CN201067403Y - Positioner for optical operation navigation system - Google Patents

Positioner for optical operation navigation system Download PDF

Info

Publication number
CN201067403Y
CN201067403Y CNU2007200121270U CN200720012127U CN201067403Y CN 201067403 Y CN201067403 Y CN 201067403Y CN U2007200121270 U CNU2007200121270 U CN U2007200121270U CN 200720012127 U CN200720012127 U CN 200720012127U CN 201067403 Y CN201067403 Y CN 201067403Y
Authority
CN
China
Prior art keywords
navigation system
positioning
surgery navigation
instruments
rigid body
Prior art date
Application number
CNU2007200121270U
Other languages
Chinese (zh)
Inventor
王德胜
谭继浦
雪 韩
Original Assignee
大连现代高技术发展有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 大连现代高技术发展有限公司 filed Critical 大连现代高技术发展有限公司
Priority to CNU2007200121270U priority Critical patent/CN201067403Y/en
Application granted granted Critical
Publication of CN201067403Y publication Critical patent/CN201067403Y/en

Links

Abstract

The utility model relates to a device utilizing a computer to assist medical operation, which more particularly relates to a locator of a surgery navigation system based on an optical positioning device, comprising a cross structure positioning rigid body (3); four end points of the positioning rigid body (3) are respectively fixed with a reflecting light ball (1) through a connection stud (2). The locator of the utility model applied to the optical surgery navigation system is characterized by compactness and flexibility, strong operability, high reliability and low cost, meeting operating requirements of clinicians. According to a surgery navigation system software, suitable instruments are selected by the doctor and are connected with all locators through a connector. When the instruments are registered, the surgery navigation system can identify operation instruments matched with different locators, and the front position of the instruments is real time displayed at a monitor of the surgery navigation system, namely space coordinates, thus realizing the simultaneous tracking of a plurality of instruments under the same surgery navigation system.

Description

一种用于光学手术导航系统的定位器 A method for positioning optical surgical navigation system

技术领域 FIELD

本实用新型涉及一种利用计算机来辅助医疗手术的设备,更具体地说,涉及一种基于光学定位装置的手术导航系统的定位器。 The present invention relates to a medical device using a computer assisted surgery, and more particularly, to a surgical navigation system positioning based on the positioning of the optical device.

背景技术 Background technique

目前临床上使用最多的手术导航系统是基于光学定位装置的手术导航系统,其定位装置大多为加拿大NDI公司生产。 Currently the most used surgical navigation system is clinically surgical navigation optical positioning system device based on its positioning device mostly Canadian NDI company. 器跟踪原理是: 一个双目的位置传感器可以发射红外光,红外光照射在装有定位器的手术器械上,定位器上装 Tracking principle is: a binocular position sensor may emit infrared light, the infrared light is irradiated on the surgical instrument with the locator, the locator coat

有一组按特定的尺寸分布的(最少3个,本实用新型选用4个)可反射红外光的小球,小球将红外光反射回位置传感器,位置传感器经过系统软件的处理, 可以计算出目前手术器械尖端的空间位置,进而实现手术器械在术野范围内的实时跟踪。 A group of distribution of a particular size (at least 3, the present invention is selected 4) capable of reflecting infrared light beads, pellets infrared light reflected back to the position sensor, the position sensor through a processing system software can calculate the current the spatial position of the tip of the surgical instrument, the surgical instrument so as to realize the real-time tracking in range of the operative field.

