CN116889469A - Calibrating, navigating and positioning device for orthopedic operation robot - Google Patents
Calibrating, navigating and positioning device for orthopedic operation robot Download PDFInfo
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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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3966—Radiopaque markers visible in an X-ray image
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a calibrating, navigating and positioning device for an orthopedic operation robot, and belongs to the technical field of medical appliances. The calibration unit of the bone surgery robot calibration navigation positioning device comprises a first calibration plate, a second calibration plate, a plurality of contact supporting rods and a plurality of supporting rods, wherein the first calibration plate and the second calibration plate are arranged at two ends of the supporting rods in parallel, the contact supporting rods are connected with the supporting rods, a first mounting hole is formed in the first calibration plate, a second mounting hole is formed in the second calibration plate, steel balls are arranged in the first mounting hole and the second mounting hole, and the projection of the steel balls on the first calibration plate on the second calibration plate along the vertical direction coincides with the steel balls on the second calibration plate; the heads of the contact struts are located on a first plane, the steel balls on the first calibration plate are located on a second plane, the steel balls on the second calibration plate are located on a third plane, and the first plane, the second plane and the third plane are parallel to each other. The invention improves the calibration precision, meets the requirements of modern clinical operations and improves the success rate of the operations.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a calibrating, navigating and positioning device for an orthopedic operation robot.
Background
In medical procedures, particularly spinal procedures, it is desirable to position and track the surgical site and instruments of a patient to accurately track patient displacement or bone structural changes, thereby enabling the guiding of surgical procedures by a doctor or surgical robot.
The heart of spinal surgery operations is high-precision navigation and positioning, and the existence of precision deviations is even fatal. At present, the navigator captures the position parameters of the center of the reflector on the reference frame, and simultaneously, the mechanical arm is guided to automatically move to an accurate position and accurately position at the position where the operation is performed by means of the C-arm and the calibration plate connected with the positioning device through data processing.
However, the calibration precision of the calibration component at the present stage is low, the requirements of modern clinical operations cannot be met, and the success rate of the operations is reduced.
Therefore, it is needed to provide an orthopedic operation robot calibration navigation positioning device to solve the above problems.
Disclosure of Invention
The invention aims to provide a calibrating, navigating and positioning device for an orthopedic operation robot, which improves the calibrating precision of the orthopedic operation robot, meets the requirements of modern clinical operation and improves the success rate of the operation.
In order to achieve the above object, the following technical scheme is provided:
the utility model provides a bone surgery robot marks navigation positioning device, includes:
the calibration unit comprises a first calibration plate, a second calibration plate, a plurality of contact supporting rods and a plurality of supporting rods, wherein the first calibration plate and the second calibration plate are parallel and are arranged at the upper end and the lower end of the supporting rods at intervals, the tail parts of the contact supporting rods are connected with the supporting rods, a plurality of first mounting holes are formed in the first calibration plate, a plurality of second mounting holes are formed in the second calibration plate, steel balls are arranged in the first mounting holes and the second mounting holes, and the projection of the steel balls on the first calibration plate on the second calibration plate along the vertical direction coincides with the steel balls on the second calibration plate;
the heads of the contact supporting rods are located on a first plane, the steel balls on the first calibration plate are located on a second plane, the steel balls on the second calibration plate are located on a third plane, and the first plane, the second plane and the third plane are parallel to each other.
As the alternative scheme of bone surgery robot demarcation navigation positioning device, first demarcation board is provided with the third mounting hole, the second demarcation board is provided with the fourth mounting hole, the upper end of bracing piece is provided with first internal thread hole, the lower extreme of bracing piece is provided with the second internal thread hole, contact the afterbody of branch passes the third mounting hole connect in first internal thread hole, the third fastener passes the fourth mounting hole connect in second internal thread hole.
As an alternative scheme of the orthopedic operation robot calibration navigation positioning device, a plurality of coordinate holes are formed in the second calibration plate, and the coordinate holes are distributed in a triangular shape.
As an alternative scheme of the orthopedic operation robot calibration navigation positioning device, the coordinate holes comprise a first coordinate hole, a second coordinate hole and a third coordinate hole, and an included angle between a connecting line of the first coordinate hole and the second coordinate hole and a connecting line of the first coordinate hole and the third coordinate hole is a right angle.
