CN116650119A - Calibration reference frame for adjustable operation reference frame - Google Patents
Calibration reference frame for adjustable operation reference frame Download PDFInfo
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- CN116650119A CN116650119A CN202310908046.2A CN202310908046A CN116650119A CN 116650119 A CN116650119 A CN 116650119A CN 202310908046 A CN202310908046 A CN 202310908046A CN 116650119 A CN116650119 A CN 116650119A
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- 238000003780 insertion Methods 0.000 claims description 20
- 230000037431 insertion Effects 0.000 claims description 20
- 230000008878 coupling Effects 0.000 description 16
- 238000010168 coupling process Methods 0.000 description 16
- 238000005859 coupling reaction Methods 0.000 description 16
- 238000000034 method Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 239000008188 pellet Substances 0.000 description 3
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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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)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a calibration reference frame for an adjustable operation reference frame, which comprises a combined structure, an identified structure and a calibration reference frame, wherein the combined structure is combined with an operation instrument, and the identified structure is connected with the combined structure; after the combined structure is combined with the operation instrument with the operation reference frame, the spatial pose of the identified structure and the operation instrument is determined and known. When the operation reference frame and the operation instrument are used, firstly, the operation reference frame and the operation instrument are arranged at the operation position, one space pose which does not influence the operation of an operator and does not interfere other operation actions is selected, and once the operation reference frame and the operation instrument are confirmed, the position pose of the operation reference frame and the operation instrument are immediately locked, and the operation reference frame and the operation instrument are changed into an unaware space pose which is unchanged; combining the calibration reference frame and the operation instrument at a position for determining a known space pose; and then identifying the identified structures on the calibration reference frame and the operation reference frame through a navigation system, and obtaining the specific space pose of the reference frame and the operation instrument through the relation between the calibration reference frame and the operation instrument and the known space pose of the calibration reference frame and the reference frame, thereby realizing the follow-up tracking.
Description
Technical Field
The invention belongs to the technical field of medical instruments, in particular to the field of instruments related to navigation system surgery, and particularly relates to a calibration reference frame for an adjustable operation reference frame.
Background
In the prior art, once a navigation system is used in various medical surgical scenes, the current navigation system finishes surgical navigation mostly through NDI (non-uniform visual inspection) pellets and corresponding identification systems, the current NDI pellets are mostly arranged on a reference frame, the reference frame is combined with corresponding surgical instruments, and the spatial pose of the NDI pellets on the reference frame is identified and tracked through the navigation system so as to track the surgical direction and the like of the surgical path of the surgical instruments.
The spatial pose of the reference frame and the spatial pose of the operation instrument in the prior art are fixed combination modes which are planned and set in advance, the mode has no setting flexibility, and the operator is easy to operate inconveniently due to the fixed setting, so that the problem is expected to be solved in an adjustable mode according to the problem, but once the positions of the reference frame and the operation instrument become adjustable, the navigation system cannot accurately acquire the spatial pose of the operation instrument through the positions of the reference frame, so that navigation tracking during operation cannot be effectively completed, and a structure capable of knowing the spatial pose of the adjustable reference frame and the operation instrument is needed.
The invention aims at the technical problems and provides a calibration reference frame for an adjustable operation reference frame.
Disclosure of Invention
The space positions of the operation reference frame and the operation instrument are various, the problem that the space positions of the operation reference frame and the operation instrument are determined after the positions of the operation reference frame and the operation instrument are set according to the needs cannot be solved through system identification and through an operator selection mode, and the navigation system can know the position of the operation instrument and complete navigation tracking only by determining the space positions of the operation reference frame and the operation instrument through identifying the operation identified structure on the operation reference frame.
The technical problem is solved by arranging the middle transitional calibration reference frame, and the spatial pose relation of the combined marking instrument and the combined operating instrument is known. The calibration reference frame is provided with a calibration identified structure identified by the navigation system, and the operation reference frame is also provided with an operation identified structure identified by the navigation system. The specific technical scheme is as follows:
a calibration reference frame for an adjustable operating reference frame includes,
a combined structure which is combined with the operation device,
calibrating the identified structure, and connecting the identified structure with the combined structure; after the combined structure is combined with the operation instrument with the operation reference frame, the space pose of the identified structure and the operation instrument is determined and known;
the spatial pose relation between the marking reference frame arranged on the operation instrument and the operation reference frame is recognized and known through the navigation system, and the spatial pose relation between the operation participation frame and the operation instrument is known by combining the known spatial pose relation between the marking reference frame and the operation instrument.
