CN206275730U - Noninvasive type real-time surgery positions 3D navigation equipments - Google Patents
Noninvasive type real-time surgery positions 3D navigation equipments Download PDFInfo
- Publication number
- CN206275730U CN206275730U CN201620871979.4U CN201620871979U CN206275730U CN 206275730 U CN206275730 U CN 206275730U CN 201620871979 U CN201620871979 U CN 201620871979U CN 206275730 U CN206275730 U CN 206275730U
- Authority
- CN
- China
- Prior art keywords
- plane
- lower plane
- types
- upper plane
- laser
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
The utility model is related to noninvasive type real-time surgery to position 3D navigation equipments.It is characterized in that including laser orientation system and space positioning apparatus, the laser orientation system is made up of laser driving apparatus, workspace server, data signal current divider and display, by bluetooth communication between laser driving apparatus and workspace server, electrically connected between workspace server, data signal current divider and display；The space positioning apparatus are made up of fixed rack, bidirectional sliding rail, the fixed sliding block of two degrees of freedom, two degrees of freedom bidirectional slider, laser positioning bar and the operation path for cooperating.The utility model realizes preoperative path planning by computer, by " laser orientation system " in art focus point visualization in real time registration and " space positioning apparatus " angle and severity control, so as to the space for realizing operation pathway is accurately positioned；The system is applied to the minimal access bone of sufferer any part.
Description
Technical field
The utility model is related to a kind of noninvasive type real-time surgery positioning 3D navigation equipments.
Background technology
Because operative space is narrow and small in bone surgery, and surrounding bone spreads all over the vital tissues such as nervus vasculairs so that doctor
The good visual field cannot be obtained in surgical procedure, the parsing of bone and focus and positioning need the protracted experience of clinician to accumulate
It is tired.Accurate positioning cannot be obtained due to preoperative, traditional operation needs big otch to implement follow-up operation technique, so easily draws
Massive haemorrhage in art is played, and its hetero-organization can be damaged, increase operation risk.
With the development of modern science and technology, the appearance of orthopedic surgery navigation technology, an important auxiliary tool as operation,
Technology of surgery navigation is by medical imaging device and computer picture software, at the multi-modality image data of patient
Reason, allows doctor accurately to grasp patient's lesion locations, so as to formulate rational operation plan in the preoperative.Computer assisted navigation
Systematic difference so that bone surgery becomes rapid, safe and accurate.It expands the limited visual range of doctor, allows doctor
Understand thoroughly institutional framework, effectively raise operation precision, reduce the inessential wound of operating time and patient.
In patient positioning system, it is necessary first to use layer image camera head（Such as CT）Obtain controlling for patient's lesions position
Treatment is planned, with CT data, to rebuild data and visualization processing, obtains threedimensional model, and preoperative simulation passes through operation in art,
The real time position of the actual position and operating theater instruments of threedimensional model and patient is unified in a coordinate system, and using navigation
System Real-time Collection simultaneously shows the locus of operating theater instruments, allows doctor to observe operating theater instruments and focus portion in threedimensional model
The relative position relation of position, guiding doctor carries out the operative treatment of fast accurate.
In research before, we have applied for the multinomial patent on noninvasive type real-time surgery positioning and navigating equipment,
Wherein 201210385980.2, a kind of entitled utility model patent of the operation positioning navigating device of attached C arms X-ray machine should
Image digitazation frame of the equipment comprising mechanical remote control formula and easy laser beam emitting device and image only carry out simple linear
Treatment is, it is necessary to operator controls image digitazation frame manually by hand-held remote controller, so the utility model cannot realize oneself
Dynamic calibration；Calibration process is by the way of artificial acquisition calibration point data, and error is larger；The laser aid cannot be individually replaced and
It cannot be guaranteed that the defect such as emergent ray is coaxial with laser tube.
201310515922.1, although the utility model patent of entitled noninvasive type real-time surgery positioning and navigating equipment is improved
Above-mentioned defect, but still can be only generated two dimensional image, it is impossible to the depth location of focus is enough shown, to improve the above
Deficiency, we have been adapted to three-dimensional devices, and supporting corresponding software, to realize extremely low radiation on Research foundation above
Three-dimensional navigation.
Utility model content
For problems of the prior art, the purpose of this utility model is to provide noninvasive type real-time surgery positioning 3D
The technical scheme of navigation equipment.The equipment realizes preoperative passage planning by image processing techniques, by " laser positioning system
The real-time registration of visualization and the angle and severity control of " space positioning apparatus " of system " focus point in art, so as to realize operation
The space of passage is accurately positioned.The system is applied to the minimal access bone of sufferer any part.
Described noninvasive type real-time surgery positioning 3D navigation equipments, it is characterised in that fixed including laser orientation system and space
Position device, the laser orientation system is made up of laser driving apparatus, workspace server, data signal current divider and display,
By bluetooth communication between laser driving apparatus and workspace server, workspace server, data signal current divider and display it
Between electrically connect；The space positioning apparatus by cooperate fixed rack, bidirectional sliding rail, two degrees of freedom fixed sliding block, two
Free degree bidirectional slider, laser positioning bar and operation path composition.
Described noninvasive type real-time surgery positioning 3D navigation equipments, it is characterised in that the laser driving apparatus include upper flat
Face motion, lower plane motion, modified laser beam emitting device, stroke measuring device and drive device control circuit；
The upper planar motion mechanism is provided with two axis stepping motor, and lower plane stepper motor is provided with lower plane motion.
Described noninvasive type real-time surgery positioning 3D navigation equipments, it is characterised in that the modified laser beam emitting device by
Tail-fiber type laser, fast joint for optical fibers, tail optical fiber, lens group, sleeve, ceramic insertion core and laser tube composition, laser tube are divided into
Laser tube and lower laser tube, upper laser tube are arranged on upper planar motion mechanism by upper plane bearing, under lower laser tube passes through
Plane bearing is arranged on lower plane motion, and the bare fiber ends of tail optical fiber are connected with fast joint for optical fibers, the optical fiber head of tail optical fiber
End is connected with laser tube, and described lens group is threadedly coupled with laser tube, and the plug end connection tail-fiber type of fast joint for optical fibers swashs
Light device, described lens group can be adjusted with the spacing of the optical fiber head of tail optical fiber by the screw pair of lens group and laser tube, be passed through
The exit direction of the laser that lens group is focused on is by the screw adjustable diameter and screw adjusting on the sleeve that is arranged on inside upper laser tube and tube wall.