从上述的光学定位原理可知,定位器是实现器械跟踪的主要部件,更是决定手术导航系统精度的关键环节,尤其是要在同一光学定位装置下,实现多个器械的同时跟踪,这样对其空间尺寸和几何形状就有更高的要求,本实用新型就是在这样的要求下,提出并实现的。 Positioning the optical principles described above can be seen, is a major component to implement the positioning tracking device, it is key to the navigation system determines the accuracy of surgery, especially to the optical positioning means at the same, to achieve at the same time a plurality of tracking devices, so its spatial dimensions and geometry have higher requirements, the present invention is in such a request, proposed and implemented. 当使用一个手术器械时,定位器的设计难度并不大;当有两个器械时,第二个器械的定位刚体尺寸和形状要与第一个定位刚体区分开,才能实现同时跟踪。 When using a surgical instrument, the positioner design difficulty is not large; when there are two devices, positioning a second rigid instrument is sized and shaped to be positioned separated from the first rigid region can be achieved while tracking. 当有第N (N〉3)个器械要在同一光学定位装置下使用时,其尺寸和形状就要与前N—1个器械的定位器互异,即尺寸和形状各不相同。 When the first N (N> 3) a device to be used in the same optical positioning means which is sized and shaped locator necessary before the N-1 instrument mutually different, i.e. different sizes and shapes. 如果采用人工的方式来设计定位器,其难度是可想而知的,同时,定位器的空间结构和自重,工艺性能,尺寸稳定性等也是设计时要考虑的因素,以保证医生使用手术导航系统时的灵活性,安全性和可靠性。 With manual approach to the design of the retainer, which is difficult to imagine factor, while the retainer and the weight of the spatial structure, process performance, and dimensional stability are design considerations to ensure that physicians use a surgical navigation flexibility, security and reliability of the system.

发明内容 SUMMARY

本实用新型基于光学系统的定位原理,以实现多个器械在同一光学定位装置下同时跟踪为目的,以各个定位器之间的互异性为设计准则,设计出一种小巧灵活、可操作性强、可靠性高、成本低廉、能满足临床医生使用要求的手术 The present invention is based on the principle of the optical positioning system, to achieve multiple instruments in the same track while the optical positioning means for the purpose of reciprocity between the respective design criteria for the locator, to design a compact and flexible, highly workable , high reliability, low cost, to meet the requirements of clinicians surgery

用定位器。 A locator.

为了达到本发明的目的,本实用新型设计了一种用于光学手术导航系统的定位器,包括十字结构的定位刚体,定位刚体的四个端点分别通过连接螺柱固定有反光球。 To achieve the object of the present invention, the present invention is designed for positioning a surgical optical navigation system, comprising positioning cross-rigid structure, the rigid body positioning four terminals respectively connected to the ball stud fixed to the reflector.

本实用新型用于光学手术导航系统的定位器,其进一步改进在于,定位刚体的中部设置有起连接及装配作用的工艺孔;定位刚体上还设置有用于定位传感器注册识别的注册锥孔;而上述连接螺柱的顶端径向设置为可与反光球底孔过渡配合的柱面,其底端设置为带有螺纹的丝杆,并设有限位平面用于保证与定位刚体的准确连接。 The present invention is an optical positioning surgical navigation system, which is further improved in that the positioning of the rigid body with a central hole is provided from the connection process and assembly function; further provided for positioning the rigid cone registered identification register location sensor; and the connection to the top of the stud to be disposed radially a transition fit with the bottomed cylindrical reflective sphere, its bottom end is provided with a screw thread, and a stop plane to ensure precise positioning of the rigid connection.

本实用新型小巧灵活,可操作性强,可靠性高,成本低廉,能满足临床医生的使用要求。 The utility model is small and flexible, easy to operate, high reliability, low cost, to meet the clinicians' requirements.

附图说明 BRIEF DESCRIPTION

图1为本实用新型定位器装配示意图; 图2为连接螺柱的结构示意图; 1 a schematic view of the present invention assembled positioner; FIG. 2 is a schematic structural connection stud;

图中包括:反光球(l) 连接螺柱(2) 定位刚体(3) 注册用锥孔(4) 连接及装配用工艺孔(5) FIG comprising: a light-reflective sphere (l) connected to the stud (2) positioning a rigid body (3) is connected with a register cone (4) and by the process of fitting holes (5)

具体实施方式 Detailed ways

参考图1和图2说明本实用新型的定位器包括十字结构的定位刚体3,以及在定位刚体3的四个端点分别通过连接螺柱2固定的反光球1。 With reference to FIGS. 1 and 2 illustrate the present invention includes a retainer positioning structure cross 3 rigid, and rigid positioning four terminals 3 are fixed by means of two studs connected to a light-reflective sphere. 在定位刚体3的中部设置有起连接及装配作用的工艺孔5。 Process rigid central positioning holes is provided from the connection fitting and the effect of 3 5. 定位刚体上还设置有用于定位传感器注册识别的注册锥孔4。 Positioning a rigid body provided with a tapered hole for registration registered identification sensor 4 is positioned. 连接螺柱2的顶端径向设置为可与反光球底孔过渡配合的柱面,其底端设置为带有螺纹的丝杆,并设有限位平面用于保证与所述定位刚体3的准确连接。 2 connected to the top of the stud is radially disposed to mate with the transition may be a cylindrical bottomed reflective sphere, its bottom end is provided with a screw thread, and a stop plane to ensure precise positioning of the rigid body 3 connection.

