CN116849808A - Registration instrument for registering navigation system coordinates and image position coordinates - Google Patents
Registration instrument for registering navigation system coordinates and image position coordinates Download PDFInfo
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- CN116849808A CN116849808A CN202311011895.4A CN202311011895A CN116849808A CN 116849808 A CN116849808 A CN 116849808A CN 202311011895 A CN202311011895 A CN 202311011895A CN 116849808 A CN116849808 A CN 116849808A
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- 229910000831 Steel Inorganic materials 0.000 claims description 14
- 239000010959 steel Substances 0.000 claims description 14
- 238000003384 imaging method Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 2
- 239000004917 carbon fiber Substances 0.000 claims description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 2
- 238000000034 method Methods 0.000 description 5
- 239000011324 bead Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000008188 pellet Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention discloses a registration instrument for registering navigation system coordinates and image position coordinates, which comprises a bearing structure, wherein the bearing structure comprises: a registration structure comprising registration points for determining a three-dimensional coordinate system of the image; the identified structure and the marked registration points have a determined space pose relationship and are used for being identified by a navigation system; shooting the registration instrument and the body part to be shot of the patient simultaneously through image equipment, marking a coordinate system determined by registration points, and determining the position of the image of the real patient in the coordinate system according to the coordinate system; the position of the identified structure in the navigation system is identified through the navigation system, and the coordinate system of the image and the coordinate system of the navigation system are registered according to the relation between the identified structure and the registration points of the identification structure, so that the coordinate systems of the identified structure and the registration points of the identification structure are unified. The registration points of the registration structure are arranged on the bearing plate, and the connecting lines of the registration points in different directions can be converged into three registration points to form a coordinate system.
Description
Technical Field
The invention belongs to the technical field of medical instruments, in particular relates to a surgical instrument related to a navigation surgical system, and in particular relates to a registration instrument for registering coordinates of the navigation system and coordinates of an image position.
Background
The existing navigation operation system generally needs to combine the image and the space position of the navigation system, and the mode generally adopted at present is that the image is directly introduced into the navigation system and then registered with the position of the navigation system through simple data processing, but continuous researches find that the position condition of the current image is not accurate every time, so that the subsequent navigation path also has corresponding deviation.
Aiming at the problem of inaccurate position of the image, the invention provides a registration instrument for registering the navigation system coordinate and the image position coordinate.
Disclosure of Invention
Aiming at the problem that a registration instrument cannot be effectively fixed to a specific space in the prior art, the invention provides a technical scheme for fixing the registration instrument to an image instrument, and solves the problem of finishing the fixation of the registration instrument.
The specific technical scheme is as follows:
a registration apparatus for registration of navigation system coordinates with image position coordinates, comprising,
a socket plate, comprising:
a registration structure comprising registration points for determining a three-dimensional coordinate system of the image;
the identified structure and the marked registration points have a determined space pose relationship and are used for being identified by a navigation system;
shooting the registration instrument and the body part to be shot of the patient simultaneously through image equipment, marking a coordinate system determined by registration points, and determining the position of the image of the real patient in the coordinate system according to the coordinate system; the position of the identified structure in the navigation system is identified through the navigation system, and the coordinate system of the image and the coordinate system of the navigation system are registered according to the relation between the identified structure and the registration points of the identification structure, so that the coordinate systems of the identified structure and the registration points of the identification structure are unified.
By the method, the image position of the real patient can be quickly registered with a coordinate system in a navigation system, and the difficulty of registration is reduced.