As an alternative scheme of the orthopedic operation robot calibration navigation positioning device, the first calibration plate and the second calibration plate are made of PEEK, PMMA or carbon fiber.
As the alternative scheme of bone surgery robot calibration navigation positioning device, the calibration unit still includes the tracker, be provided with the cooperation groove on the first support of tracker, two relative outer wall surfaces of bracing piece are provided with the mating surface, the mating surface set up in the cooperation groove, first fastener pass the first groove limit of cooperation groove the mating surface with the second groove limit of cooperation groove is connected.
As an alternative scheme of the orthopedic operation robot calibration navigation positioning device, the orthopedic operation robot calibration navigation positioning device further comprises a navigation positioning unit, one end of the navigation positioning unit is connected with the mechanical arm, and the other end of the navigation positioning unit is connected with the calibration unit.
As an alternative scheme of the calibration navigation positioning device of the orthopedic operation robot, the navigation positioning unit comprises a reference frame, a switching disc and a positioning seat with a limiting through hole, one end of the positioning seat far away from the limiting through hole is connected with the switching disc, and the reference frame is arranged on the switching disc;
the calibration unit further comprises a plug rod, a first end of the plug rod is connected with the limiting through hole through a screwing locking assembly, and a second end of the plug rod is connected with the second calibration plate; the first reflective light sphere on the tracker is located on a fourth plane, the second reflective light sphere on the reference frame is located on a fifth plane, and the fourth plane is parallel to the fifth plane.
As the alternative scheme of bone surgery robot demarcation navigation positioner, the second end of plug rod is provided with first connecting hole and first locating pin, the outward flange of second demarcation board is protruding to be equipped with the connecting plate, be provided with second connecting hole and first locating hole on the connecting plate, first locating pin inserts and locates in the first locating hole, the second fastener connect in first connecting hole with the second connecting hole.
As the alternative scheme of bone surgery robot demarcation navigation positioner, revolve and twist locking subassembly and include spacing sleeve and locking knob, the first end of peg graft pole is provided with mating hole and second locating pin, the positioning seat is provided with the second locating hole, the second locating pin inserts and locates in the second locating hole, spacing sleeve wears to locate mating hole with spacing through-hole and with locking knob threaded connection.
Compared with the prior art, the invention has the beneficial effects that:
the calibrating navigation positioning device of the orthopedic operation robot comprises a calibrating unit, wherein a plurality of first mounting holes are formed in a first calibrating plate, a plurality of second mounting holes are formed in a second calibrating plate, steel balls are arranged in the first mounting holes and the second mounting holes, the steel balls are made of compact materials, and rays of a C-shaped arm are not easy to penetrate through the steel balls; the heads of the contact supporting rods are positioned on a first plane, the heads of the contact supporting rods are used for contacting the emitting source surface of the C-shaped arm, the projection of the steel balls on the first calibration plate in the vertical direction on the second calibration plate coincides with the steel balls on the second calibration plate, the first plane, the second plane and the third plane are parallel to each other, and when the steel balls on the first calibration plate and the steel balls on the second calibration plate generate two shadow points on the receiving source surface of the C-shaped arm, the positions which do not reach the calibration are indicated; when the steel balls on the first calibration plate and the steel balls on the second calibration plate generate a coincident shadow point on the receiving source surface of the C-shaped arm, the calibration position is completed; the calibration precision of the orthopedic operation robot is improved, the requirements of modern clinical operations are met, and the success rate of the operations is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.
FIG. 1 is an assembly schematic diagram of an orthopedic operation robot calibration navigation positioning device in an embodiment of the invention;
FIG. 2 is an exploded view of a calibration navigation positioning device for an orthopedic surgical robot in an embodiment of the present invention;
FIG. 3 is an exploded view of a labeling unit according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a first calibration plate according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a second calibration plate according to an embodiment of the present invention;
FIG. 6 is a schematic view showing a structure of a support bar according to an embodiment of the present invention;
FIG. 7 is an exploded view of a navigation positioning unit according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a positioning seat according to an embodiment of the invention.