Described noninvasive type real-time surgery positioning 3D navigation equipments, it is characterised in that described stroke measuring device is by magnetic grid
Read head, magnetic railings ruler, magnetic grid read head fixed mount, drag chain and drag chain button are constituted；Described drive device control circuit and described work
Make server wireless blue tooth connection, drive device control circuit also respectively with upper two axis stepping motor, lower plane stepper motor, change
Enter type laser beam emitting device to be connected with stroke measuring device.
Described noninvasive type real-time surgery positioning 3D navigation equipments, it is characterised in that the upper planar motion mechanism is provided with
Upper surface plate, upper flat guide, upper plane synchronization band, upper plane belt wheel fixation kit, upper plane magnetic grid read head fixed seat I types,
Upper plane magnetic grid read head fixed seat II types, upper plane synchronization band fixed seat I types, upper plane synchronization band fixed seat II types, upper plane
Fixed mount, upper plane bearing mounting seat, upper plane bearing, upper plane X are to stepper motor, upper plane Y-direction stepping motor, upper plane
Positive stop and upper plane magnetic railings ruler pedestal, wherein, 4 upper flat guide, upper plane X are to stepper motor, upper plane Y-direction stepping
Motor, upper plane belt wheel fixation kit, 2 upper plane magnetic railings ruler pedestals, 4 upper plane positive stops are screwed upper
On surface plate, upper plane X is to stepper motor by upper plane synchronization band and upper plane synchronization band fixed seat II types and upper planar band
Wheel fixation kit links together, and upper plane Y-direction stepping motor is by upper plane synchronization band and face Timing Belt fixed seat I types above
Linked together with upper plane belt wheel fixation kit, upper plane synchronization band fixed seat I types, upper plane synchronization band fixed seat II types,
Upper plane magnetic grid read head fixed seat I types, upper plane magnetic grid read head fixed seat II types are separately mounted on 4 upper flat guides, on
Plane bearing is arranged in upper plane bearing mounting seat, and upper plane bearing mounting seat is arranged on upper plane fixed mount, wherein one
Individual upper plane fixed mount two ends pass through screw with upper plane magnetic grid read head fixed seat I types, upper plane synchronization band fixed seat I types respectively
Fixed, plane fixed mount two ends are respectively with upper plane magnetic grid read head fixed seat II types, upper plane synchronization with fixed seat on another
II types are fixed by screw；Described lower plane motion be provided with lower plane plate, lower plane guide rail, lower plane Timing Belt,
Lower plane belt wheel fixation kit, lower plane magnetic grid read head fixed seat I types, lower plane magnetic grid read head fixed seat II types, lower plane are same
Step band fixed seat I types, lower plane Timing Belt fixed seat II types, lower plane fixed mount, lower plane bearing mounting seat, lower plane axle
Hold, lower plane X to stepper motor, lower plane Y-direction stepping motor, lower plane positive stop and lower plane magnetic railings ruler pedestal, wherein,
4 lower plane guide rails, lower plane X put down under stepper motor, lower plane Y-direction stepping motor, lower plane belt wheel fixation kit, 2
Face magnetic railings ruler pedestal, 4 lower plane positive stops are screwed on lower plane plate, and lower plane X passes through to stepper motor
Lower plane Timing Belt links together with lower plane Timing Belt fixed seat II types and lower plane belt wheel fixation kit, lower plane Y-direction
Stepper motor is connected to one by lower plane Timing Belt with following face Timing Belt fixed seat I types and lower plane belt wheel fixation kit
Rise, it is lower plane Timing Belt fixed seat I types, lower plane Timing Belt fixed seat II types, lower plane magnetic grid read head fixed seat I types, lower flat
Face magnetic grid read head fixed seat II types are separately mounted on 4 upper flat guides, and lower plane bearing is installed installed in upper plane bearing
On seat, lower plane bearing mounting seat is arranged on lower plane fixed mount, and one of lower plane fixed mount two ends are flat with lower respectively
Face magnetic grid read head fixed seat I type, lower plane Timing Belt fixed seat I types are fixed by screw, another lower plane fixed mount two ends
Fixed by screw with lower plane magnetic grid read head fixed seat II types, lower plane Timing Belt fixed seat II types respectively；Described is upper flat
Face fixed mount is parallel with lower plane fixed mount.
Described noninvasive type real-time surgery positioning 3D navigation equipments, it is characterised in that the upper plane fixed mount setting has 3
Individual upper plane mark, upper plane mark includes being arranged on three stainless steel steel at upper and lower, the right position of plane fixed mount
Ball, upper stainless steel steel ball is 80mm with the spacing of lower stainless steel steel ball, and lower stainless steel steel ball is with the spacing of right stainless steel steel ball
31mm；Described lower plane fixed mount setting has 3 lower planes to identify, and lower plane mark includes being arranged on lower plane fixed mount
Three stainless steel steel balls at upper and lower, right position, the spacing of upper stainless steel steel ball and lower stainless steel steel ball is 31mm, under it is stainless
Steel steel ball is 80mm with the spacing of right stainless steel steel ball；Described upper plane bearing mounting seat is provided with planar central mark,
Upper planar central mark is constituted by being arranged on a stainless steel steel ball at the upper position of upper plane bearing mounting seat；Under described
Plane bearing mounting seat is provided with lower plane center identification, and lower plane center identification is by being arranged on the right side of lower plane bearing mounting seat
Stainless steel steel ball composition at position；Three of three stainless steel steel balls and the lower plane mark of described upper plane mark
The position of stainless steel steel ball differs；One stainless steel steel ball and lower plane center identification of described upper planar central mark
The position of a stainless steel steel ball differ.