Further, one end of the bearing plate comprises two side plates, namely a first side plate and a second side plate; the first side plate is connected with the second side plate through a connecting transverse plate, and registration points of the registration structure are arranged on the first side plate and the second side plate; two rows of registration points are arranged on the first side plate, at least two registration points are arranged in each row, and the registration points in each row are the same; the other side plate is also provided with two rows of registration points, each row is provided with at least two registration points, and the registration points in each row are the same;
each row of registration points of the first side plate and the second side plate are arranged on 1 straight line, 4 lines are formed in a conformal mode, the 4 lines can be collected at one registration point, and the registration point is a first collection point;
each row of registration points of the first side plate or the second side plate is defined as an inner side first registration point, an outer side first registration point, an inner side second registration point and an outer side second registration point according to the longitudinal position and the inner and outer side positions;
the first registration points on the inner side and the first registration points on the outer side on the first side plate form a straight line, the second registration points on the inner side and the second registration points on the outer side form a straight line, two straight lines are correspondingly formed on the second side plate to form 4 straight lines, or when 3 straight lines exist in each row, 6 straight lines are formed, all the straight lines are converged at one registration point, and the registration points are second convergence points;
the first registration points on the inner side of the first side plate and the first registration points on the inner side of the second side plate form a straight line, the first registration points on the outer side of the first side plate and the first registration points on the outer side of the second side plate form a straight line, the second registration points on the inner side of the first side plate and the second registration points on the inner side of the second side plate form a straight line, and the second registration points on the outer side of the first side plate and the second registration points on the outer side of the second side plate form a straight line; forming 4 straight lines or 6 straight lines when 3 straight lines exist in each column; all the straight lines are collected at one registration point, and the registration point is a third collection point;
the first collection point, the second collection point and the third collection point are arranged on 3 coordinate axes of the same coordinate system, and the coordinate system is constructed in the mode, so that the position registration point of the image can be determined, and the position coordinate condition of the identified structure can be known; and the position registration points of the image images can be registered with the coordinates of the navigation system after the identified structure is identified by the navigation system, so that the unification of the coordinates of the path setting and tracking of the image images is ensured.
Further, the other side of the bearing plate is provided with the identified structure, and the identified structure and the registration structure are arranged at different positions, so that interference and influence during mutual shooting can be avoided.
Further, the registration structure comprises glass beads and small holes formed in the first side plate and the second side plate.
The beneficial effects of the invention are as follows:
1) By arranging the identified structure and the registration structure with known position relations on an integral receiving plate, image shooting can be completed through the identification structure and the real patient at the same time, and the position relations between the coordinate positions of the image images of the real patient and the identified structure are known; when the identified structure is identified by the navigation system, the unification of the coordinate position of the image of the real patient and the coordinate position of the navigation system can be easily realized.
2) By arranging the identified structure and the registration structure at different positions of the receiving plate; the imaging system and the navigation system can effectively image or identify the two parts respectively.
Drawings
FIG. 1 is a schematic diagram of the overall front view of a registration apparatus with an upper NDI ball and a small steel ball according to the present invention;
FIG. 2 is a schematic top view of a registration apparatus of the present invention without NDI balls and small steel balls;
FIG. 3 is a schematic view of the bottom surface of the registration device without NDI ball and small steel ball;
FIG. 4 is a schematic view of the right side view of the registration apparatus without NDI ball and small steel ball of the present invention;
FIG. 5 is a schematic view of a left side view of a registration apparatus without NDI ball and small steel ball according to the present invention;
FIG. 6 is a schematic view of the front view of a registration apparatus of the present invention without NDI balls and small steel balls;
FIG. 7 is a schematic view of the rear view of a registration apparatus of the present invention without NDI balls and small steel balls;
FIG. 8 is a schematic view of the combination of NDI ball and short link of the present invention;
FIG. 9 is a schematic diagram showing the structure of the bottom side view of the NDI pellet of the present invention;
FIG. 10 is a schematic view of a short link structure of the present invention;
FIG. 11 is a schematic view of a combined registration instrument and registration fixation instrument;
FIG. 12 is a schematic illustration of a registration instrument configuration with 3 collection points;
description of the main reference numerals
1. A first side plate; 2. a second side plate; 11. a recessed region; 3. a connecting transverse plate; 31. an identified portion; 311. a second notch; 32. a marking section; 321. a first notch; 4. NDI pellets; 5. a small steel ball; 61. a threaded hole; 62. a short connecting rod; 63. a threaded section; 64. a cylindrical hole; 7. registering the fixation instrument; 81. a first collection point; 82. a second collection point; 83. and a third collection point.
