CN115517763A - Optical positioning device and surgical robot - Google Patents

Optical positioning device and surgical robot Download PDF

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Publication number
CN115517763A
CN115517763A CN202210962134.6A CN202210962134A CN115517763A CN 115517763 A CN115517763 A CN 115517763A CN 202210962134 A CN202210962134 A CN 202210962134A CN 115517763 A CN115517763 A CN 115517763A
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China
Prior art keywords
optical
joint
bone
rotating
fixed
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CN202210962134.6A
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Chinese (zh)
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不公告发明人
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Suzhou Xiaowei Changxing Robot Co ltd
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Suzhou Xiaowei Changxing Robot Co ltd
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Priority to CN202210962134.6A priority Critical patent/CN115517763A/en
Publication of CN115517763A publication Critical patent/CN115517763A/en
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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
    • 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
    • A61B34/30—Surgical robots
    • 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
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

The invention discloses an optical positioning device and a surgical robot, wherein the optical positioning device comprises: an optical tracer; a unitary fixation structure for fixation in a bone; the stabilizing structure is arranged on the fixing structure and can be connected with the bone surface of the skeleton; the optical tracer is connected with the stabilizing structure through the connecting structure. According to the optical positioning device and the surgical robot, the stable structure arranged on the fixed structure is connected with the bone surface, so that the stability of the fixed structure is improved, the relative position of the optical tracer and a patient is prevented from being changed due to the fact that the fixed structure is loosened in the surgical process, the optical tracer is connected with the stable structure through the connecting structure, the phenomenon that the fixed structure is loosened when the optical tracer is arranged can be avoided, therefore, the optical positioning device and the surgical robot can ensure the stability of the optical tracer without drilling into the bone through a plurality of fixed structures, and the position of the patient obtained by the optical tracer in the surgical process is more accurate.

Description

Optical positioning device and surgical robot
Technical Field
The invention relates to the technical field of medical instruments, in particular to an optical positioning device and a surgical robot.
Background
The surgical robot mainly comprises a mechanical arm, an optical camera and a host. The optical camera is equivalent to an eye, the spatial posture of the tail end of the mechanical arm is obtained through an optical tracer fixed on the mechanical arm, and the optical tracer is matched with a bone needle or a bone nail fixed in the bone of a patient, so that the optical tracer is fixed on the patient, and a surgical robot can obtain the position of the patient according to the optical tracer; the host computer is equivalent to the brain, passes to the arm through a series of operations with the motion instruction, drives its terminal instrument accurate motion to patient's operation position through the arm to supplementary doctor carries out follow-up operation.
In order to ensure that the relative position between the optical tracer and the patient does not change randomly during the operation, the optical tracer fixed on the patient is required to be stable and firm, so that the surgical robot can accurately identify the position of the operation part in real time. At present, a plurality of bone needles or bone nails are drilled into bones, namely, the stability of the optical tracer is improved by increasing the number of fixed points, but the number of wounds of a patient is increased, and the relative positions of the bone needles or the bone nails need to be positioned, so that the operation is complex.
Disclosure of Invention
The invention aims to provide an optical positioning device and a surgical robot, which are used for solving the technical problems that the number of wounds of a patient is increased due to the fact that the stability of an optical tracer is improved by increasing the number of fixed points, and the operation is complicated due to the fact that the relative positions of a plurality of bone pins or bone nails need to be positioned at present.
The above object of the present invention can be achieved by the following technical solutions:
the present invention provides an optical positioning device comprising: an optical tracer; a unitary fixation structure for fixation in a bone; a stabilization structure mounted on the fixation structure, the stabilization structure being connectable to a surface of the bone; a connection structure through which the optical tracer is connected with the stabilization structure.
In an embodiment of the present invention, the stabilizing structure comprises a sleeve, the sleeve is sleeved on the fixing structure, a first end of the sleeve is connected with the connecting structure, a second end of the sleeve can slide to the surface of the bone along the fixing structure, and a meshing structure is arranged at the second end of the sleeve and can be meshed into the surface of the bone.