Reference numerals:
1. a calibration unit; 2. a navigation positioning unit; 3. screwing the locking assembly;
11. a first calibration plate; 111. a first mounting hole; 112. a third mounting hole; 12. a second calibration plate; 121. a second mounting hole; 122. a fourth mounting hole; 123. a coordinate hole; 124. a connecting plate; 125. a second connection hole; 126. a first positioning hole; 13. a contact strut; 131. a head; 132. tail part; 14. a support rod; 141. a first internally threaded bore; 142. a second internally threaded bore; 143. a mating surface; 15. a tracker; 151. a first bracket; 1511. a mating groove; 152. a first reflective light sphere; 16. inserting a connecting rod; 161. a first connection hole; 162. a first positioning pin; 163. a mating hole; 164. a second positioning pin; 17. a third fastener; 18. a first fastener; 19. a second fastener;
21. a reference frame; 211. a second bracket; 212. a second reflective light sphere; 213. a first hole; 22. a switching disc; 221. a second hole; 222. bolt through holes; 223. a transfer plate flange; 224. a positioning seat flange; 225. a third hole; 226. a fourth hole; 23. a positioning seat; 231. a second positioning hole; 232. a guide structure; 24. limiting through holes;
31. a limit sleeve; 32. locking the knob.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
The heart of spinal surgery operations is high-precision navigation and positioning, and the existence of precision deviations is even fatal. At present, the navigator captures the position parameters of the center of the reflector on the reference frame, and simultaneously, the mechanical arm is guided to automatically move to an accurate position and accurately position at the position where the operation is performed by means of the C-arm and the calibration plate connected with the positioning device through data processing.
In order to improve the calibration accuracy of the orthopedic operation robot, meet the requirements of modern clinical operations and improve the success rate of the operations, the embodiment provides a calibration navigation positioning device of the orthopedic operation robot, and the specific contents of the embodiment are described in detail below with reference to fig. 1 to 8.
As shown in fig. 1 to 6, the calibration navigation positioning device of the orthopedic operation robot comprises a calibration unit 1, wherein the calibration unit 1 comprises a first calibration plate 11, a second calibration plate 12, a plurality of contact supporting rods 13 and a plurality of supporting rods 14, the first calibration plate 11 and the second calibration plate 12 are parallel and are arranged at the upper end and the lower end of the supporting rods 14 at intervals, tail parts 132 of the contact supporting rods 13 are connected with the supporting rods 14, a plurality of first mounting holes 111 are formed in the first calibration plate 11, a plurality of second mounting holes 121 are formed in the second calibration plate 12, steel balls are arranged in the first mounting holes 111 and the second mounting holes 121, and the projection of the steel balls on the first calibration plate 11 on the second calibration plate 12 along the vertical direction coincides with the steel balls on the second calibration plate 12. The heads 131 of the contact struts 13 are all located on a first plane, the steel balls on the first calibration plate 11 are all located on a second plane, the steel balls on the second calibration plate 12 are all located on a third plane, and the first plane, the second plane and the third plane are parallel to each other.
In short, the orthopedic operation robot calibration navigation positioning device provided by the invention comprises a calibration unit 1, wherein a plurality of first mounting holes 111 are formed in a first calibration plate 11, a plurality of second mounting holes 121 are formed in a second calibration plate 12, steel balls are arranged in the first mounting holes 111 and the second mounting holes 121, the steel balls are made of compact materials, and rays of a C-shaped arm are not easy to penetrate through the steel balls; the heads 131 of the contact supporting rods 13 are positioned on a first plane, the heads 131 of the contact supporting rods 13 are used for contacting the emitting source surface of the C-shaped arm, the projection of the steel balls on the first calibration plate 11 on the second calibration plate 12 along the vertical direction is overlapped with the steel balls on the second calibration plate 12, the first plane, the second plane and the third plane are parallel to each other, and when the steel balls on the first calibration plate 11 and the steel balls on the second calibration plate 12 generate two shadow points on the receiving source surface of the C-shaped arm, the positions which do not reach the calibration are indicated; when the steel balls on the first calibration plate 11 and the steel balls on the second calibration plate 12 generate a coincident shadow point on the receiving source surface of the C-shaped arm, the calibrated position is reached; the calibration precision of the orthopedic operation robot is improved, the requirements of modern clinical operations are met, and the success rate of the operations is improved.