Detailed Description
Example 1
Referring to fig. 1-7; a registration apparatus for registration of navigation system coordinates with image position coordinates includes,
a receiving structure, comprising: a registration structure comprising registration points for determining a three-dimensional coordinate system of the image; the system also comprises a recognized structure, wherein a space pose relation is determined between the recognized structure and the marked registration points and is used for being recognized by a navigation system;
shooting the registration instrument and the body part to be shot of the patient simultaneously through image equipment, marking a coordinate system determined by registration points, and determining the position of the image of the real patient in the coordinate system according to the coordinate system; the position of the identified structure in the navigation system is identified through the navigation system, and the coordinate system of the image and the coordinate system of the navigation system are registered according to the relation between the identified structure and the registration points of the identification structure, so that the coordinate systems of the identified structure and the registration points of the identification structure are unified.
By the method, the image position of the real patient can be quickly registered with a coordinate system in a navigation system, and the difficulty of registration is reduced. The accuracy of setting the guide path according to the image is improved, the operation device can enter along the guide path when entering along the navigation system, and errors are reduced.
The bearing structure is a bearing plate; the plate-shaped arrangement can reduce the difficulty of arrangement. When the device is used, the carrying plate carrying the registration structure sets the registration structure below the shooting area of the image equipment, and shooting is completed along with a real patient; identifying the identified structure through a navigation system; and the relationship between the identified structure and the registration structure in the middle is used for completing the registration of the navigation system and the coordinate system of the image system.
The registration structure comprises registration points arranged in different spaces of the bearing plate; the registration points are arranged in two different spatial planes; the number of the registration points of each space plane is the same, but the space settings are different, and each space plane presents two columns and at least two rows of registration points; and constructing straight lines for the registration points at two corresponding positions in the transverse direction, the longitudinal direction and the vertical direction to form three groups of straight lines in three vertical directions, wherein each group of straight lines is converged into a converging point, and the three converging points are positioned on the coordinate axes of the same coordinate system. In this way, a defined coordinate system can be constructed well, which is recognized by the imaging device. When photographed with a real patient, the coordinate position of the real image of the patient can be clearly known; and the real image coordinate position of the patient corresponds to the registered structure, so that the registration of the image coordinate and the navigation system coordinate is realized.
More specifically, the method comprises the following steps: the registration structure comprises registration points arranged in different spaces of the bearing plate.
One end of the bearing plate comprises two side plates, namely a first side plate 1 and a second side plate 2; the first side plate 1 is connected with the second side plate 2 through a connecting structure, preferably through a connecting transverse plate 3, and registration points of registration structures are arranged on the first side plate 1 and the second side plate 2; two rows of registration points are arranged on the first side plate 1, at least two registration points are arranged in each row, and the registration points in each row are the same; the other side plate is also provided with two rows of registration points, each row is provided with at least two registration points, and the registration points in each row are the same; in the specific implementation, two rows of four registration points or two rows of six registration points are arranged for each side plate, and the mode effect of the two rows of six registration points is better. The alignment points are arranged in rows and at the same positions between the two side plates to form straight lines respectively, the straight lines in each three-dimensional direction are gathered into one alignment point, and the two three-dimensional directions form three alignment points on the coordinate axes of the same coordinate system; the coordinate system is effectively constructed by three registration points.
Referring to fig. 12; the method comprises the following steps: each row of registration points of the first side plate 1 and the second side plate 2 are arranged on 1 straight line, 4 lines are formed in a conformal mode, and 4 lines can be collected at one registration point, and the registration point is a first collection point 81;
each row of registration points of the first side plate 1 or the second side plate 2 is defined as an inner side first registration point, an outer side first registration point, an inner side second registration point and an outer side second registration point according to the longitudinal position and the inner and outer side positions; or the third registration point on the inner side and the third registration point on the outer side can be set; wherein the inner first registration point and the outer first registration point are arranged above each other, and the inner second registration point and the outer second registration point are arranged below each other; the inner third registration point and the outer third registration point are arranged at the lowest part; the outer side is one side of the corresponding alignment point area close to the edge of the bearing plate; the inner side is one side of the corresponding alignment point area far away from the edge of the bearing plate.