Described noninvasive type real-time surgery positioning 3D navigation equipments, it is characterised in that the stroke measuring device is provided with 4 altogether
Group, be respectively intended to detect plane bearing mounting seat X to Y-direction, lower plane bearing mounting seat X to the real time position with Y-direction；Institute
State magnetic grid read head fixed mount be separately mounted to plane magnetic grid read head fixed seat I types, upper plane magnetic grid read head fixed seat II types, under
In plane magnetic grid read head fixed seat I types, lower plane magnetic grid read head fixed seat II types, it is screwed；Magnetic grid read head and drag chain button
On magnetic grid read head fixed mount, it is screwed；Drag chain is buckled installed in drag chain, for protecting magnetic grid read head connecting line；
Magnetic railings ruler is separately mounted on 2 upper plane magnetic railings ruler pedestals and 2 lower plane magnetic railings ruler pedestals；Magnetic railings ruler is put down with magnetic grid read head
OK, at a distance of 0.8mm；Upper two axis stepping motor, lower plane stepper motor drive upper plane fixed mount and the movement of lower plane fixed mount
When, magnetic grid read head follows movement together, and during movement, magnetic grid read head reads the data inside magnetic railings ruler in real time.
Described noninvasive type real-time surgery positioning 3D navigation equipments, it is characterised in that also set up on the laser driving apparatus
Have and matrix correction plate is set in matrix correction plate slot, matrix correction plate slot；The matrix correction plate is provided with matrix correction
Point, matrix correction point is made up of 552 stainless steel steel balls that 24 rows 23 being arranged on matrix correction plate are arranged, stainless steel steel ball with
The ranks spacing of stainless steel steel ball is 6mm.
Described noninvasive type real-time surgery positioning 3D navigation equipments, it is characterised in that the upper plane fixed mount and lower plane
Fixed mount is made of the carbon fibre material of the nonvisualized black under X-ray machine perspective；The upper plane bearing mounting seat and
Lower plane bearing mounting seat is made of the ABS material of the nonvisualized white under X-ray machine perspective.
Described noninvasive type real-time surgery positioning 3D navigation equipments, it is characterised in that the data signal part flow arrangement includes
Inverse problem chip and its supporting peripheral circuit, its connection that can carry out signal with closing using the conducting of chip internal circuits
With shut-off, and can by level be controlled complete signal selection；The workspace server by digital image acquisition card,
PC, bluetooth module and MCU module composition.
Described noninvasive type real-time surgery positioning 3D navigation equipments, it is characterised in that the fixed sliding block of the two degrees of freedom is slided
Dynamic to be arranged on fixed rack, the two degrees of freedom bidirectional slider is slidably arranged on bidirectional sliding rail；The fixed rack and double
Circular arc type is to slide rail, fastened to each other with screw, the plane where it is orthogonal；The laser positioning bar is arranged on two certainly
By on the fixed sliding block spent, the operation path is arranged on two degrees of freedom bidirectional slider；The laser positioning bar can be in fixation
The interior fixed sliding block with two degrees of freedom of slide rail does ± 25 ° of sliding；The operation path can be in bidirectional sliding rail with two degrees of freedom
Bidirectional slider does ± 13 ° of sliding.
The equipment realizes preoperative passage planning by computer, by " laser orientation system " in art focus point
The angle and severity control of the real-time registration of visualization and " space positioning apparatus ", so as to the space for realizing operation path is accurately fixed
Position；The system is applied to the minimal access bone of sufferer any part.
The beneficial effects of the utility model are：
1st, it is easy to operate, automatic calibration, in real time positioning；
2nd, position quickly, within 30s, high precision, error is within 1mm；
3rd, spatial registration reduces pain, Operative risk and the expense of patient without implantable marker thing, is truly realized noninvasive；
The utility model using focus in itself as reference, i.e., it is accurate and noninvasive；By taking spinal operation as an example, the main flow of current other researchers
Thinking is：Need to such as insert L1 pedicle screws, system reference be L3 with hypocentrum or ilium, because there is interverbebral disc between L1 and L3
Deng soft tissue hinge, image drift cannot be avoided completely, and error is certainly existed, and operation safety causes anxiety；Our thinking：Directly
Object of reference is done with L1 pedicles of vertebral arch, reference in situ is realized, image drift had both been avoided, and error is reduced to minimum zone；
4th, sufferer is minimized exposed to the time of X-ray and number of times；The utility model need to only be gathered once in the preoperative
The CT data of patient part, and a radioscopic image is gathered in art.