In an embodiment of the invention, the occlusion structure comprises a plurality of cuspid structures and/or a blade face structure provided with a plurality of blade grooves.
In an embodiment of the present invention, the connection structure is connected to the stabilizing structure through a first rotation structure, the first rotation structure is rotatably disposed around a first axis, the connection structure is connected to the optical tracer through a second rotation structure, and the second rotation structure is rotatably disposed around a second axis.
In an embodiment of the present invention, the first rotating structure includes a first fixed joint and a first rotating joint, the first fixed joint is connected with the stabilizing structure, and the first rotating joint is sleeved on the stabilizing structure and can rotate around a first axis relative to the first fixed joint.
In an embodiment of the present invention, the second rotating structure includes a second fixed joint and a second rotating joint, the second fixed joint is connected to the first rotating joint, the second rotating joint is connected to the optical tracer, and the second rotating joint is rotatable around the second axis relative to the second fixed joint.
In an embodiment of the present invention, a first indexing groove and a first indexing tooth which are matched with each other are provided between the first fixed joint and the first rotating joint, and a second indexing groove and a second indexing tooth which are matched with each other are provided between the second fixed joint and the second rotating joint.
In an embodiment of the present invention, the first fixed joint and the first rotating joint are locked and fixed by a first locking structure, and the second fixed joint and the second rotating joint are locked and fixed by a second locking structure.
In an embodiment of the invention, the fixation structure comprises a bone pin having a threaded section and a tip connected, the bone pin penetrating the bone through the tip to drill the threaded section into the bone.
In an embodiment of the invention, the tip is provided with a guide groove, and the guide groove is communicated with the spiral groove on the thread section.
In an embodiment of the present invention, the thread section includes a first thread section and a second thread section which are connected, the first thread section is connected with the tip, and a thread pitch of the first thread section is greater than a thread pitch of the second thread section, or;
the thread pitch of the thread section is gradually reduced towards the side far away from the tip.
In the implementation mode of the invention, the spicule is also provided with a smooth surface section, the smooth surface section is positioned above the thread section, and a plurality of depth identification structures are arranged on the smooth surface section at intervals along the axial direction of the spicule.
In an embodiment of the present invention, the optical tracer includes a mounting bracket and an optical marking structure, the mounting bracket is connected with the connecting structure, and the optical marking structure is mounted on the mounting bracket.
The invention also provides a surgical robot which comprises the optical positioning device.
The invention has the characteristics and advantages that:
according to the optical positioning device and the surgical robot, the stable structure arranged on the fixed structure is connected with the bone surface, so that the stability of the fixed structure is improved, the relative position of the optical tracer and a patient is prevented from being changed due to the fact that the fixed structure is loosened in the surgical process, the optical tracer is connected with the stable structure through the connecting structure, the phenomenon that the fixed structure is loosened when the optical tracer is arranged can be avoided, therefore, the optical positioning device and the surgical robot can ensure the stability of the optical tracer without drilling into the bone through a plurality of fixed structures, and the position of the patient obtained by the optical tracer in the surgical process is more accurate.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an optical positioning apparatus according to a first embodiment of the present invention.
FIG. 2 is a diagram illustrating a state of the optical pointing device according to the first embodiment of the present invention.
FIG. 3 is another state diagram of the optical pointing device according to the first embodiment of the present invention.
FIG. 4 is a diagram of another state of the optical pointing device according to the first embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a stabilization structure according to a first embodiment of the present invention.
FIG. 6 is a schematic structural diagram of an optical positioning apparatus according to a second embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a stabilization structure according to a second embodiment of the present invention.
Fig. 8 is a schematic view of the first rotation structure and the first locking structure of the present invention.
Fig. 9 is a schematic structural view of a second rotating structure and a second locking structure of the present invention.
Fig. 10 is a schematic structural view of a first rotary joint and a second fixed joint of the present invention.
Fig. 11 is a schematic structural diagram of an angle marking structure according to the present invention.
Fig. 12 is a schematic structural view of the spicule of the present invention.
Fig. 13 is a schematic view of the structure of the tip of the spicule of the present invention.