In the specific operation process, when the operation device is used, firstly, the operation reference frame and the operation device are arranged at an operation position, a space pose which does not influence the operation of an operator and does not interfere other operation actions is selected, once the operation reference frame and the operation device are confirmed, the position pose of the operation reference frame and the operation device is immediately locked, and the space pose which is unknown but is unchanged is changed; combining the calibration reference frame and the operation instrument at a position for determining a known space pose; then identifying a marked identified structure and an operation identified structure through a navigation system, and calculating specific space pose of the operation reference frame and the operation instrument through the relation between the marked identified structure and the operation identified structure and the known marked reference frame and the operation instrument by software; tracking of the navigation system is achieved through conversion.
Further, calibrating the identified structure includes: at least three extending structures extend from the combined structure, and each extending structure is provided with an identified point which can be identified by the navigation system, and each three identified points are not arranged on the same straight line.
Further, the combined structure comprises a clamping structure or a sleeving structure, the clamping structure is clamped on the operation instrument in a determined angle and a determined position, and the sleeving structure is sleeved on the operation structure in a determined angle and a determined position; in this way, the certainty of the angle and position of the combined structure and the operating device can be ensured.
The beneficial effects of the invention are as follows:
the operation reference frame and the operation instrument can be adjusted in any space position through the arrangement of the calibration reference frame, the space position is fixed after adjustment, and finally, the specific space position conditions of the determined operation reference frame and the operation instrument are known through the determined space position relation of the calibration reference frame and the operation reference frame in the navigation system, so that the effectiveness of subsequent tracking of the navigation system is ensured.
The combination structure and the marked identified structure ensure the certainty and the knowledge after the combination of the marked reference frame and the operation instrument.
Drawings
FIG. 1 is a schematic diagram of a calibration reference frame structure for setting NDI beads according to the present invention;
FIG. 2 is a schematic view of the combination structure of the operation instrument, the operation reference frame and the calibration reference frame of the present invention;
FIG. 3 is a schematic cross-sectional view of a calibration reference frame of the present invention;
FIG. 4 is a schematic view of a calibration frame without connectors according to the present invention;
FIG. 5 is a schematic view of a longitudinal cross-sectional structure of a calibration reference frame of the present invention;
FIG. 6 is a schematic view of a partially enlarged structure of a connector portion according to the present invention;
FIG. 7 is a schematic view of a construction of an operating instrument without an operating reference frame according to the present invention;
description of the main reference numerals
11. An extension plate; 111. a notch I; 12. a cylindrical barrel; 121. a second notch; 13. a connector; 131. an adapter hole; 132. an insertion section; 133. an insertion hole; 134. an extension tube; 2. calibrating the identified structure; 21. identified points; 3. operating a reference frame; 4. operating the instrument; 41. a cylindrical section; 42. a bonding structure; 421. a coupling hole; 422. and (5) a binding column.
Detailed Description
Example 1
Referring to fig. 1 and 2; a calibration reference frame for an adjustable operating reference frame includes,
the combined structure, combined with the operation device 4,
calibrating the identified structure 2, and connecting with the combined structure; after the combined structure is combined with the operation instrument 4 with the operation reference frame 3, the spatial pose of the identified structure 2 and the operation instrument 4 is determined and known;
the space pose relation between the marking reference frame arranged on the operation instrument and the operation reference frame is recognized and known through the navigation system, and the space pose relation between the operation participation frame and the operation instrument is known by combining the known space pose relation between the marking reference frame and the operation instrument
In a specific operation process, firstly, setting an operation reference frame 3 and an operation instrument 4 to an operation position, selecting a space pose which does not influence the operation of an operator and does not interfere other operation actions, and immediately locking the position pose of the operation reference frame and the operation instrument to become an unknown but unchanged space pose once the operation reference frame and the operation instrument are confirmed; combining the calibration reference frame with the operation device 4 at the position of the known space pose; then identifying the identified structures on the calibration reference frame and the operation reference frame 3 through a navigation system, and calculating the specific space pose of the reference frame and the operation instrument 4 through the relation between the calibration reference frame and the known calibration reference frame and the operation instrument 4 by software; in this way, the arrangement of the non-adjustable reference frame and the operating device 4 is changed into the arrangement of the adjustable reference frame and the operating device 4, and the tracking of the navigation system can be realized through conversion.