The parallelism of the first calibration plate 11 and the second calibration plate 12 needs to be ensured after the first calibration plate and the second calibration plate are installed. Typically, the parallelism is within 0.1 mm. After the first calibration plate 11 and the second calibration plate 12 are installed, the installed steel balls need to be ensured to have enough coaxiality. Typically, the coaxiality is within 0.1 mm.
The first calibration plate 11 may have a plurality of contact struts 13, where the plurality of contact struts 13 are uniformly distributed along the first calibration plate 11, and in general, the number of contact struts 13 may be 3. The head 131 of the contact strut 13 is spherical and the head 131 requires a higher surface finish. The tail 132 of the contact strut 13 is externally threaded.
The first mounting hole 111 and the second mounting hole 121 are blind holes with equal diameters, the corresponding hole depths of the first mounting hole 111 and the second mounting hole 121 are 3/4 of the hole diameters, and the blind holes on the first calibration plate 11 and the second calibration plate 12 are uniformly and equidistantly distributed. The steel balls are in clearance fit with the blind holes, and the steel balls are fixed by glue. It is particularly noted that the steel balls are required to be pressed to the bottom surface of the hole, but the bottom surface of the hole cannot be deformed by pressing, and the steel balls are contacted with each other. The uppermost edge of the steel ball is higher than the outer diameter of the steel ball of 1/4 of the upper plane of the first calibration plate 11 or the second calibration plate 12.
The array holes of the second calibration plate 12 are reference holes, the hole pitch needs to have a certain precision, and the hole pitch is within a tolerance of 0.02 mm. The first calibration plate 11 has a plurality of blind holes corresponding to the second calibration plate 12, and when the first calibration plate 11 is viewed downwards perpendicular to the plane view angle of the first calibration plate 11, the plurality of first mounting holes 111 on the first calibration plate 11 should coincide with the positions of the corresponding second mounting holes 121 on the second calibration plate 12. The distribution of the blind hole arrays of the first calibration plate 11 and the second calibration plate 12 is shown in fig. 4 and 5.
Further, as shown in fig. 4 and 5, the first calibration plate 11 is provided with a third mounting hole 112, the second calibration plate 12 is provided with a fourth mounting hole 122, the upper end of the supporting rod 14 is provided with a first internal threaded hole 141, the lower end of the supporting rod 14 is provided with a second internal threaded hole 142, the tail 132 of the contact supporting rod 13 is connected to the first internal threaded hole 141 through the third mounting hole 112, and the third fastening member 17 is connected to the second internal threaded hole 142 through the fourth mounting hole 122. Specifically, the upper end and the lower end of the supporting rod 14 are both provided with flat end surfaces, and the flat end surfaces are utilized to prevent the supporting rod 14 from rotating relative to the first calibration plate 11 or the second calibration plate 12, so that the connection stability of the supporting rod 14 and the first calibration plate 11 and the second calibration plate 12 is ensured. The third fastener 17 is illustratively a nylon screw. The two ends of the supporting rod 14 are provided with flat end surfaces which are matched with corresponding mounting holes of the first calibration plate 11 and the second calibration plate 12, so that the axial rotation of the supporting rod 14 can be limited. Alternatively, corresponding probe sites may be designed on the support bar 14 for probe calibration.
Further, as shown in fig. 5, the second calibration plate 12 is provided with a plurality of coordinate holes 123, and the plurality of coordinate holes 123 are distributed in a triangle shape. The directions of the X-axis and the Y-axis are represented by the triangular distribution of the coordinate apertures 123. The size of the coordinate hole 123 should be distinguished from the second mounting hole 121, and a steel ball with a larger diameter may be mounted in the coordinate hole 123 so that the CT recognizes the coordinate direction of the array hole.
Illustratively, three coordinate holes 123 are provided, and the three coordinate holes 123 are a first coordinate hole, a second coordinate hole, and a third coordinate hole, respectively, and an included angle between a connecting line of the first coordinate hole and the second coordinate hole and a connecting line of the first coordinate hole and the third coordinate hole is a right angle.