Fig. 14 is a schematic view of the configuration of the threaded segment of the bone pin of the present invention.
Fig. 15 is a schematic structural diagram of an optical tracer according to an embodiment of the invention.
Fig. 16 is a schematic structural diagram of an optical tracer according to another embodiment of the invention.
Fig. 17 is a schematic structural diagram of an optical tracer according to still another embodiment of the invention.
FIG. 18 is an exploded view of the optical pointing device of the present invention.
FIG. 19 is a schematic diagram of the operation of the optical pointing device of the present invention.
Fig. 20 is a state view showing the use of the surgical robot of the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Implementation mode one
As shown in fig. 1, 2 and 20, the present invention provides an optical positioning apparatus 100, including: an optical tracer 1; a single fixation structure 2 for fixation in bone 201; a stabilization structure 3 mounted on the fixation structure 2, the stabilization structure 3 being connectable to a facet 202 of a bone 201; the connecting structure 4, the optical tracer 1 is connected with the stabilizing structure 3 through the connecting structure 4. Wherein the bone surface 202 is the surface of the bone 201.
According to the optical positioning device 100, the stabilizing structure 3 arranged on the fixing structure 2 is connected with the bone surface 202, so that the stability of the fixing structure 2 is improved, the relative position of the optical tracer 1 and the patient 200 is prevented from being changed due to the looseness of the fixing structure 2 in the operation process, the optical tracer 1 is connected with the stabilizing structure 3 through the connecting structure 4, the looseness of the fixing structure 2 caused by the installation of the position of the optical tracer 1 can be avoided, therefore, the stability of the optical tracer 1 can be ensured without drilling into the bone 201 through a plurality of fixing structures 2, and the position of the patient 200 obtained by the optical tracer 1 in the operation process of the surgical robot is more accurate.
As shown in fig. 2 and 12, in the present embodiment, the fixation structure 2 is a bone pin 21. The bone pins 21 can be drilled into the bone 201 through the soft tissue layer 203 of the patient 200. Bone needle 21 has connected threaded segment 23 and tip 22, and bone needle 21 pierces bone 201 through tip 22 to drill threaded segment 23 into bone 201. Alternatively, the fixation structure may be a bone screw, which is drilled into the bone by first cutting a soft tissue layer of the patient. Alternatively, the soft tissue layer of the patient is cut open and the bone pin is drilled into the bone.
In this embodiment, the number of the spicules 21 is one, which can maximally reduce the number of the wounds of the patient 200 and maximally simplify the operation procedure. The optical positioning device 100 employing the single bone needle 21 is particularly suitable for use in computer-assisted spinal trauma surgery.
As shown in fig. 1, 5, 6 and 7, in the embodiment of the present invention, the stabilization structure 3 includes a sleeve 31, the sleeve 31 is sleeved on the fixation structure 2, a first end of the sleeve 31 is connected to the connection structure 4, and a second end of the sleeve 31 can slide along the fixation structure 2 to the bone surface 202. Establish on fixed knot constructs 2 through sleeve pipe 31 cover, can carry on spacingly to fixed knot constructs 2, avoids fixed knot to construct 2 to take place to incline to need not to guarantee through other instruments that the relative position between fixed knot constructs 2 and the sleeve pipe 31 is accurate, easy operation.
Specifically, as shown in fig. 5, a guide hole 312 is formed through the sleeve 31 in the axial direction thereof, and the guide hole 312 is slidably engaged with the bone pin 21. After the bone needle 21 is drilled into the bone 201, the cannula 31 is slid along the bone needle 21 to the bone surface 202. The sleeve 31 is provided with a plurality of inwardly recessed tapered grooves 311 near the second end thereof, and the width and depth of the tapered grooves 311 are both gradually reduced from the second end of the sleeve 31 to the first end of the sleeve 31, so that the sleeve 31 near the second end thereof is tapered and has a certain elastic clamping force, thereby clamping the spicule 21.