Brief description of the drawings
Fig. 1 is the principle schematic of the utility model embodiment；
Fig. 2 is the theory diagram of the utility model embodiment；
Fig. 3 is the structured flowchart that the utility model embodiment system is constituted；
Fig. 4 is the structural representation of the utility model embodiment laser driving apparatus；
Fig. 5 is the upper planar structure schematic diagram of the utility model embodiment laser driving apparatus；
Fig. 6 is the lower plane structural representation of the utility model embodiment laser driving apparatus；
Fig. 7 is the utility model embodiment stroke measuring device structural representation
Fig. 8 is the structural representation of plane fixed mount in the utility model embodiment；
Fig. 9 is the structural representation of the utility model embodiment lower plane fixed mount；
Figure 10 is the structural representation of plane bearing mounting seat in the utility model embodiment；
Figure 11 is the structural representation of the utility model embodiment lower plane bearing mounting seat；
Figure 12 is the structural representation of the utility model embodiment modified laser beam emitting device；
Figure 13 is the scheme of installation of the utility model embodiment laser driving apparatus；
Figure 14 is the floor map of the utility model embodiment matrix correction plate；
Figure 15 is the benchmark fluoroscopy images of the utility model embodiment matrix correction plate；
Figure 16 is the fluoroscopy images of the utility model embodiment calibration mark；
Figure 17 is the focus fluoroscopy images of the utility model embodiment simulation focus E；
In figure：101- X-ray source points；102-C arm X-ray machines；103- image amplifiers；104- laser driving apparatus；105-
Laser beam；106- space positioning apparatus；107- operation paths；108- fixes sliding block；109- bidirectional sliders；110- laser is fixed
Bar；111- bidirectional sliding rails；112- fixed racks；The upper planar motion mechanisms of 401-；402- lower plane motions；403- strokes are surveyed
Amount device；404- modified laser beam emitting devices；405- drive devices control circuit；The upper plane magnetic railings ruler pedestals of 501-；502-
Upper plane magnetic grid read head fixed seat I types；The upper plane X of 503- are to stepper motor；The upper flat guides of 504-；The upper plane synchronizations of 505-
Band；The upper plane positive stops of 506-；The upper plane belt wheel fixation kits of 507-；The upper plane synchronization band fixed seat II types of 508-；509-
Upper plane synchronization band fixed seat I types；The upper plane fixed mounts of 510-；The upper plane magnetic grid read head fixed seat II types of 511-；Put down on 512-
Spherical bearing mounting seat；The upper plane bearings of 513-；The upper plane Y-direction stepping motors of 514-；The upper surface plates of 515-；601- lower plane magnetic grids
Chi pedestal；602- lower plane magnetic grid read head fixed seat I types；603- lower planes X is to stepper motor；604- lower plane guide rails；605-
Lower plane Timing Belt；606- lower plane positive stops；607- lower plane belt wheel fixation kits；608- lower plane Timing Belt fixed seats
II types；609- lower plane Timing Belt fixed seat I types；610- lower plane fixed mounts；611- lower plane magnetic grid read head fixed seat II types；
612- lower plane bearing mounting seats；613- lower plane bearings；614- lower plane Y-direction stepping motors；615- lower plane plates；701- magnetic
Grid chi；702 magnetic grid read heads；703- drag chains；704- magnetic grid read head fixed mounts；705- drag chain buttons；The upper plane marks of 510-1； 610-
1 lower plane is identified；The upper planar central marks of 512-1；612-1 lower plane center identifications；404-1 lens groups；404-2 sleeves；
404-3 ceramic insertion cores；The upper laser tubes of 404-4；Laser tube under 404-5；404-6 tail optical fibers；404-7 fast joint for optical fibers；404-8 tails
Fine formula laser；1301 matrix correction plate slots；141- matrix correction plates；The benchmark fluoroscopy images of 15- matrix correction plates；16-
Calibrate the fluoroscopy images of mark；17- focus fluoroscopy images.
Specific embodiment
With reference to Figure of description, the utility model is described in further detail：
Fig. 1 is principle schematic of the present utility model；The physics phenomenon that the utility model is related to has：
α .C arms X-ray machine 102（C arm machine）Image-forming principle determines its see-through area in cone（As Fig. 1 shows）；
β .X rays refractive index ≈ 1 in different medium, therefore X-ray is linear in different medium under macrostate
Propagate.
（1）According to phenomenon α, it is assumed that see-through area is converted to following Mathematical Modeling by us, can cone be split as it is countless
The coaxial and parallel concentric circles for differing in size, optionally wherein 1 concentric circles is divided into n greatly in the way of latitude and longitude
Small equal small square, and numbering is according to certain rules（X, Y）；
（2）All concentric circles are split in the same manner, n is equal, be by identical rule numbering（X, Y）Fixation phenomenon β, can
With in extrapolating different concentric circles（X, Y）Equal square is penetrated by same beam of x-rays, and with uniqueness, when（X, Y）
When area is infinitely small, can approximately regard a point as；
（3）In concentric circles a, b, in c,（Xa, Ya）、（Xb, Yb）、（Xc, Yc）It is necessarily in same X-ray, according to
Phenomenon β,（Xa, Ya）、（Xb, Yb）、（Xc, Yc）Linearly, and the straight line is necessarily by the X-ray emission source of conical top；
（4）According to above inference, when（Xa, Ya）When known, then can calculate（Xb, Yb）、（Xc, Yc）Coordinate position, string
Connection（Xb, Yb）、（Xc, Yc）, then the X-ray can be searched out；
（5）Any required X-ray can be searched out with above method, the space tracking of the X-ray can be simulated with laser；
（6）Inside of human body packet is knitted, and fluoroscopy images is formed as bone tissue can clearly develop under X-ray, according to above-mentioned side
Method, can search out the X-ray at development position and with its track of laser display, so as to realize essence of the inside of human body position under X-ray
It is determined that position, for Minimally Invasive Surgery provides reference.
The utility model is based on the concentric circles positioning principle shown in Fig. 1:Due to X-ray, refractive index is in different medium
1, the propagation therefore X-ray is in line in different medium, the X-ray beam sent from X-ray emitter is in cone, is considered as
It is made up of coaxial circles become larger, continuous, it is assumed that on the cone 3 points on any three parallel coaxial disks,
If this 3 points image overlaps on X ray projection pieces, this 3 points are necessarily on same straight line, and this 3 points with it is respective
Round position is corresponding (angle with the respective round heart is identical, apart from proportional), and vice versa.Referring to Fig. 1,0 point is penetrated for X
Face where line source point 101, B points are laser light source point, A, A ' where face be upper plane, B, B ' is lower plane (i.e. LASER Light Source institute
In plane)；If initial laser beam is BO, laser light source point is moved into B' from B, while another point A that laser beam passes through is moved
Moving A', then A', B ' coaxial laser beam just overlaps with X-ray, and laser spots will be beaten in target along the direction of laser beam
On body, the luminous point of display is focus point E；Then the laser fix bar of spatial locator is hammered into objective body along beam direction again
Interior fixation, the spatial relationship calculated by computer, adjustment operation path and the angle of laser fix bar, realize that operation is logical
The foundation in road.