Wherein, the first registration point on the inner side and the first registration point on the outer side on the first side plate 1 form a straight line, the second registration point on the inner side and the second registration point on the outer side form a straight line, the second side plate 2 correspondingly forms two straight lines to form 4 straight lines, or when 3 straight lines exist in each row, 6 straight lines are formed, all straight lines are converged at one registration point, and the registration point is the second convergence point 82;
the first registration points on the inner side of the first side plate 1 and the first registration points on the inner side of the second side plate 2 form a straight line, the first registration points on the outer side of the first side plate 1 and the first registration points on the outer side of the second side plate 2 form a straight line, the second registration points on the inner side of the first side plate 1 and the second registration points on the inner side of the second side plate 2 form a straight line, and the second registration points on the outer side of the first side plate 1 and the second registration points on the outer side of the second side plate 2 form a straight line; forming 4 straight lines or 6 straight lines when 3 straight lines exist in each column; all the straight lines are collected at one registration point, which is a third collection point 83;
the first collecting point 81, the second collecting point 82 and the third collecting point 83 are arranged on 3 coordinate axes of the same coordinate system, and the coordinate system is constructed in the mode, so that the position registration points of the image images can be determined, and the position coordinate condition of the identified structure can be known; and the position registration points of the image images can be registered with the coordinates of the navigation system after the identified structure is identified by the navigation system, so that the unification of the coordinates of the path setting and tracking of the image images is ensured.
In a more preferred embodiment, the other side of the receiving plate is provided with a recognized structure, so that interference and influence during shooting can be avoided.
A more preferred embodiment is described with reference to fig. 8-10; the registration structure comprises a small ball which can be shot by the image equipment, and one small ball corresponds to one registration point; the ball holding cavity is formed between the first side plate 1 and the second side plate 2, the ball is arranged in the ball holding cavity, or a cylindrical hole 64 is formed between the first side plate 1 and the second side plate 2, a short connecting rod 62 is arranged in the middle, a ball is arranged at the first end of the short connecting rod 62, and the second end of the short connecting rod 62 stretches into the cylindrical hole 64. Wherein the short connecting rod is provided with a threaded section 63, and the small ball is provided with an adaptive threaded hole; further, the small ball is a small steel ball 5, and the small steel ball 5 can be shot by imaging equipment.
Referring to fig. 1; more preferred embodiments are: the first side plate 1 and the second side plate 2 of the bearing plate are trapezoid side plates which are unequal in size and are not parallel, the first side plate 1 is larger than the second side plate 2, and the connecting transverse plate 3 for connecting the first side plate 1 and the second side plate 2 is also a trapezoid plate; finally, the bearing plate part for bearing the identification structure is in a trapezoid shape when being respectively watched from the upper part, the lower part, the left part, the right part and the front part and the back part. The shape setting can effectively set the registration points in different spaces to form 3 collection points, and an effective coordinate system is constructed.
Referring to fig. 5; in a more preferred embodiment, the first side plate 1 is larger than the second side plate 2, and the projection of the first side plate 1 on the vertical plane completely covers the projection of the second side plate 2. The vertical plane is a plane parallel to the longitudinal central axis of the bearing plate.
More preferred embodiments are: referring to fig. 12; in order to achieve the above-mentioned intersection effect, the height positions of the upper and lower alignment points of the two alignment points of the same side plate are different, and the projection of the line segment formed by one alignment point on the line segment formed by the other alignment point is completely within the line segment range formed by the other alignment point, and is smaller than the length of the line segment. The arrangement is an effective collection arrangement.
The identified structure is provided at the other side position of the connection diaphragm 3, this portion being defined as an identified portion 31; the identified structure is provided at the identified portion 31; the portion connecting the first side plate 1 and the second side plate 2 is defined as a mark portion 32.
In a more preferred embodiment, the first notch 321 is provided on the marking portion 32 to avoid over-coloring of the image when disposed along the transverse or longitudinal direction of the transverse plate. Because the larger the thickness of the object is, the darker the color of the formed image is, and the thickness of the object when irradiated along the transverse and longitudinal directions of the transverse plate is reduced by arranging the notch.