Referring to fig. 5 and 7, in the embodiment of the present invention, the second end of the sleeve 31 is provided with the engaging structure 32, and the engaging structure 32 can be engaged into the bone surface 202. By biting into the facet 202 through the bite structure 32, stability of the cannula 31 is improved while causing less trauma to the facet 202. Bite structure 32 includes a plurality of cuspid structures 321 and/or a facet structure 322 provided with a plurality of flutes 323. Alternatively, the second end of the cannula may grip the bone surface by a structure known in the art that provides gripping force.
As shown in fig. 5, in the first embodiment, the occlusion structure 32 is a plurality of cuspid structures 321, and the fixation of the cannula 31 is realized by the plurality of cuspid structures 321 penetrating into the bone surface 202.
As shown in fig. 7, in the second embodiment, the biting structure 32 is a facet structure 322 having a plurality of blade grooves 323, and the facet structure 322 forms a plurality of sharp structures by providing a plurality of blade grooves 323, so that the facet structure 322 can cut into the bone surface 202 and reduce the trauma to the bone surface 202.
In the embodiment of the invention shown in fig. 1, the connection structure 4 is connected to the stabilization structure 3 by a first rotation structure 41, the first rotation structure 41 being able to rotate around a first axis Z 1 The rotation is arranged, the connecting structure 4 is connected with the optical tracer 1 through a second rotating structure 42, and the second rotating structure 42 can rotate around a second axis Z 2 Arranged rotatably, first axis Z 1 And a second axis Z 2 Are perpendicular to each other. Cooperate through first rotating-structure 41 and second rotating-structure 42, can realize the regulation of optical tracer 1 arbitrary direction in whole space to the discernment scope of the optical camera 300 of adaptation surgical robot, and need not the discernment scope of the optical camera 300 that adapts to through the locating position of the operation position of adjustment patient 200, and also can adjust optical tracer 1 to the position that more is favorable to surgical robot discernment, thereby can make the patient 200 positional information that surgical robot acquireed more accurate.
Specifically, as shown in fig. 2, 3, 4 and 20, the optical camera 300 does not need to swing horizontally but only vertically during the operation, so that the first axis Z in this embodiment is 1 Arranged axially of the spicules 21, the second axis Z 2 Radially of the spicules 21. When the optical positioning device 100 is mounted and fixed before operation, the first rotating structure 41 is rotated and adjusted to be in place, and in the operation process, the optical tracer 1 is rotated and adjusted relative to the second axis Z only through the second rotating structure 42 according to the identification range of the optical camera 300 after vertical swing 2 The angle of (c). Optionally, the first axis is arranged radially of the spicule and the second axis is arranged axially of the spicule.
As shown in FIG. 8, the first rotating structure 41 includes a first fixed joint 412 and a second fixed jointA rotating joint 411, the first fixed joint 412 is connected with the stable structure 3, the first rotating joint 411 is sleeved on the stable structure 3 and can rotate around the first axis relative to the first fixed joint 412. The second rotating structure 42 comprises a second fixed joint 422 and a second rotating joint 421, the second fixed joint 422 is connected with the first rotating joint 411, the second rotating joint 421 is connected with the optical tracer 1, and the second rotating joint 421 can rotate around a second axis relative to the second fixed joint 422. First according to the optical camera 300 relative to the first axis Z 1 In the position, the first rotating joint 411 is rotated to adjust the second fixed joint 422 to the right position, and the first rotating joint 411 cannot contact with the fixed structure 2, so that the fixed structure 2 is prevented from being loosened due to the rotation of the first rotating joint 411; according to the optical camera 300 with respect to the second axis Z 2 In the position, the optical tracer 1 is operated to drive the second rotating joint 421 to rotate, so as to adjust the optical tracer 1 in place.
As shown in fig. 10, a plurality of first indexing grooves 413 and a plurality of first indexing teeth 414 are disposed between the first fixed joint 412 and the first rotary joint 411. By providing the plurality of first indexing grooves 413 and the plurality of first indexing teeth 414 which are engaged with each other, the angle of rotation of the first rotary joint 411 can be better controlled, and the first rotary joint 411 can be prevented from being randomly rotated after being adjusted in place. In particular, between the first fixed joint 412 and the first rotating joint 411, around the first axis Z 1 The first indexing grooves 413 and the first indexing teeth 414 are spaced at intervals, and the angle of the rotary joint 411 can be adjusted to 12 degrees at minimum.