Fig. 2 is the theory diagram of the utility model embodiment.General principle of the present utility model is：1. by lesions position CT
Scanning, 3D rebuild；2. the preoperative operation path 107 of doctor is planned；3. focus is had an X-rayed, and generates the 3D moulds of lesions position
Type is based on the DRR image libraries under X-ray circular cone geometrical model, obtains a branch of laser beam 105 for pointing to focus point 4. by focus portion
The 2D fluoroscopy images of position are matched with the DRR image libraries of generation, calculate the spatial relationship of laser beam 105 and operation path 107 5.
Utilization space positioner 106, sets up operation path 107.
The operation principle of the utility model each several part is as follows：
Workspace server：Workspace server is the data processing centre of navigation equipment, and workspace server includes digital picture
Capture card, PC, MCU module and wireless module, the operation to whole system are controlled；Wherein PC be configured with 4 core high-speed CPUs and
4G internal memories, possess display card, DVI data acquisition cards and big capacity hard disk；MCU module is using STM32F103XX series
The MCU chip of Cortex-M3 kernels；Wireless module uses technical grade bluetooth module, and transmission speed is efficient, reliable, is driven with laser
By wireless connection (single-point correspondence), theoretical wireless transmission distance reaches rice up to a hundred to dynamic device, and integration degree is high.
Laser driving apparatus 104：Including upper planar motion mechanism 401, lower plane motion 402, modified laser hair
Injection device 404, stroke measuring device 403 and drive device control circuit 405.Upper planar motion mechanism 401 is provided with plane
Plate 515, upper flat guide 504, upper plane synchronization band 505, upper plane belt wheel fixation kit 507, upper plane magnetic grid read head are fixed
Seat I type 502, upper plane magnetic grid read head fixed seat II types 511, upper plane synchronization band fixed seat I types 509, upper plane synchronization band are consolidated
Reservation II types 508, upper plane fixed mount 510, upper plane bearing mounting seat 512, upper plane bearing 513, upper plane X are to stepping electricity
Machine 503, upper plane Y-direction stepping motor 514, upper plane positive stop 506, upper plane magnetic railings ruler pedestal 501.Wherein, above put down for 4
Face guide rail 504, upper plane X are to stepper motor 503, upper plane Y-direction stepping motor 514, upper plane belt wheel fixation kit 507,2
The upper plane positive stop 506 of upper plane magnetic railings ruler pedestal 501,4 is screwed on upper surface plate 515, upper plane X to
Stepper motor 514 is by upper plane synchronization band 505 and upper plane synchronization band fixed seat II types 508 and upper plane belt wheel fixation kit
507 link together, and upper plane Y-direction stepping motor 514 is by upper plane synchronization band 505 and face Timing Belt fixed seat I types above
509 and upper plane belt wheel fixation kit 507 link together, upper plane synchronization band fixed seat I types 509, upper plane synchronization band are consolidated
Reservation II types 508, upper plane magnetic grid read head fixed seat I types 502, upper plane magnetic grid read head fixed seat II types 511 are separately mounted to 4
On root on flat guide, upper plane bearing 513 is arranged in upper plane bearing mounting seat 512, and upper plane bearing mounting seat 512 is pacified
On upper plane fixed mount 510, on one of them the two ends of plane fixed mount 510 respectively with upper plane magnetic grid read head fixed seat I
Type 502, upper plane synchronization band fixed seat I types 509 are fixed by screw, on another two ends of plane fixed mount 510 respectively with it is upper
Plane magnetic grid read head fixed seat II types 511, upper plane synchronization band fixed seat II types 508 are fixed by screw；Described lower plane
Motion 402 is provided with lower plane plate 615, lower plane guide rail 604, lower plane Timing Belt 605, lower plane belt wheel fixation kit
607th, lower plane magnetic grid read head fixed seat I types 602, lower plane magnetic grid read head fixed seat II types 611, lower plane Timing Belt fixed seat
I types 609, lower plane Timing Belt fixed seat II types 608, lower plane fixed mount 610, lower plane bearing mounting seat 612, lower plane axle
613, lower plane X is held to stepper motor 603, lower plane Y-direction stepping motor 614, lower plane positive stop 606, lower plane magnetic grid
Chi pedestal 601.Wherein, 4 lower plane guide rails 604, lower plane X to stepper motor 603, lower plane Y-direction stepping motor 614, under
The lower plane positive stop 606 of lower plane magnetic railings ruler pedestal 601,4 of plane belt wheel fixation kit 607,2 is screwed
On lower plane plate 615, lower plane X is to stepper motor 603 by lower plane Timing Belt 605 and lower plane Timing Belt fixed seat II types
608 and lower plane belt wheel fixation kit 607 link together, lower plane Y-direction stepping motor 614 pass through lower plane Timing Belt 605
Linked together with following face Timing Belt fixed seat I types 609 and lower plane belt wheel fixation kit 607, lower plane Timing Belt is fixed
Seat I types 602, lower plane Timing Belt fixed seat II types 611, lower plane magnetic grid read head fixed seat I types 609, lower plane magnetic grid read head
Fixed seat II types 608 are separately mounted on 4 upper flat guides 604, and lower plane bearing 613 is arranged on upper plane bearing mounting seat
On 612, lower plane bearing mounting seat 612 is arranged on lower plane fixed mount 610, one of two ends of lower plane fixed mount 610
Fixed by screw with lower plane magnetic grid read head fixed seat I types 602, lower plane Timing Belt fixed seat I types 609 respectively, another
The two ends of lower plane fixed mount 610 respectively with lower plane magnetic grid read head fixed seat II types 611, lower plane Timing Belt fixed seat II types
608 are fixed by screw；Described upper plane fixed mount 510 is parallel with lower plane fixed mount 610.