In a more preferred embodiment, a large second notch 311 is also provided in the connection cross plate 3 between the identified portion 31 and the mark portion 32, and the notch is provided for the purpose of reducing the weight of the receiving plate and improving the clarity of the image at the time of photographing.
In a more preferred embodiment, the identified portion 31 and the marking portion 32 are provided on the straight connecting diaphragm 3, or the identified portion 31 and the marking portion 32 are provided on the bent connecting diaphragm 3, and the identified portion 31 and the marking portion 32 are provided on both sides of the bent portion of the connecting diaphragm 3, respectively.
In a more preferred embodiment, when the connection cross plate 3 is a straight plate, the connection cross plate 3 gradually increases in size from the marked portion 32 to the identified portion 31.
In a more preferred embodiment, a gap is completely arranged between two rows of registration points of the first side plate 1 and the second side plate 2, or a low region is positioned as a concave region 11 in a manner that the region between the two rows of registration points is lower than the arrangement position of the two rows of registration points; the thickness of the plate when irradiated is reduced, and the definition of the image is increased.
In a more preferred embodiment, a connecting plate is arranged below the connecting transverse plate 3 which is not connected with the first side plate 1 and the second side plate 2, and is used for fixing the receiving plate to a position which can be shot corresponding to the image equipment. The connecting plate is fixed on a transitional fixing structure, the fixing structure is connected with the connecting plate of the bearing plate, and the position of the bearing plate is controlled to be unchanged. The fixing of the bearing plate can be effectively realized by the mode.
In a more preferred embodiment, the connecting plate is provided with a connecting hole. In a more preferred embodiment, the material of the whole bearing plate is uniform, and the bearing plate is made of light carbon fiber material.
In a more preferred embodiment, the identified structure comprises at least three NDI balls 4 arranged on the connecting transverse plate 3, and the identified structure is a commonly used identification structure of a navigation system, and the navigation system is an NDI navigation system; alternatively, the identified structure may also be a color identification plate provided to the connection cross plate 3 in place of the NDI beads 4, the color identification plate being positioned to coincide with the NDI beads 4; the color recognition plate is a circular plate, and arc-shaped color partitions with black and white phases are arranged on the color recognition plate. The navigation system is a binocular-calibrated navigation system.
In a more preferred embodiment, the NDI ball 4 and the steel ball 5 are arranged on the bearing plate in the same way, the NDI ball 4 and the steel ball 5 are provided with threaded holes 61, the first end of the short connecting rod 62 is provided with a threaded column matched with the threaded holes 61, and the second end of the short connecting rod 62 extends into the cylindrical hole 64. The arrangement of the NDI small ball 4 and the small steel ball 5 is effectively realized in the mode; the second end of the short link 62 and the cylindrical bore 64 may be glued together to accommodate for the fall-off during registration.
Example 2
A registration method of navigation system coordinates and image position coordinates comprises the following steps: referring to fig. 11;
1) The registration instrument in the embodiment 1 is used for setting and fixing the registration instrument below the imaging device, so that the position can be shot by the imaging device, and then the position required to be shot by the patient and the registration instrument are set in the same space, and shooting is completed at the same time;
2) And then, the identified structure of the registration instrument is identified by a navigation system, the position of the identified structure in the navigation system is known, and the identified structure is further registered with the coordinate position of the image determined in the step 1, so that the coordinates of the two systems are unified, and errors are avoided.
By setting the registration fixing device 7 to fix the registration device under the imaging device, the registration fixing device 7 includes an annular fixing structure that is sleeved on the imaging device. With particular reference to fig. 11.
The following detailed description of the embodiments of the present invention will be made more apparent to those skilled in the art from the following detailed description, in which the embodiments described are merely some, but not all embodiments of the present invention. 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. The registration instrument for registering the navigation system coordinate and the image position coordinate is characterized by comprising a bearing structure, wherein the bearing structure comprises a bearing plate; it comprises the following steps:
a registration structure comprising registration points for determining a three-dimensional coordinate system of the image; and
the identified structure and the marked registration points have a determined space pose relationship and are used for being identified by a navigation system;
the bearing plate is used for setting a registration structure and an identified structure;
when the device is used, the carrying plate carrying the registration structure sets the registration structure below the shooting area of the image equipment, and shooting is completed along with a real patient; identifying the identified structure through a navigation system; and the relationship between the identified structure and the registration structure in the middle is used for completing the registration of the navigation system and the coordinate system of the image system.