The 3 coordinate holes 123 of the second calibration plate 12 are required to have a function of recognizing the direction. In general, the first coordinate hole may be used as a dot, and in addition, the second coordinate hole and the third coordinate hole may be respectively pointed in the X-axis direction and the Y-axis direction, and the distances between the second coordinate hole and the third coordinate hole and the first coordinate hole on the dot may be unequal. In general, the holes in the X-axis direction may be set to 4 hole pitches, and the holes in the Y-axis direction may be set to 2 hole pitches.
Further, the materials of the first calibration plate 11 and the second calibration plate 12 are nonmetallic materials, and the materials need to have sufficient rigidity. Materials such as PEEK, PMMA, carbon fiber and the like can be generally selected. The PEEK material is a novel semi-crystalline aromatic plastic engineering plastic, has extremely excellent physical and mechanical properties, can replace traditional materials such as metal and ceramic in a plurality of special fields, has outstanding contribution in the aspects of reducing the mass and improving the performance, and becomes one of the most popular high-performance engineering plastics at present. Polymethyl methacrylate (PMMA) is also called Acrylic or organic glass, has the advantages of high transparency, chemical stability, weather resistance, easy dyeing, attractive appearance, low price, easy machining and the like, and is a glass substitute material which is commonly used. Carbon Fiber (CF) is a novel fiber material of high strength, high modulus fiber with carbon content above 95%. Carbon fiber is lighter in mass than metallic aluminum, but has higher strength than steel, and has the characteristics of high hardness, high strength, light weight, high chemical resistance, and high temperature resistance. The carbon fiber has the inherent intrinsic characteristics of the carbon material, and has the soft processability of textile fibers, and is a new generation of reinforcing fiber.
Illustratively, the second mounting holes 121 and the coordinate holes 123 on the second calibration plate 12 are uniformly arranged in an array. The arrangement form of the first mounting holes 111 of the first calibration plate 1 is shown in fig. 4, and the spacing of the array holes has a certain precision and the tolerance is within 0.01 mm. Similarly, the array of holes of the second calibration plate 12 is shown in FIG. 5. The array holes are spaced by 10mm in the XY-axis direction, wherein the diameter of the second mounting hole is 1mm, the depth of the second mounting hole is 0.75mm, and the tolerance is within 0.01 mm. The second calibration plate 12 has 3 coordinate holes 123 of 2mm diameter and 1.5mm depth as direction marks. One of the coordinate holes 123 is spaced 40mm from the dot position hole along the X-axis, the other coordinate hole 123 is spaced 20mm from the dot position hole along the Y-axis, and the last coordinate hole 123 is the dot position.
The height spacing between the first calibration plate 11 and the second calibration plate 12 can be 80mm and 100mm, and when the device is installed, 3 support columns with the same size are needed to control the spacing between the two support columns, and meanwhile, certain coaxiality of the two support columns is controlled. Three support columns need to be perpendicular to both the first calibration plate 11 and the second calibration plate 12. The first calibration plate 11 and the second calibration plate 12 are circular plates with the same size.
Further, as shown in fig. 3 and 6, the calibration unit 1 further includes a tracker 15, a mating groove 1511 is provided on the first bracket 151 of the tracker 15, mating surfaces 143 are provided on two opposite outer wall surfaces of the support rod 14, the mating surfaces 143 are disposed in the mating groove 1511, and the first fastener 18 passes through a first groove edge of the mating groove 1511, and the mating surfaces 143 are connected with a second groove edge of the mating groove 1511. By mounting the tracker 15 on the support bar 14, the position identification of the calibration unit 1 is facilitated. The tracker 15 has a fitting groove 1511 corresponding to the fitting surface 143 of the support pole 14, and the fitting gap between the two is small. The fitting groove 1511 has a certain positioning guide function. Three support columns may be mounted with the tracker 15. Typically, only one tracker 15 is installed. The tracker 15 should be mounted as far away from the calibration plate area as possible, but with sufficient mounting rigidity to the calibration plate.