In a more preferred embodiment, calibrating the identified structure 2 comprises: at least three extending structures extend from the combined structure, and each extending structure is provided with an identified point 21 which can be identified by the navigation system, and each three identified points 21 are not arranged on the same straight line. Wherein, four extension structures are preferably extended, and each extension structure is provided with an identified point 21 at the outer end part, and each three identified points 21 are not arranged on the same straight line; this forms a 4-sided structure with the identified points 21 as vertices; in the case of three identified points 21, a triangle is formed with three points as vertices.
The operation identified structure of the operation reference frame 3 is arranged in the same way as the calibration identified structure 2 on the calibration reference frame, but the shapes are different, and the shape setting can be carried out according to the operation requirement.
More preferred embodiments are that the combined structure comprises a clamping structure or a sleeving structure, the clamping structure is clamped on the operation device 4 at a determined angle and a determined position, and the sleeving structure is sleeved on the operation structure at the determined angle and the determined position; in this way, the certainty of the angle and position of the combined structure with the operating device 4 can be ensured.
In a more preferred embodiment, the position of the combined structure after being connected with the marked identified structure 2 is not changed relatively, and the arrangement can ensure the certainty of the spatial position of the marked identified structure 2 and the operation device 4 after the combined structure is combined with the operation device 4.
In a more preferred embodiment, the combination mode of the combination structure and the operation structure is one or two, wherein 1 combination mode is preferred, and the single combination mode of the single combination structure and the operation structure can ensure the certainty of the spatial pose after combination.
More preferred embodiments are that the combined structure comprises a sleeve joint structure, the sleeve joint structure is a cylindrical sleeve joint structure, and cylindrical holes consistent with the pipe diameters of cylindrical sections on the operation structure are arranged on the cylindrical sleeve joint structure; and the cylindrical segments and the cylindrical holes have one and only one combined position.
More preferred embodiment is that the cylindrical sleeve structure comprises a cylindrical barrel 12, the operation structure comprises a cylindrical section 41, four extension structures extend from the periphery of the cylindrical barrel 12, and the four extension structures are arranged on the same identification plane; the cylindrical section 41 of the operating instrument 4 comprises a set plane; the set plane passes through the central axis of the cylindrical section 41; the set angle is determined by the coincidence of the identification plane and the set plane, and the socket position is determined by the set position of the end of the cylindrical section 41 contacting the operating structure. By the method, the spatial pose of the calibration reference frame and the operation structure can be quickly and effectively determined. In a more preferred embodiment, the extension structure comprises a plate-type structure extending from the cylindrical barrel 12 in the same set plane, extension plates 11 with the same or different extending lengths are arranged on the plate-type structure, and identified points 21 are arranged on the extension plates 11; the plate type structure is arranged, so that the operation is convenient; in addition, the extension plates 11 with the same or different lengths can be used for different identification requirements. Among them, the extension plates 11 are preferably identical in length, and the identified points 21 formed in this way are formed in a rectangular shape, which is convenient to be set. In a more preferred embodiment, a notch one 111 which is not arranged in a penetrating way is arranged on the extension plate 11, and the quality of the calibration reference frame can be effectively reduced through the arrangement of the notch one 111. In a more preferred embodiment, the cylindrical barrel 12 is also provided with a second notch 121, and the second notch 121 is arranged to facilitate observation.
In a more preferred embodiment, the operation device 4 is a device with a cylindrical section 41 in a tuberosity fracture operation navigation system, the outer diameters of the cylindrical sections 41 of different operation devices 4 are different, and in order to meet the requirement of setting a calibration reference frame in the same operation, the inner diameter of the cylindrical barrel 12 is equal to the outer diameter of the cylindrical section 41 with the largest size in the operation device 4; a connector 13 is arranged at one end or two ends of the cylindrical barrel 12; the connectors 13 are provided with adapting holes 131, each connector 13 is provided with a model of adapting hole 131, and the diameters of the adapting holes 131 respectively correspond to the outer diameters of the cylindrical sections 41 of different operation instruments 4; this arrangement ensures that the purpose of selecting different connectors 13 according to different operating instruments 4 is ensured, so that a cylindrical cartridge 12 is not provided for one operating instrument 4, only by means of changing different connecting cartridges. The connectors 13 are preferably arranged at two ends of the cylindrical barrel 12, and the two continuous operation devices 4 can be calibrated by connecting the corresponding connectors 13 when the two continuous operation devices are continuously used, so that the calibration time of the devices is saved, and the calibration of the two operation devices 4 and the operation reference frame 3 is completed by one-time replacement. When the operation device is specifically used, the positions of all the operation devices 4 and the operation reference frame 3 are temporarily adjusted and determined according to the condition of an operation part, connectors 13 of the operation devices 4 are combined to two ends of the cylindrical barrel 12 in sequence after the positions are determined, and after the calibration of the two operation devices 4 and the operation reference frame 3 is sequentially completed, the two connectors 13 are replaced until the calibration of all the devices is completed.