2. The registration device of claim 1, wherein the registration structure includes registration points disposed in different spaces of the receiving plate; the registration points are arranged in two different spatial planes; the number of the registration points of each space plane is the same, but the space settings are different, and each space plane presents two columns and at least two rows of registration points; and constructing straight lines for the registration points at two corresponding positions in space along the transverse direction and the longitudinal direction and in the vertical direction to form three groups of straight lines in three vertical directions, wherein each group of straight lines is converged into a converging point, and the 3 converging points are on the coordinate axes of the same coordinate system.
3. The registration instrument of claim 2, wherein the receiving plate includes two side plates at one end, a first side plate and a second side plate, respectively; the first side plate is connected with the second side plate through a connecting structure and is connected with the second side plate through a connecting transverse plate, and registration points of a registration structure are arranged on the first side plate and the second side plate; two rows of registration points are arranged on the first side plate, at least two registration points are arranged in each row, and the registration points in each row are the same; the other side plate is also provided with two rows of registration points, each row is provided with at least two registration points, and the registration points in each row are the same;
two rows of four registration points or two rows of six registration points are arranged on each side plate;
optionally, each row of registration points of the first side plate and the second side plate are arranged on 1 straight line, 4 lines are formed in a conformal manner, and the 4 lines can be collected at one registration point, and the registration point is a first collection point;
each row of registration points of the first side plate or the second side plate is defined as an inner side first registration point, an outer side first registration point, an inner side second registration point and an outer side second registration point according to the longitudinal position and the inner and outer side positions;
the first registration points on the inner side and the first registration points on the outer side on the first side plate form a straight line, the second registration points on the inner side and the second registration points on the outer side form a straight line, two straight lines are correspondingly formed on the second side plate to form 4 straight lines, or when 3 straight lines exist in each row, 6 straight lines are formed, all the straight lines are converged at one registration point, and the registration points are second convergence points;
the first registration points on the inner side of the first side plate and the first registration points on the inner side of the second side plate form a straight line, the first registration points on the outer side of the first side plate and the first registration points on the outer side of the second side plate form a straight line, the second registration points on the inner side of the first side plate and the second registration points on the inner side of the second side plate form a straight line, and the second registration points on the outer side of the first side plate and the second registration points on the outer side of the second side plate form a straight line; forming 4 straight lines or 6 straight lines when 3 straight lines exist in each column; all the straight lines are collected at one registration point, and the registration point is a third collection point;
the first collection point, the second collection point and the third collection point are arranged on 3 coordinate axes of the same coordinate system, so that the coordinate system is constructed.
4. Registration apparatus according to claim 1, characterized in that the other side of the receiving plate is provided with an identified structure for avoiding disturbances and influences during shooting;
the registration structure comprises a small ball which can be shot by the image equipment, and one small ball corresponds to one registration point; the ball accommodating cavity is formed in the first side plate and the second side plate, the ball is arranged in the ball accommodating cavity, or cylindrical holes are formed in the first side plate and the second side plate, a short connecting rod is arranged in the middle of the ball accommodating cavity, a ball is arranged at the first end of the short connecting rod, and the second end of the short connecting rod stretches into the cylindrical holes; the small ball is a small steel ball which can be shot by the imaging equipment.
5. A registration device according to claim 3, wherein the receiving plate portions for receiving the identification structures are each trapezoidal in shape, viewed from above and below, from left and right, and from front and rear, respectively;
the first side plate and the second side plate of the bearing plate are trapezoid side plates which are unequal in size and are not parallel, the first side plate is larger than the second side plate, and the connecting transverse plate for connecting the first side plate and the second side plate is also a trapezoid plate;
alternatively, the first side plate is larger than the second side plate, and the projection of the first side plate on the vertical plane completely covers the projection of the second side plate 2.