Further, the first mounting holes 111 on the first calibration plate 11 are arranged in a crisscross shape, and the pitch of the first mounting holes 111 is 20mm. The second mounting holes 121 on the second calibration plate 12 are arranged at intervals of 10mm, and the boundaries are 8-sided shapes, wherein the boundaries are not equal sides, 4 equal long sides, 4 equal short sides, and the long sides and the short sides are distributed alternately.
Further, as shown in fig. 1 and 7, the calibration navigation positioning device of the orthopedic operation robot further comprises a navigation positioning unit 2, one end of the navigation positioning unit 2 is connected with the mechanical arm, and the other end of the navigation positioning unit 2 is connected with the calibration unit 1. The mechanical arm is connected with the calibration unit 1 through the navigation positioning unit 2.
Specifically, the navigation positioning unit 2 comprises a reference frame 21, a switching disc 22 and a positioning seat 23 with a limiting through hole 24, wherein one end of the positioning seat 23 far away from the limiting through hole 24 is connected with the switching disc 22, and the reference frame 21 is arranged on the switching disc 22. The calibration unit 1 further comprises a plugging rod 16, a first end of the plugging rod 16 is connected with the limiting through hole 24 through the screwing locking assembly 3, and a second end of the plugging rod 16 is connected with the second calibration plate 12; the first reflective light balls 152 on the tracker 15 are all located on a fourth plane, and the second reflective light balls 212 on the reference frame 21 are all located on a fifth plane, and the fourth plane is parallel to the fifth plane. The screwing locking assembly 3 can enable the plugging rod 16 of the calibration unit 1 and the limiting through hole 24 of the navigation positioning unit 2 to be quickly assembled and disassembled. The adapter plate 22 is fixed to the end of the mechanical arm in a manner of being fixed to the flange of the end of the mechanical arm by screws.
The reference frame 21 is mounted to a corresponding second hole 221 in the adapter plate 22 through a first hole 213. Generally, corresponding limiting grooves or limiting pins can be designed on the adapter plate 22, and when the reference frame 21 moves to the corresponding limiting position of the adapter plate 22, the two cannot rotate mutually, and the two cannot be fixed by using screws, so that the axial positions of the two can be limited.
The end of the positioning seat 23 is provided with a guide structure 232, when the positioning seat 23 is installed with the adapter plate 22, after the guide structure 232 on the positioning seat 23 is matched with a guide groove at the front end of the adapter plate 22, the positioning seat 23 slides to a limit position of the adapter plate 22 along the guiding direction, and then the positioning seat 23 and the adapter plate are fixed by bolts through bolt through holes 222 at the back of the adapter plate 22. The limiting sleeve 31 is arranged on the limiting through hole 24 at the front end of the positioning seat 23, the limiting sleeve 31 and the limiting through hole are coaxially matched, a locking knob 32 is arranged above the limiting sleeve 31, the calibration unit 1 is arranged below the limiting sleeve 31, and the calibration unit 1 and the navigation positioning unit 2 can be quickly and fixedly arranged by rotating the locking knob 32.
The adapter plate 22 is mounted with the end flange of the mechanical arm, and the adapter plate 22 is composed of an adapter plate flange 223 and a positioning seat flange 224. The flange 223 of the adapter plate has 7 third holes 225 for connecting and fixing with the end flange of the mechanical arm. The locating seat flange 224 has 4 fourth holes 226 for fixing with corresponding threaded holes on the adapter flange 223.
The reference frame 21 is composed of a second bracket 211 and a second reflective light sphere 212. Wherein, there are 4 second reflective light balls 212 distributed at the corresponding mounting positions of the second bracket 211. The coordinate information of the second reflected light sphere 212 can be determined based on the optical navigation system, thereby confirming the coordinate information of the reference frame 21, and performing the positioning navigation operation.
The second bracket 211 has 4 first holes 213 for positioning and mounting with the second holes 221 corresponding to the adapter flange 223.