As shown in fig. 10, a plurality of second indexing grooves 423 and a plurality of second indexing teeth 424 are disposed between the second fixed joint 422 and the second rotating joint 421. By providing the plurality of second indexing grooves 423 and the plurality of second indexing teeth 424 that are engaged with each other, the rotation angle of the second rotary joint 421 can be better controlled, and the second rotary joint 421 can be prevented from being randomly rotated after being adjusted in place. In particular, between the second fixed joint 422 and the second rotating joint 421, around the second axis Z 2 30 second indexing grooves 423 and 3 are arranged at intervalsThe minimum angle of the rotational adjustment of the second rotational joint 421 can reach 12 degrees by 0 second indexing teeth 424. As shown in fig. 11, the second fixed joint 422 is provided with an angle indicating structure 425 to facilitate the rotation of the second rotary joint 421 with reference to the angle indicating structure 425.
As shown in fig. 1, 8 and 9, in the embodiment of the present invention, the first fixed joint 412 and the first rotating joint 411 are locked and fixed by the first locking structure 43, and the second fixed joint 422 and the second rotating joint 421 are locked and fixed by the second locking structure 44. By providing the first locking structure 43 and the second locking structure 44, it is ensured that the first rotating joint 411 and the second rotating joint 421 will not rotate freely after rotating in place.
As shown in fig. 8, the first locking structure 43 includes a locking nut 431, and one end of the fixing structure 2 is connected to the locking nut 431 through the stabilizing structure 3 and the first rotary joint 411 in sequence. The compression force in the axial direction of the bone pins 21 provided by the lock nut 431 compresses and fixes the first rotary joint 411 to the first fixing joint 412, and transmits the compression force to the stabilization structure 3 through the first fixing joint 412, thereby compressing and fixing the stabilization structure 3 to the bone surface 202, so that the biting structure 32 bites into the bone surface 202.
Specifically, as shown in fig. 5 and 7, the first fixed joint 412 is connected with the sleeve 31 to form an integral structure. The first fixed contact 412 is disposed near the first end of the sleeve 31, and as shown in fig. 8, the first rotating contact 411 is disposed on the sleeve 31 from the first end of the sleeve 31. The first rotary joint 411 has opposite first and second ends. The first end of the first rotary joint 411 is provided with a plurality of first indexing recesses 413 and a plurality of first indexing teeth 414 to mate with the first fixed joint 412. The first end of the first rotary joint 411 is provided with a mounting hole for fitting with the sleeve 31. The second end of the first rotary joint 411 is provided with a mounting hole for the bone needle 21 to pass through, and the first rotary joint 411 is not in contact with the bone needle 21. As shown in fig. 12, the spicule 21 is provided with a mounting end 25 for screwing with a locking nut 431.
As shown in fig. 9, the second locking structure 44 includes a locking screw 441, and the locking screw 441 passes through the second rotary joint 421 to be connected to the second fixed joint 422. The second rotating joint 421 is fixed on the second fixed joint 422 by pressing through the head of the locking screw 441.
Specifically, as shown in fig. 18, the second rotating joint 421 is connected to the optical tracer 1 to form an integral structure. As shown in fig. 10, the first rotating joint 411 and the second fixed joint 422 are connected to form an integral structure. As shown in fig. 9, one end of the second rotating joint 421 is sleeved on the second fixed joint 422.
As shown in fig. 13, in the embodiment of the present invention, the tip 22 is provided with a guide groove 221, and the guide groove 221 communicates with the spiral groove 233 of the threaded section 23. By providing the tip 22 with the guide groove 221, the bone structure generated when the tip 22 penetrates the bone 201 can be guided from the guide groove 221 into the spiral groove 233 and finally out of the bone 201 via the spiral groove 233, which facilitates the drilling of the threaded section 23 into the bone 201.