The present embodiment is provided with stroke measuring device 403, and stroke measuring device 403 is used for upper plane bearing mounting seat
512nd, the real-time measurement of the coordinate position of lower plane bearing mounting seat 612.The stroke measuring device is by magnetic grid read head 702, magnetic grid
Chi 701, drag chain 703, drag chain are buckled 705, magnetic grid read head fixed mount 704 and are constituted, and have 4 groups.704 points of the magnetic grid read head fixed mount
Plane magnetic grid read head fixed seat I types 502, upper plane magnetic grid read head fixed seat II types 511, lower plane magnetic grid read head An Zhuan not gone up
611 in fixed seat I types 602, lower plane magnetic grid read head fixed seat II types, it is screwed.Magnetic grid read head 702 and drag chain button 705
On magnetic grid read head fixed mount 704, it is screwed.Drag chain 703 is arranged on drag chain button 705, for protecting magnetic grid to read
First 702 connecting line.Magnetic railings ruler 701 is separately mounted to 2 upper plane magnetic railings ruler pedestals 501 and 2 lower plane magnetic railings ruler pedestals 601
On.Magnetic railings ruler 701 is parallel with magnetic grid read head 702, at a distance of 0.8mm.When motor drives upper plane fixed mount 510 and lower plane to fix
When frame 610 is moved, magnetic grid read head 702 follows movement together, and during movement, magnetic grid read head 702 can in real time read magnetic grid
Data inside chi 701, reach the purpose of measurement stroke.
Workspace server passes through Bluetooth wireless communication, drive device and upper plane stepping with drive device control circuit 405
Motor 503,603, four groups of stroke measuring devices 403 of lower plane stepper motor are electrically connected.
Upper plane mark 510-1 in upper plane fixed mount 510 is used in the carbon fiber material of nonvisualized black under perspective
Embedded stainless steel steel ball is made in material, the characteristics of with that can clearly show that mark under X-ray examination.The upper plane mark of the present embodiment
510-1 is known by three upper plane stainless steel steel ball groups of upper and lower, the right position for being separately positioned on upper plane fixed mount 510
Into, on these three plane stainless steel steel ball for system calibration is provided upper plane mark point；Upper stainless steel steel ball and lower stainless steel
The spacing of steel ball（The longitudinal pitch of ball and ball）It is 80mm, the spacing of lower stainless steel steel ball and right stainless steel steel ball（Ball and ball
Horizontal spacing）It is 31mm.
Lower plane mark 610-1 in lower plane fixed mount 610 is used in the carbon fiber material of nonvisualized black under perspective
Embedded stainless steel steel ball is made in material, the characteristics of with that can clearly show that mark under X-ray examination.The lower plane mark of the present embodiment
The lower plane stainless steel steel ball that knowledge 610-1 is separately positioned at upper and lower, the right position of lower plane fixed mount 610 by three is constituted,
These three lower plane stainless steel steel balls provide lower plane identification point for system calibration；Upper stainless steel steel ball and lower stainless steel steel ball
Spacing（The longitudinal pitch of ball and ball）It is 31mm, the spacing of lower stainless steel steel ball and right stainless steel steel ball（The transverse direction of ball and ball
Spacing）It is 80mm.
Upper planar central in upper plane bearing mounting seat 512 identifies nonvisualized white under 512-1 is used in having an X-rayed
Embedded stainless steel steel ball is made in ABS material, the characteristics of with that can clearly show that mark under X-ray examination.
The upper planar central of the present embodiment identifies 512-1 by a upper position for being arranged on upper plane bearing mounting seat 512
Put place upper plane stainless steel steel ball composition, on this plane stainless steel steel ball for system calibration is provided upper plane bearing center
Identification point position.
Lower plane center identification 612-1 in lower plane bearing mounting seat 612 nonvisualized whites under being used in having an X-rayed
Embedded stainless steel steel ball is made in ABS material, the characteristics of with that can clearly show that mark under X-ray examination.
The lower plane center identification 612-1 of the present embodiment is by a right bit for being arranged on lower plane bearing mounting seat 612
Put the lower plane stainless steel steel ball composition at place.This lower plane stainless steel steel ball provides lower plane bearing center for system calibration
Identification point position.
Plane mark 510-1 on the present embodiment, the position of upper planar central mark 512-1 and lower plane identify 610-1, under
The position of planar central mark 612-1 differs (stagger or misaligned, similarly hereinafter)
The present embodiment identifies the calibration of 610-1 by three upper plane mark 510-1, three lower planes, it is possible to calculate
Obtain the corresponding unit pulse value in upper and lower planar motion mechanism of unit matrix in matrix correction plate.
Modified laser beam emitting device 404 includes tail-fiber type laser 404-8, the fast joint for optical fibers of 650nm, 5mw
404-7, tail optical fiber 404-6, lens group 404-1, sleeve 404-2, ceramic insertion core 404-3 and laser tube, laser tube are divided into laser
Pipe 404-4 and lower laser tube 404-5.Upper laser tube 404-4 passes through upper plane bearing 513, upper plane bearing 513 to be arranged on upper
In plane bearing mounting seat 512, lower laser tube 404-5 is fixed in lower plane bearing 613, and lower plane bearing 613 is arranged on down
In plane bearing mounting seat 612, tail-fiber type laser 404-8 is connected with fast joint for optical fibers 404-7, fast joint for optical fibers 404-
7 are connected with the bare fiber ends of tail optical fiber 404-6, and tail optical fiber 404-6 is connected with ceramic insertion core 404-3, ceramic insertion core 404-3 and sleeve
404-2 is connected, and upper laser tube 404-4 is threadedly coupled with lens group 404-1.
The spacing of the optical fiber head of described lens group 404-1 and tail optical fiber 404-6 can be by lens group 404-1 and upper laser
The screw pair regulation of pipe 404-4, with focusing function, the exit direction of the laser focused on by lens group 404-1 is by being arranged on
Screw adjustable diameter and screw adjusting on upper laser tube 404-4 tube walls on internal sleeve 404-2 and tube wall.Can realize improving by calibration
The laser beam direction of type laser beam emitting device 404 is by the ball center of upper plane bearing 513 and the ball center of lower plane bearing 613
Position determine, can realize that laser emitting direction is coaxial with laser tube, can it is accurate, clearly point to target.
