022-07-01 Tracking device and calibration method for surgical power tool Pending CN115153841A (en)

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