As shown in fig. 14, the threaded section 23 comprises a first threaded section 231 and a second threaded section 232 which are connected, the first threaded section 231 is connected with the tip 22, the thread pitch of the first threaded section 231 is larger than that of the second threaded section 232, the bone 201 comprises cancellous bone and cortical bone distributed from inside to outside, the first threaded section 231 is used for drilling into the cancellous bone, and the second threaded section 232 is used for drilling into the cortical bone. The cortical bone is harder than the cancellous bone, and the second threaded section 232 having a smaller pitch penetrates into the cortical bone and enables the second threaded section 232 to fit more tightly into the cortical bone. Optionally, the thread section is a tapered thread section, and the thread pitch of the tapered thread section is gradually reduced from one end close to the tip end to one end far away from the tip end.
As shown in fig. 12, the bone needle 21 further has a smooth section 24, the smooth section 24 is located above the threaded section 23, and a plurality of depth marking structures 241 are arranged on the smooth section 24 at intervals along the axial direction of the bone needle 21. As shown in fig. 2 and 4, when the threaded segment 23 is drilled into the bone 201, the depth of the threaded segment 23 is determined by the plurality of depth indicators 241 on the exterior. Specifically, the depth mark structures 241 are digital marks which are arranged according to the length of the threaded section 23 and are sequentially increased from one end of the smooth section 24 close to the threaded section 23 to one end of the smooth section 24 far from the threaded section 23.
As shown in fig. 1 and 18, in the embodiment of the present invention, the optical tracer 1 includes a mounting bracket 11 and an optical marking structure 12, the mounting bracket 11 is connected with the connecting structure 4, and the optical marking structure 12 is mounted on the mounting bracket 11. Specifically, the mounting bracket 11 is connected with the second rotating joint 421 to form an integral structure.
As shown in fig. 15, in one embodiment, the optical marker structure 12 includes a plurality of reflective stickers 121, and the plurality of reflective stickers 121 are adhered to corresponding recesses of the mounting frame 11.
In another embodiment, as shown in fig. 16, the optical marker structure 12 includes a plurality of self-luminous elements 122, the plurality of self-luminous elements 122 being fitted in corresponding recesses on the mounting frame 11.
As shown in fig. 17, yet another embodiment. The optical marker structure 12 includes a plurality of reflective balls 123, and the plurality of reflective balls 123 are fitted in corresponding recesses of the mount 11.
As shown in fig. 19 and 20, the operation procedure for fixing the optical positioning apparatus 100 of the present invention on the patient 200 is as follows:
drilling a bone pin 21 through the soft tissue layer 203 of the patient 200 into the bone 201;
sliding the cannula 31 over the soft tissue layer 203 along the bone pin 21 until the twisted structure contacts the facet 202;
the first rotary joint 411 is sleeved on the sleeve 31 and is corresponding to the first axis Z of the optical camera 300 on the surgical robot 1 The position drives the second fixed joint 422 to rotate and adjust to the position;
screwing the locking nut 431 from the mounting end 25 of the bone pin 21 to the tip 22 of the bone pin 21, thereby compressively fixing the first rotating connector 411 to the first fixing connector 412 and causing the biting structure 32 to bite into the bone surface 202;
the second rotating joint 421 is sleeved on the second fixed joint 422, and the second axis Z is corresponding to the optical camera 300 on the surgical robot 2 The position drives the optical tracer 1 to rotate and adjust to the position;
the locking screw 441 sequentially passes through the second rotating joint 421 and the second fixing joint 422, and the second rotating joint 421 and the second fixing joint 422 are locked and fixed, so as to complete the fixing of the optical positioning apparatus 100.
Second embodiment
As shown in fig. 20, the present invention also provides a surgical robot including an optical positioning apparatus 100. The optical positioning device 100 of the present embodiment has the same structure, operation principle and beneficial effects as the optical positioning device 100 of the first embodiment, and will not be described herein again. The surgical robot further includes a vision unit 300, a robot arm 400, a robot arm optical tracer 500, and a control module 600, the vision unit 300 collects pose information of the robot arm optical tracer 500 and pose information of an optical tracer 1 (shown in fig. 1) on the patient 200, and the control module 600 controls the posture of the robot arm 400 according to the pose information of the robot arm optical tracer 500 and the pose information of the optical tracer 1 on the patient 200.