6. A registration apparatus according to claim 3, wherein the height positions of the upper and lower registration points of the two columns of registration points of the same side plate are different, and the projection of the line segment formed by one column of registration points on the line segment formed by the other column of registration points is completely within the line segment range formed by the other column of registration points and is smaller than the length of the line segment.
7. A registration device according to claim 3, wherein the connecting cross-plate is provided with notches for avoiding excessive darkening of the image when arranged in the transverse or longitudinal direction of the cross-plate.
8. A registration device according to claim 3, wherein the first side plate and the second side plate are completely notched in the middle of two rows of registration points, or the region in the middle of two rows of registration points is lower than the position in which two rows of registration points are located, for reducing the thickness of the plate when illuminated and increasing the sharpness of the image.
9. A registration device according to claim 3, wherein the identified structure is arranged at the other side of the connection cross plate, defined as an identified portion; the identified structure is arranged on the identified part; the portion connecting the first side plate 1 and the second side plate is defined as a mark portion; a large second notch is also arranged on the connecting transverse plate between the identified part and the marked part;
optionally, the identified part and the marking part are arranged on the straight connecting transverse plate, or the identified part and the marking part are arranged on the bent connecting transverse plate, and the identified part and the marking part are respectively arranged at two sides of the bent part of the connecting transverse plate;
alternatively, when the connecting cross plate is a straight plate, the connecting cross plate gradually increases in size from the marked portion to the identified portion;
optionally, the middle of the two rows of registration points of the first side plate 1 and the second side plate 2 is completely provided with a notch, or the lower region is positioned as a concave region in a manner that the region in the middle of the two rows of registration points is lower than the position in which the two rows of registration points are arranged.
10. A registration apparatus according to claim 3, wherein a connection plate is provided below the connection cross plate where the first side plate and the second side plate are not connected, for fixing the receiving plate to a position corresponding to the image device that can be photographed;
optionally, fixing the connecting plate to a transitional fixing structure, wherein the fixing structure is connected with the connecting plate of the bearing plate, and the position of the bearing plate is controlled to be unchanged; the whole bearing plate is made of the same material and is made of light carbon fiber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311011895.4A CN116849808B (en) | 2023-08-11 | 2023-08-11 | Registration instrument for registering navigation system coordinates and image position coordinates |
Applications Claiming Priority (1)
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140135617A1 (en) * | 2010-09-29 | 2014-05-15 | Stryker Leibinger Gmbh & Co. Kg | Surgical Navigation Method |
| CN111956325A (en) * | 2020-07-01 | 2020-11-20 | 北京和华瑞博医疗科技有限公司 | Accurate positioning device, method and system for medical instrument |
| CN113925609A (en) * | 2021-09-16 | 2022-01-14 | 浙江伽奈维医疗科技有限公司 | CT coordinate and navigation camera registration device in operation |
| CN217390862U (en) * | 2022-03-30 | 2022-09-09 | 李静 | Orthopedic surgery navigation registration device |
| CN115568945A (en) * | 2022-09-23 | 2023-01-06 | 杭州柳叶刀机器人有限公司 | Position calibration method for surgical navigation reference mark point |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140135617A1 (en) * | 2010-09-29 | 2014-05-15 | Stryker Leibinger Gmbh & Co. Kg | Surgical Navigation Method |
| CN111956325A (en) * | 2020-07-01 | 2020-11-20 | 北京和华瑞博医疗科技有限公司 | Accurate positioning device, method and system for medical instrument |
| CN113925609A (en) * | 2021-09-16 | 2022-01-14 | 浙江伽奈维医疗科技有限公司 | CT coordinate and navigation camera registration device in operation |
| CN217390862U (en) * | 2022-03-30 | 2022-09-09 | 李静 | Orthopedic surgery navigation registration device |
| CN115568945A (en) * | 2022-09-23 | 2023-01-06 | 杭州柳叶刀机器人有限公司 | Position calibration method for surgical navigation reference mark point |
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