本发明的定位器包括软件和硬件两个方面。 Positioning of the present invention includes both software and hardware. 首先,根据光学定位装置识别多个器械时对定位器几何尺寸的要求,用编制好的定位刚体生成软件生成一组定位器的几何尺寸数据,生成前,可进行定位刚体线性和角度方面的参数设置。 First, the optical instrument positioning means for identifying a plurality of locators geometry requirements, good positioning generation software generates a set of rigid retainer geometry data preparation, before generating, rigid linear and angular positioning parameters aspect may be settings. 根据该组数据做出的定位刚体具有互异性,在保证其使用功能的同时,避免了 The positioning of the set of data made rigid with reciprocity, to ensure its function while avoiding the

人为计算可能产生的误差,提高了工作效率;然后,选用优质铝合金材料,经过时效处理,精密加工,氧化着色处理等工艺做出定位刚体,以保证定位器的 Human calculation error may occur, improving the work efficiency; Then, high-quality aluminum alloy material, subjected to an aging treatment, precision machining, oxidation treatment process to make colored rigid body positioned to ensure locator

尺寸稳定性和刚性;最后,将反光球通过不锈钢连接螺柱装配在定位器上。 Dimensional stability and rigidity; Finally, the reflective ball stud assembly positioner connected by stainless steel.

为保证定位器的尺寸稳定性和装配后的精度,本发明对铝合金材料进行时效处理,消除内应力,避免加工后变形;加工时采取一次定位加工出四个反光球的位置孔,以保证孔的位置度和平面度。 To ensure the dimensional stability and accuracy of the locator assembly, the aluminum alloy material of the present invention, the aging treatment to eliminate internal stress and avoid deformation after processing; taken a position of the positioning hole processing the four light-reflective sphere during the machining, to ensure position and flatness of the hole. 为保证其使用时的灵活性和方便性, 不占用医生的手术空间,本实用新型还设计了与连接件(连接手术器械和定位器的连接件)连接用的定位孔和装配孔。 To ensure flexibility and convenience in use, the doctor does not occupy space of operation, the present invention also designed positioning hole and the fitting hole is connected to the connecting member (connecting member connected to the surgical instrument and locator) used. 为提高定位器的强度,减小定位刚体表面反射对位置传感器的影响,本实用新型对加工后的定位器进行了氧化着色处理。 Increase the strength of the retainer, to reduce the influence of the surface reflection rigid positioning of the position sensor, the positioner of the present invention after working the tinting process. 同时在每个定位器上还设计有注册锥孔,以利于位置传感器的注册识别。 Also designed a register are tapped holes in each of the locators, identifying the location of the sensor in order to facilitate registration. 连接螺柱也是保证定位器有效性的重要部件,其顶端径向是可与反光球底孔过渡配合的柱面,底端是带有螺纹的丝杆,并有限位平面,可保证与定位刚体准确连接。 Connecting stud member is important to ensure the effectiveness of the locator, with its top end is radially reflective sphere bottomed cylindrical transition fit, the bottom end is screw threaded, and a limiting plane, ensure rigid positioning accurate connection. 实施例l Example l

用编制好的定位刚体生成软件生成一组定位器的几何尺寸数据,利用该组数据绘出工程图,加工出定位刚体3。 Good positioned rigid with the preparation generation software generates a set of geometric data locator, the set of data using the drawing depicts, the positioning rigid body 3 machined. 再将加工好的不锈钢连接螺柱2,拧紧在定位刚体3的四个端点处,并使四个连接螺柱的上端面在轴向高度上的公差不大于0.03mm。 Then processed stainless steel connecting studs 2, the rigid screwed positioned at the four end 3, connected to the upper end surface and four stud height tolerances in the axial direction is not more than 0.03mm. 然后,将可发射红外光的反光球1安装在连接螺柱2的上端,手工压入即可。 Then, may emit infrared light reflective sphere connector 1 is mounted at an upper end of the stud 2, can be pressed by hand. 最后,把该定位器通过专用的连接件,与手术器械连接,准备待用。 Finally, the locator through a dedicated connection, connected to the surgical instrument, ready for use. 要实现多个器械同时使用时,只是在不同的手术器械上使用不同的定位刚体而已。 To achieve multiple instruments simultaneously, except for using different positioning it on a different rigid surgical instrument.