The operation flow of the surgical robot of the invention is as follows:
after the patient 200 lies on the operating table 700, determining the placing position of the surgical robot according to the operation part of the patient 200;
securing the optical positioning device 100 to the patient 200;
adjusting the robot arm 400 so that the robot optical tracer 500 can be captured by the vision unit 300;
the control module 600 controls the mechanical arm 400 to move to the target position, thereby assisting the doctor in completing the operation.
The above description is only a few embodiments of the present invention, and those skilled in the art can make various changes or modifications to the embodiments of the present invention according to the disclosure of the application document without departing from the spirit and scope of the present invention.

Claims (14)

1. An optical pointing device, comprising:
an optical tracer;
a unitary fixation structure for fixation in a bone;
a stabilizing structure mounted on the fixation structure, the stabilizing structure being connectable to a surface of the bone;
a connection structure through which the optical tracer is connected with the stabilization structure.
2. Optical locating device according to claim 1,
the stabilizing structure comprises a sleeve, the sleeve is sleeved on the fixing structure, a first end of the sleeve is connected with the connecting structure, a second end of the sleeve can slide to the surface of the skeleton along the fixing structure, an occlusion structure is arranged at the second end of the sleeve, and the occlusion structure can be occluded into the surface of the skeleton.
3. Optical locating device according to claim 2,
the occlusion structure comprises a plurality of cuspid structures and/or a blade surface structure provided with a plurality of blade grooves.
4. Optical locating device according to claim 1,
the connection structure through first rotating-structure with stable structural connection, first rotating-structure can rotate around first axis and set up, connection structure through second rotating-structure with the optical tracer is connected, second rotating-structure can rotate around the second axis and set up.
5. Optical locating device according to claim 4,
the first rotating structure comprises a first fixed joint and a first rotating joint, the first fixed joint is connected with the stabilizing structure, and the first rotating joint is sleeved on the stabilizing structure and can rotate around a first axis relative to the first fixed joint.
6. Optical locating device according to claim 5,
the second rotating structure comprises a second fixed joint and a second rotating joint, the second fixed joint is connected with the first rotating joint, the second rotating joint is connected with the optical tracer, and the second rotating joint can rotate around the second axis relative to the second fixed joint.
7. Optical locating device according to claim 6,
and a first indexing groove and a first indexing convex tooth which are matched are arranged between the first fixed joint and the first rotating joint, and a second indexing groove and a second indexing convex tooth which are matched are arranged between the second fixed joint and the second rotating joint.
8. Optical locating device according to claim 6,
the first fixed joint and the first rotating joint are locked and fixed through a first locking structure, and the second fixed joint and the second rotating joint are locked and fixed through a second locking structure.
9. Optical locating device according to claim 1,
the fixation structure includes a bone pin having a threaded section and a tip connected, the bone pin penetrating the bone through the tip to drill the threaded section into the bone.
10. Optical locating device according to claim 9,
and the tip is provided with a guide groove which is communicated with the spiral groove on the thread section.
11. Optical locating device according to claim 9,
the thread section comprises a first thread section and a second thread section which are connected, the first thread section is connected with the tip, and the thread pitch of the first thread section is greater than that of the second thread section, or;
the thread pitch of the thread section is gradually reduced towards the side far away from the tip.
12. Optical locating device according to claim 11,
the bone needle is further provided with a smooth surface section, the smooth surface section is located above the thread section, and a plurality of depth identification structures are arranged on the smooth surface section at intervals along the axial direction of the bone needle.
13. Optical locating device according to claim 1,
the optical tracer includes mounting bracket and optical marking structure, the mounting bracket with connection structure connects, optical marking structure installs on the mounting bracket.
14. A surgical robot comprising an optical positioning device according to any of claims 1-13.
CN202210962134.6A 2022-08-11 2022-08-11 Optical positioning device and surgical robot Pending CN115517763A (en)

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