More preferred embodiments refer to fig. 3, 4, 5 and 6; the first end of the connector 13 is provided with an insertion part 132, and an insertion hole 133 for inserting the insertion part 132 is provided corresponding to the rear end of the cylindrical barrel 12; the insertion portion 132 is fitted into the insertion hole 133, the outer diameter of the insertion portion 132 is equal to the diameter of the insertion hole 133, and the inner hole of the insertion portion 132 is fitted into the hole 131; in this way, the coupling head 13 is coupled to the cylindrical drum 12.
In a more preferred embodiment, the diameter of the insertion hole 133 is larger than the inner diameter of the cylindrical barrel 12, and this arrangement can avoid the influence of the arrangement of the insertion hole 133 on the arrangement of the cylindrical barrel 12.
More preferred embodiments are that the second end of the connector 13 is provided with an extension barrel 134, the extension barrel 134 is also a cylinder, which is used for realizing the convenience of the arrangement of the connector 13, and the extension barrel 134 is provided with a definite length for contacting the set position of the operation device 4; the reference frame and the operation device 4 can be conveniently calibrated to reach the preset space pose state. The extension cylinder 134 stops extending when it contacts the operating device 4 at the set position.
More preferred embodiments are those in which the fitting hole 131 is provided as a cylindrical hole for direct insertion and withdrawal; or the fitting hole 131 is a threaded hole which fits with a corresponding cylindrical threaded section on the operating instrument 4, and the combination is achieved by rotation.
Example 2
An adjustable operation reference frame 3 is provided with various and even random operation reference frames 3 and operation instruments 4, and a calibration step is added in the middle by adding a calibration reference frame mode to determine the space pose of the operation reference frames 3 and the operation instruments 4; however, once the spatial pose of the operation reference frame 3 and the operation instrument 4 is determined, the following tracking is completed. The calibration reference frame and the operation device 4 have only one known spatial pose relation after combination; when the device is used, the combined space pose of the operation reference frame 3 and the operation instrument 4 is adjusted according to the requirement, but the space pose of the operation reference frame 3 and the operation instrument 4 is not known at the moment, and the space pose of the operation reference frame 3 and the operation instrument 4 is not changed after the adjustment; but still is unaware of the relative positional relationship that can be tracked; combining the calibration reference frame and the operation instrument 4 in a determined combination mode; and then, the identified structures on the calibration reference frame and the operation reference frame 3 are identified through a navigation system, the spatial pose of the calibration reference frame and the operation reference frame 3 is known, and the spatial pose of the operation instrument 4 and the operation reference frame 3 can be known through software calculation. By the method, the space pose and angle of the operation reference frame 3 and the operation instrument 4 can be adjusted according to the needs, and the space pose of the adjusted operation reference frame 3 and the adjusted operation instrument 4 can be determined.
The specific implementation mode is as follows: referring to fig. 7; at least two coupling structures 42 are provided on the operating instrument 4, and the coupling structures 42 further include coupling holes 421 capable of adjusting positions; corresponding binding posts 422 are provided on the operating reference frame 3. More specifically, the coupling hole 421 has a circular or regular polygonal shape, and the coupling post 422 has a shape that is adapted to the coupling hole 421. Further, the positions and angles of the coupling holes 421 and the coupling posts 422 are unchanged after coupling; specifically, a soft cushion can be arranged outside the combining column 422; or when the connecting hole 421 is polygonal, the magnetic mutual attraction structure is correspondingly arranged at the connecting position. Or, a locking screw hole is arranged on the outer side wall of the combining hole 421, and a locking screw rod is arranged in the locking hole; the screw is inserted into the coupling hole 421 through the screw hole, thereby locking the positions of the coupling post 422 and the coupling hole 421. The locking mode has better fixing effect and mature preparation process; in a more preferred embodiment, the combining hole 421 is a regular polygon hole, the combining column 422 is a regular polygon column, and the setting can achieve the purpose of adjusting the angle of the operation reference frame 3 by adjusting the corresponding relation between the combining hole 421 and different sides of the combining column 422, and the most suitable setting angle can be selected according to the needs. Specifically, the cross-sectional areas of the coupling hole 421 and the coupling post 422 are regular hexagons. The setting can meet the adjustment requirement, and the difficulty in selecting the angle is avoided because of too many edges, so that the setting mode capable of achieving the most direct angle setting is provided.