Data signal part flow arrangement:Data signal part flow arrangement is the novel operation positioning navigating device for being attached to C arm machine
Signal switching apparatus, including Inverse problem chip and its supporting peripheral circuit, it can utilize the conducting of chip internal circuits
The on and off of signal is carried out with closing, and the selection for completing signal can be controlled by level.Data signal shunting dress
Two passages are installed, wherein passage one is C arm machine original signal passage, and passage two is the signalling channel of navigation equipment, operator
Can be according to oneself demand come switching signal passage.
Space positioning apparatus 106：By fixed rack 112, bidirectional sliding rail 111, two degrees of freedom fixed sliding block 108, two from
It is made up of degree bidirectional slider 109, laser positioning bar 110 and operation path 107.The fixed sliding block 108 of two degrees of freedom is slided and set
On fixed rack 112；Two degrees of freedom bidirectional slider 109 is slidably arranged on bidirectional sliding rail 111；Fixed rack 112 and two-way
Slide rail 111 is circular arc type, fastened to each other with screw, and the plane where it is orthogonal；Laser positioning bar 110 is arranged on two certainly
By on the fixed sliding block 108 spent, operation path 107 is arranged on two degrees of freedom bidirectional slider 109；Laser positioning bar 110 can be
The interior fixed sliding block 108 with two degrees of freedom of fixed rack 112 does ± 25 ° of sliding, after sliding in place, is fixed with stud；Operation
Passage 107 can do ± 13 ° of sliding in bidirectional sliding rail 111 with two degrees of freedom bidirectional slider 109, after sliding in place, use stud
It is fixed.The space positioning apparatus can be fixed on operating table by common clamping device, and retaining part is laser positioning bar.
Internal target spot E is the point that doctor needs to be found in human body in operation in Fig. 1, that is, the utility model need to
The point of puncture of the point to be oriented, such as pedicle of vertebral arch operation, then adapted space positioner again, sets up operation path, realizes
Three-dimensional navigation.
Display point Es ' of the internal target spot E on C arm machine image output monitor（Figure 17）For internal target spot E is saturating in C arm machine
Corresponding points in visible image.
The concrete operations flow of navigation equipment of the present utility model is as follows:
First, preoperative 3D modeling and operation path are planned：
（1）The CT scan data of patient part is imported into computer disposal, the 3D models of focus are rebuild；
（2）Doctor completes operation path planning according to the focus 3D models rebuild；
2nd, laser orientation system is installed, starts, calibrated：
（a）Laser driving apparatus 104 are arranged on the image amplifier 103 of C arm machine；
（b）Workspace server is connected respectively with the corresponding interface of data signal part flow arrangement；
（c）After opening the power supply opening of laser driving apparatus 104, workspace server respectively, system enters original state；
（d）Matrix correction plate 141 is inserted in the matrix correction plate slot 1301 on laser driving apparatus 104, using C arms
Machine obtains benchmark fluoroscopy images 15（Figure 15）；The picture signal of C arm machine is switched to by work clothes by data signal part flow arrangement
Business device in, workspace server by by digital image acquisition card, to benchmark perspective view after benchmark fluoroscopy images are collected
As carrying out image procossing, the coordinate information of each matrix dot is recorded；
（e）Extract step out（d）In matrix correction plate 141, by the upper plane fixed mount 510 in laser driving apparatus 104
With the zone line that lower plane fixed mount 610 is moved to laser driving apparatus 104, now go up plane bearing mounting seat 512 and under
Plane bearing mounting seat 612 is in the center of laser driving apparatus 104, upper plane bearing mounting seat 512 and upper plane
Fixed mount 510 belongs to the upper planar motion mechanism 401 of laser driving apparatus 104, and upper plane fixed mount 510 is provided with 3 and above puts down
Face identifies 510-1, and lower plane bearing mounting seat 612 belongs to the lower plane fortune of laser driving apparatus 104 with lower plane fixed mount 610
Motivation structure 402, lower plane fixed mount 610 is provided with 3 lower plane mark 610-1, is set in upper plane bearing mounting seat 512
There is 1 upper planar central mark 512-1,1 lower plane center identification 612-1 is provided with lower plane bearing mounting seat 612, profit
Fluoroscopy images 15 are obtained with C arm machine, then is gathered fluoroscopy images with the digital image acquisition card in workspace server and it is carried out
Image procossing, records the coordinate information of corresponding points of each identification point on image, the benchmark perspective view that then will be obtained before
As 15 information identifies the information superposition of fluoroscopy images 16 with current calibration, the transverse direction of plane mark point just can be so drawn
Matrix function of the spacing in corresponding matrix calibration image, then calculates the corresponding upper plane lateral separation L1=of unit matrix
Corresponding matrix function in the horizontal spacing/image of upper plane mark, similarly draws the corresponding upper plane fore-and-aft distance of unit matrix
Corresponding matrix function in the longitudinal pitch/image of the upper plane marks of L2=, the transverse direction of lower plane lateral separation L3=lower planes mark
Corresponding matrix function in spacing/image, corresponding square in the longitudinal pitch/image of lower plane fore-and-aft distance L4=lower planes mark
Battle array number, completes calibration；
3rd, in art 2D images match and focus point positioning：
（ⅰ）According to step（d）The benchmark fluoroscopy images 15 and the coordinate information of each matrix dot for getting, computer build
Go out the ideal conical ray model of C arm machine；By step（1）The focus 3D models of middle reconstruction are placed in preferable taper ray, simulation
Go out the projected image of any direction, constitute a database（DRR databases）；
（ⅱ）Focus is put to C arm machine, focus fluoroscopy images 17 are obtained, image is gathered and carried out by workspace server
Treatment, the coordinate information of record focus point E, by step（e）The fluoroscopy images information superposition of acquisition on focus fluoroscopy images 17,
Draw respectively planar central mark with lower plane center identification to focus point E distance, with matrix function N1, N2, N3, N4 come
Represent, finally calculate the execution of all directions of laser driving apparatus apart from LUpper X、LUpper Y、LLower X、LLower Y, wherein LUpper X=L1×N1、
LUpper Y=L2×N2、LLower X=L3×N3、LLower Y=L4 × N4, and sent to swashing result of calculation by the bluetooth module of workspace server
Drive unit 104, laser just points to focus point after laser driving apparatus 104 are finished, that is, complete the positioning of 2D；
（ⅲ）By step（ⅱ）The focus fluoroscopy images 17 and step of middle acquisition（ⅰ）In database matching, in computer
The 3d space attitude of middle generation focus, and calculation procedure（ⅱ）The laser beam 105 and step of middle generation（2）The operation of middle planning is led to
Spatial relationship of the road 107 in focus point；
4th, the foundation of operation path：
1. the laser positioning bar 110 of space positioning apparatus 106 is hammered into focus point E and fixation along the direction of laser beam 105；
2. according to step（ⅲ）The spatial relationship of middle laser beam 105 and operation path 107, adjustment space positioner 106
Two degrees of freedom fixed sliding block 108, two degrees of freedom bidirectional slider 109, it is and fixed；
3. operation path 107 is successfully established.