医生根据手术导航系统软件,做好手术计划,确定手术路径,选出合适的手术器械,再将这些器械与各个定位器通过连接件连接。 The surgical navigation system software doctors, good surgical planning, surgical path is determined, to select an appropriate surgical instrument, and then each of these devices are connected by connecting member retainer. 这样的器械经过注册配准成功后,手术导航系统就可以识别配有不同定位器的手术器械,并在手术导航系统的显示器上实时显示器械的前端位置,即空间坐标,从而实现了多个器械在同一手术导航系统下的同时跟踪。 Such instruments registered after the registration is successful, surgical navigation system can identify the surgical instrument with a different locator, and display the position of the distal end of the instrument, i.e. spatial coordinates on a display of the surgical navigation system, enabling multiple instruments while at the same track surgical navigation system.

Claims (4)

1、一种用于光学手术导航系统的定位器,其特征在于,包括十字结构的定位刚体(3),所述定位刚体(3)的四个端点分别通过连接螺柱(2)固定有反光球(1)。 An optical positioning surgical navigation system, characterized by comprising positioning cross-rigid structure (3), the positioning of the rigid body (3) of the four terminals are connected by a fixed reflective studs (2) ball (1).
2、 根据权利要求1所述用于光学手术导航系统的定位器,其特征在于,所述定位刚体(3)的中部设置有起连接及装配作用的工艺孔(5)。 2, according to claim 1 for positioning the optical surgery navigation system as claimed in claim, characterized in that the positioning process orifice rigid body (3) is provided with a central role played connector assembly and (5).
3、 根据权利要求1或2所述用于光学手术导航系统的定位器,其特征在于, 所述定位刚体(3)上设置有用于定位传感器注册识别的注册锥孔(4)。 3, according to claim 1 or 2 for positioning the optical surgery navigation system as claimed in claim, wherein said rigid body is provided on the positioning (3) for registration cone (4) identifying the register location sensor.
4、 根据权利要求3所述用于光学手术导航系统的定位器,其特征在于,所述连接螺柱(2)的顶端径向设置为可与反光球底孔过渡配合的柱面,其底端设置为带有螺纹的丝杆,并设有限位平面用于保证与所述定位刚体(3)的准确连接。 4, according to the retainer 3 for optical surgery navigation system as claimed in claim, wherein said stud is connected to the top (2) with radially arranged cylinders may transition to the prepared hole and light-reflective sphere, a bottom end of the threaded lead screw is provided, and a limiting plane and accurate positioning of the connector for securing the rigid body (3).
CNU2007200121270U 2007-05-17 2007-05-17 Positioner for optical operation navigation system CN201067403Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2007200121270U CN201067403Y (en) 2007-05-17 2007-05-17 Positioner for optical operation navigation system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2007200121270U CN201067403Y (en) 2007-05-17 2007-05-17 Positioner for optical operation navigation system

Publications (1)

Publication Number Publication Date
CN201067403Y true CN201067403Y (en) 2008-06-04

Family

ID=39488776

Family Applications (1)

Application Number Title Priority Date Filing Date
CNU2007200121270U CN201067403Y (en) 2007-05-17 2007-05-17 Positioner for optical operation navigation system

Country Status (1)