More specifically, two combining structures 42 are provided, and the intersection angle of the two combining structures 42 is 90 degrees; the arrangement can ensure that the reference frame is arranged for the left limb and the right limb in a mirror image mode when the limbs are operated, and the convenience of arrangement is improved.
In a more specific embodiment, the operation reference frame 3 comprises an operation identified structure and a frame body; the operation is combined by the mode of universal ball head and universal ball socket through recognition structure 2 and support body, and universal ball head and universal ball socket realize the position through locking structure and lock, and locking structure includes the dead screw of locking screw and the dead screw rod of locking of lateral wall, and the dead screw rod of locking gets into in the universal ball socket through the dead screw of locking and carries out the position lock to universal ball head.
Or the operation identified structure is connected with the frame body through the rotating shaft and a plurality of corresponding rotating clamping structures, and conversion among different rotating clamping structures is realized through rotation.
While the foregoing embodiments of the present invention have been described in terms of specific embodiments, it will be apparent to those skilled in the art that the foregoing embodiments are merely illustrative of some, but not all, of the present invention, and that other advantages and features of the present invention will be readily apparent to those of ordinary skill in the art from consideration of the specification. The invention may be embodied or applied in other specific forms and features of the following examples and examples may be combined with each other without conflict, all other examples being contemplated by those of ordinary skill in the art without undue burden from the present disclosure, based on the examples of the invention.
Claims (10)
1. A calibration reference frame for an adjustable operation reference frame is characterized in that the calibration reference frame comprises,
a combination structure for combination with an operation device,
calibrating the identified structure, and identifying the identified structure by a navigation system, wherein the identified structure is connected with the combined structure; after the combined structure is combined with the operation instrument capable of combining the operation reference frame, the space pose of the identified structure and the operation instrument is determined and known;
the spatial pose relation between the marking reference frame arranged on the operation instrument and the operation reference frame is recognized and known through the navigation system, and the spatial pose relation between the operation participation frame and the operation instrument is known by combining the known spatial pose relation between the marking reference frame and the operation instrument.
2. The adjustable operational reference frame of claim 1, wherein calibrating the identified structure comprises: at least three extending structures extend from the combined structure, an identified point which can be identified by the navigation system is arranged at the outer end part of each extending structure, and every three identified points are not arranged on the same straight line.
3. The calibration frame for an adjustable operation reference frame according to claim 2, wherein four extension structures are extended, one identified point is provided at an outer end of each extension structure, and none of the three identified points are provided on the same straight line; a 4-sided polygon structure is formed with identified points as vertices.
4. The adjustable operating reference frame calibration frame of claim 1, wherein the combined structure comprises a snap-fit structure or a socket-fit structure, the snap-fit structure being snapped onto the operating instrument at a determined angle and at a determined position, or the socket-fit structure being socket-fitted onto the operating structure at a determined angle and at a determined position.
5. The adjustable operational reference frame of claim 1, wherein the combined structure and the post-connection location of the calibrated identified structure do not change relatively; the combination mode of the combination structure and the operation structure is one.
6. The calibration reference frame for an adjustable operation reference frame according to claim 1, wherein the combined structure comprises a sleeve structure, the sleeve structure is a cylindrical sleeve structure, and a cylindrical hole consistent with the diameter of a cylindrical section on the operation structure is arranged on the cylindrical sleeve structure; and the cylindrical segments and the cylindrical holes have one and only one combined position.