Further, a first connecting hole 161 and a first positioning pin 162 are arranged at the second end of the plugging rod 16, a connecting plate 124 is convexly arranged at the outer edge of the second calibration plate 12, a second connecting hole 125 and a first positioning hole 126 are arranged on the connecting plate 124, the first positioning pin 162 is inserted into the first positioning hole 126, and the second fastening piece 19 is connected to the first connecting hole 161 and the second connecting hole 125. The position between the plugging rod 16 and the connecting plate 124 is limited by the cooperation of the first positioning hole 126 and the first positioning pin 162, and the plugging rod 16 and the connecting plate 124 are firmly connected by adopting the second fastener 19.
Further, as shown in fig. 2, 3 and 8, the screwing locking assembly 3 includes a limiting sleeve 31 and a locking knob 32, a first end of the insertion rod 16 is provided with a mating hole 163 and a second positioning pin 164, the positioning seat 23 is provided with a second positioning hole 231, and the second positioning hole 231 is a oblong hole. The second positioning pin 164 is inserted into the second positioning hole 231, and the limiting sleeve 31 is inserted into the matching hole 163 and the limiting through hole 24 and is in threaded connection with the locking knob 32. The second positioning hole 231 is matched with the second positioning pin 164, so that the plug rod 16 is limited to rotate relative to the positioning seat 23; and adopt spacing sleeve 31 and locking knob 32's cooperation, screw back with locking knob 32, can be with peg graft pole 16, spacing sleeve 31 and positioning seat 23 three fixed in position, have the installation swiftly, fix a position accurately, convenient dismantlement characteristics.
When the second calibration plate 12 is detached, the second calibration plate 12 can be quickly detached by only loosening the locking knob 32 on the limit sleeve 31, and the next navigation positioning or disinfection operation and the like are performed.
In sum, the novel positioning device for calibrating navigation has the characteristics of simple structure, convenient disassembly and assembly, high positioning precision and convenient disinfection. The CT device can meet the use requirement of CT equipment, can rapidly and smoothly calibrate the primary focus part, and can accurately complete the positioning and navigation functions by matching with the mechanical arm, thereby ensuring the smooth operation of the spinal column.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. Calibrating navigation positioning device of bone surgery robot, its characterized in that includes:
the calibration unit (1) comprises a first calibration plate (11), a second calibration plate (12), a plurality of contact supporting rods (13) and a plurality of supporting rods (14), wherein the first calibration plate (11) and the second calibration plate (12) are parallel and are arranged at the upper end and the lower end of the supporting rods (14) at intervals, tail parts (132) of the contact supporting rods (13) are connected with the supporting rods (14), a plurality of first mounting holes (111) are formed in the first calibration plate (11), a plurality of second mounting holes (121) are formed in the second calibration plate (12), steel balls are arranged in the first mounting holes (111) and the second mounting holes (121), and the projection of the steel balls on the first calibration plate (11) on the second calibration plate (12) along the vertical direction coincides with the steel balls on the second calibration plate (12);
the heads (131) of the contact supporting rods (13) are located on a first plane, steel balls on the first calibration plate (11) are located on a second plane, steel balls on the second calibration plate (12) are located on a third plane, and the first plane, the second plane and the third plane are parallel to each other.
2. The orthopedic surgery robot calibration navigation positioning device according to claim 1, characterized in that the first calibration plate (11) is provided with a third mounting hole (112), the second calibration plate (12) is provided with a fourth mounting hole (122), the upper end of the support rod (14) is provided with a first internal threaded hole (141), the lower end of the support rod (14) is provided with a second internal threaded hole (142), the tail (132) of the contact support rod (13) passes through the third mounting hole (112) to be connected in the first internal threaded hole (141), and the third fastener (17) passes through the fourth mounting hole (122) to be connected in the second internal threaded hole (142).
3. The orthopedic surgery robot calibration navigation positioning device according to claim 1, characterized in that the second calibration plate (12) is provided with a plurality of coordinate holes (123), and the coordinate holes (123) are distributed in a triangle shape.
4. A bone surgery robot calibration navigation positioning device according to claim 3, wherein the coordinate hole (123) comprises a first coordinate hole, a second coordinate hole and a third coordinate hole, and an angle between a line connecting the first coordinate hole and the second coordinate hole and a line connecting the first coordinate hole and the third coordinate hole is a right angle.