Country Link
CN (1) CN201067403Y (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102258399A (en) * 2011-04-28 2011-11-30 上海交通大学 Ultrasonic Ranging coupled to the optical positioning noninvasive real time tracker
CN103181822A (en) * 2011-12-30 2013-07-03 上海爱立峰医疗科技有限公司 Positioning apparatus for magnetic resonance puncture guiding surgical system
CN104127244A (en) * 2014-08-13 2014-11-05 苏州迪凯尔医疗科技有限公司 Passive type infrared light reflection small ball and use method thereof
CN105147395A (en) * 2015-08-31 2015-12-16 北京天智航医疗科技股份有限公司 Optical tracking tool for navigation surgery
CN106725770A (en) * 2017-02-27 2017-05-31 南京大学 A kind of method of the percutaneous intervening equipment geometry of fast registration
CN108251878A (en) * 2016-12-29 2018-07-06 中国空气动力研究与发展中心超高速空气动力研究所 A kind of aluminium alloy model surface mark point production method of light-seeking before binocular

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102258399A (en) * 2011-04-28 2011-11-30 上海交通大学 Ultrasonic Ranging coupled to the optical positioning noninvasive real time tracker
CN102258399B (en) 2011-04-28 2012-11-28 上海交通大学 Ultrasonic ranging and optical positioning coupled noninvasive real-time tracker
CN103181822A (en) * 2011-12-30 2013-07-03 上海爱立峰医疗科技有限公司 Positioning apparatus for magnetic resonance puncture guiding surgical system
CN103181822B (en) * 2011-12-30 2015-07-22 上海爱立峰医疗科技有限公司 Positioning apparatus for magnetic resonance puncture guiding surgical system
CN104127244A (en) * 2014-08-13 2014-11-05 苏州迪凯尔医疗科技有限公司 Passive type infrared light reflection small ball and use method thereof
CN105147395A (en) * 2015-08-31 2015-12-16 北京天智航医疗科技股份有限公司 Optical tracking tool for navigation surgery
WO2017036340A1 (en) * 2015-08-31 2017-03-09 北京天智航医疗科技股份有限公司 Optical tracking tool for navigating surgery
CN108251878A (en) * 2016-12-29 2018-07-06 中国空气动力研究与发展中心超高速空气动力研究所 A kind of aluminium alloy model surface mark point production method of light-seeking before binocular
CN106725770A (en) * 2017-02-27 2017-05-31 南京大学 A kind of method of the percutaneous intervening equipment geometry of fast registration

Similar Documents

Publication Publication Date Title
US7840256B2 (en) Image guided tracking array and method
US6873867B2 (en) Referencing or registering a patient or a patient body part in a medical navigation system by means of irradiation of light points
US20070038223A1 (en) Computer-assisted knee replacement apparatus and method
Stylopoulos et al. Robotics and ergonomics
US8238631B2 (en) System and method for automatic registration between an image and a subject
US20080033283A1 (en) Apparatus for Navigation and for Fusion of Ecographic and Volumetric Images of a Patient Which Uses a Combination of Active and Passive Optical Markers
US9420988B2 (en) Systems and methods for tracking and guiding high intensity focused ultrasound beams
US20070093709A1 (en) Surgical navigation markers
US8781630B2 (en) Imaging platform to provide integrated navigation capabilities for surgical guidance
US8075486B2 (en) Enhanced ultrasound image display
US7427272B2 (en) Method for locating the mechanical axis of a femur
Rafferty et al. Investigation of C‐arm cone‐beam CT‐guided surgery of the frontal recess
JP2007534351A (en) Guidance system and method for surgical procedures with improved feedback
Li et al. The application accuracy of the NeuroMate robot—a quantitative comparison with frameless and frame-based surgical localization systems
US7466303B2 (en) Device and process for manipulating real and virtual objects in three-dimensional space
CN101516444B (en) Method and apparatus for correcting an error in the co-registration of coordinate systems used to represent objects displayed during navigated brain stimulation
KR20120101040A (en) Visual tracking and annotation of clinically important anatomical landmarks for surgical interventions
US20080039716A1 (en) Method and system for determining the location of a medical instrument relative to a body structure
US20020156369A1 (en) Simplified stereotactic apparatus and methods
Khadem et al. Comparative tracking error analysis of five different optical tracking systems
Grimson et al. Clinical experience with a high precision image-guided neurosurgery system
JP2653210B2 (en) Stereotactic brain surgery support device
Boctor et al. Rapid calibration method for registration and 3D tracking of ultrasound images using spatial localizer
Kuo et al. Kinematic design considerations for minimally invasive surgical robots: an overview
CN101160104A (en) Haptic guidance system and method

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
C56 Change in the name or address of the patentee
CF01