7. The calibration frame for an adjustable operational reference frame of claim 6, wherein the cylindrical sleeve structure comprises a cylindrical barrel, the operational structure comprises a cylindrical section, four extension structures extend from the periphery of the cylindrical barrel, and the four extension structures are disposed on the same identification plane; the cylindrical section of the operating device comprises a setting plane; setting a plane passing through the central axis of the cylindrical section; determining a set angle by overlapping the identification plane and the set plane, and determining a sleeving position by a set position of the cylindrical section end part contact operation structure;
the extension structure comprises a plate type structure which extends out of the cylindrical barrel and is positioned on the same set plane, extension plates with the same or different extending lengths are arranged on the plate type structure, and identified points are arranged on the extension plates;
the length of the extension plates is the same, and a notch I which is not penetrated is arranged on the extension plates and is used for reducing the quality of the calibration reference frame; the cylindrical barrel is also provided with a second notch for observation.
8. The adjustable operating reference frame calibration frame according to claim 7, wherein the operating instruments are instruments with cylindrical sections, the outer diameters of the cylindrical sections of different operating instruments are different, one calibration frame calibration requirement is set for meeting the same operation, and the inner diameter of the cylindrical barrel is equal to the outer diameter of the cylindrical section with the largest size in the operating instruments; in addition, one end or two ends of the cylindrical barrel are provided with connectors; the connecting heads are provided with adapting holes, each connecting head is provided with a model adapting hole, and the diameters of the adapting holes respectively correspond to the outer diameters of the cylindrical sections of different operation instruments.
9. The calibration reference frame for the adjustable operation reference frame according to claim 8, wherein connectors are arranged at two ends of the cylindrical barrel, when the calibration reference frame is used, the positions of all operation instruments and the operation reference frame are temporarily adjusted and determined according to the condition of an operation part, after the positions are determined, the connectors of the corresponding operation instruments are combined to two ends of the cylindrical barrel in a pairwise manner in sequence, and after the calibration of the two operation instruments and the operation reference frame is completed in sequence, the two connectors are replaced until the calibration of all the instruments is completed;
the first end of the connector is provided with an inserting part, and an inserting hole for inserting the inserting part is arranged corresponding to the rear end of the cylindrical barrel; the insertion part is matched with the insertion hole, the outer diameter of the insertion part is equal to the diameter of the insertion hole, and the inner hole of the insertion part is matched with the hole; the diameter of the insertion hole is larger than the inner diameter of the cylindrical barrel for avoiding the influence of the insertion hole arrangement on the cylindrical barrel arrangement.
10. The calibration frame for an adjustable operation reference frame according to claim 9, wherein the second end of the connector is provided with an extension cylinder, which is also a cylinder for facilitating the setting of the connector, and the extension cylinder is provided with a determined length for contacting a set position of the operation instrument; the reference frame and the operation instrument can be conveniently calibrated to reach the preset space pose state.
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| CN202310908046.2A CN116650119B (en) | 2023-07-24 | 2023-07-24 | Calibration reference frame for adjustable operation reference frame |
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| CN202310908046.2A CN116650119B (en) | 2023-07-24 | 2023-07-24 | Calibration reference frame for adjustable operation reference frame |
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| CN217713259U (en) * | 2022-07-18 | 2022-11-01 | 北京天智航医疗科技股份有限公司 | Switching adapter device of navigation locator |
| CN116250925A (en) * | 2023-03-30 | 2023-06-13 | 北京罗森博特科技有限公司 | Surgical tool navigation device and navigation drill |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117618114A (en) * | 2024-01-25 | 2024-03-01 | 北京维卓致远医疗科技发展有限责任公司 | Sleeve reference frame for PFNA operation navigation system |
| CN117618114B (en) * | 2024-01-25 | 2024-04-12 | 北京维卓致远医疗科技发展有限责任公司 | Sleeve reference frame for PFNA operation navigation system |
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Address after: 100082, 9th Floor, Building 1, No. 32 Xizhimen North Street, Haidian District, Beijing 1004A23 Patentee after: Beijing Weizhuo Zhiyuan Medical Technology Co.,Ltd. Country or region after: China Patentee after: Fourth Medical Center, General Hospital of the Chinese PLA Address before: 100082, 9th Floor, Building 1, No. 32 Xizhimen North Street, Haidian District, Beijing 1004A23 Patentee before: VISUAL3D MEDICAL TECHNOLOGY DEVELOPMENT Co.,Ltd. Country or region before: China Patentee before: Fourth Medical Center, General Hospital of the Chinese PLA |