5. The orthopedic surgery robot calibration navigation positioning device according to claim 1, characterized in that the first calibration plate (11) and the second calibration plate (12) are made of PEEK, PMMA or carbon fiber.
6. The orthopedic surgery robot calibration navigation positioning device according to claim 1, characterized in that the calibration unit (1) further comprises a tracker (15), a matching groove (1511) is arranged on a first bracket (151) of the tracker (15), matching surfaces (143) are arranged on two opposite outer wall surfaces of the supporting rod (14), the matching surfaces (143) are arranged in the matching groove (1511), and a first fastener (18) penetrates through a first groove edge of the matching groove (1511), and the matching surfaces (143) are connected with a second groove edge of the matching groove (1511).
7. The orthopedic surgery robot calibration navigation positioning device according to claim 6, further comprising a navigation positioning unit (2), wherein one end of the navigation positioning unit (2) is connected with a mechanical arm, and the other end of the navigation positioning unit (2) is connected with the calibration unit (1).
8. The bone surgery robot calibration navigation positioning device according to claim 7, characterized in that the navigation positioning unit (2) comprises a reference frame (21), a transfer disc (22) and a positioning seat (23) with a limiting through hole (24), wherein one end of the positioning seat (23) far away from the limiting through hole (24) is connected with the transfer disc (22), and the reference frame (21) is mounted on the transfer disc (22);
the calibration unit (1) further comprises a plug rod (16), a first end of the plug rod (16) is connected with the limiting through hole (24) through the screwing locking assembly (3), and a second end of the plug rod (16) is connected with the second calibration plate (12); the first reflective light sphere (152) on the tracker (15) is located on a fourth plane, and the second reflective light sphere (212) on the reference frame (21) is located on a fifth plane, and the fourth plane is parallel to the fifth plane.
9. The orthopedic surgery robot calibration navigation positioning device according to claim 8, characterized in that a first connecting hole (161) and a first positioning pin (162) are provided at a second end of the plugging rod (16), a connecting plate (124) is convexly provided at an outer edge of the second calibration plate (12), a second connecting hole (125) and a first positioning hole (126) are provided on the connecting plate (124), the first positioning pin (162) is plugged into the first positioning hole (126), and a second fastener (19) is connected to the first connecting hole (161) and the second connecting hole (125).
10. The bone surgery robot calibration navigation positioning device according to claim 8, wherein the screwing locking assembly (3) comprises a limit sleeve (31) and a locking knob (32), a first end of the plugging rod (16) is provided with a matching hole (163) and a second positioning pin (164), the positioning seat (23) is provided with a second positioning hole (231), the second positioning pin (164) is inserted into the second positioning hole (231), and the limit sleeve (31) is arranged in the matching hole (163) and the limit through hole (24) in a penetrating manner and is in threaded connection with the locking knob (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310940751.0A CN116889469A (en) | 2023-07-28 | 2023-07-28 | Calibrating, navigating and positioning device for orthopedic operation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310940751.0A CN116889469A (en) | 2023-07-28 | 2023-07-28 | Calibrating, navigating and positioning device for orthopedic operation robot |
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| CN202310940751.0A Pending CN116889469A (en) | 2023-07-28 | 2023-07-28 | Calibrating, navigating and positioning device for orthopedic operation robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117323015A (en) * | 2023-10-30 | 2024-01-02 | 赛诺威盛医疗科技(扬州)有限公司 | Miniaturized multi-degree-of-freedom robot |
| CN117442344A (en) * | 2023-12-01 | 2024-01-26 | 春风化雨(苏州)智能医疗科技有限公司 | Surgical instrument for electromagnetic positioning and navigation of orthopedic operation robot |
-
2023
- 2023-07-28 CN CN202310940751.0A patent/CN116889469A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117323015A (en) * | 2023-10-30 | 2024-01-02 | 赛诺威盛医疗科技(扬州)有限公司 | Miniaturized multi-degree-of-freedom robot |
| CN117442344A (en) * | 2023-12-01 | 2024-01-26 | 春风化雨(苏州)智能医疗科技有限公司 | Surgical instrument for electromagnetic positioning and navigation of orthopedic operation robot |
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