The utility model and Application No. 201310515922.1, the reality of entitled noninvasive type real-time surgery positioning and navigating equipment
Contrast as follows with new patent：
The upper planar motion mechanism of laser driving apparatus and lower plane are transported in " noninvasive type real-time surgery positioning and navigating equipment "
Motivation structure type of drive is：Motor drives Timing Belt, Timing Belt to drive ball screw, ball screw to drive bearing mounting base again
Mode is positioned.Intermediate transmission structure is too many, causes mounting structure big, and installation requirement is high.And a kind of torsion of screw rod transmission mode
The transmission of square power, axial high transmission accuracy, but radially there is gap, precision is low.Particularly after long-time use, mill can be caused
Damage, it is necessary to adjust again.Screw mandrel type of drive locating speed is slow.
Upper planar motion mechanism and lower plane motion type of drive are electricity in laser driving apparatus of the present utility model
Machine drives Timing Belt, Timing Belt directly to drive the mode of bearing mounting base to position, and installation requirement is low, and positioning precision is high, and positioning is fast
Speed.
" noninvasive type real-time surgery positioning and navigating equipment " is open loop positioning method, and actual conditions can not be entered in implementation procedure
Row positioning adjustment.
The utility model is closed loop positioning method, increased stroke measuring device, and the position of bearing mounting base can be carried out
Read in real time and adjust, improve execution precision.
Computer of the present utility model not only has two dimensional navigation function, is also planned with three-dimensional modeling, operation path, art
The function such as three-dimensional matching in preceding art.
Space positioning apparatus of the present utility model can carry out three-dimensional fix to focus point, set up accurate operation logical
Road.
The utility model is described with reference to its specific embodiment, but it is clear that still can be so that various modification can be adapted
With conversion without departing from spirit and scope of the present utility model.Therefore, specification and drawings be considered as it is illustrative rather than
It is restricted, every simple deformation of the present utility model or equivalent transformation, it is considered that fall into protection domain of the present utility model.
Claims (10)
1. noninvasive type real-time surgery positions 3D navigation equipments, it is characterised in that including laser orientation system and space positioning apparatus,
The laser orientation system is made up of laser driving apparatus, workspace server, data signal current divider and display, Laser Driven
By bluetooth communication between device and workspace server, electrically connected between workspace server, data signal current divider and display；
The space positioning apparatus are two-way by the fixed rack that cooperates, bidirectional sliding rail, the fixed sliding block of two degrees of freedom, two degrees of freedom
Sliding block, laser positioning bar and operation path composition.
2. noninvasive type real-time surgery according to claim 1 positions 3D navigation equipments, it is characterised in that the Laser Driven
Device includes upper planar motion mechanism, lower plane motion, modified laser beam emitting device, stroke measuring device and drives dress
Put control circuit；The upper planar motion mechanism is provided with two axis stepping motor, and lower plane is provided with lower plane motion
Stepper motor.
3. noninvasive type real-time surgery according to claim 2 positions 3D navigation equipments, it is characterised in that the modified swashs
Light emitting devices is made up of tail-fiber type laser, fast joint for optical fibers, tail optical fiber, lens group, sleeve, ceramic insertion core and laser tube,
Laser tube is divided into laser tube and lower laser tube, and upper laser tube is arranged on upper planar motion mechanism by upper plane bearing, under
Laser tube is arranged on lower plane motion by lower plane bearing, and the bare fiber ends of tail optical fiber are connected with fast joint for optical fibers,
The optical fiber head end of tail optical fiber is connected with laser tube, and described lens group is threadedly coupled with laser tube, the plug end of fast joint for optical fibers
Connection tail-fiber type laser, described lens group can be by lens group and the spiral of laser tube with the spacing of the optical fiber head of tail optical fiber
Pair regulation, the exit direction of the laser focused on by lens group is by the screw on the sleeve that is arranged on inside upper laser tube and tube wall
Adjustable diameter and screw adjusting.
4. noninvasive type real-time surgery according to claim 3 positions 3D navigation equipments, it is characterised in that described stroke is surveyed
Amount device is made up of magnetic grid read head, magnetic railings ruler, magnetic grid read head fixed mount, drag chain and drag chain button；Described drive device control electricity
Road is connected with described workspace server wireless blue tooth, drive device control circuit also respectively with upper two axis stepping motor, lower flat
Face stepper motor, modified laser beam emitting device are connected with stroke measuring device.
5. noninvasive type real-time surgery according to claim 4 positions 3D navigation equipments, it is characterised in that the upper plane fortune
Motivation structure is provided with surface plate, upper flat guide, upper plane synchronization band, upper plane belt wheel fixation kit, upper plane magnetic grid and reads
Head fixed seat I types, upper plane magnetic grid read head fixed seat II types, upper plane synchronization band fixed seat I types, upper plane synchronization band fixed seat
II types, upper plane fixed mount, upper plane bearing mounting seat, upper plane bearing, upper plane X are to stepper motor, upper plane Y-direction stepping
Motor, upper plane positive stop and upper plane magnetic railings ruler pedestal, wherein, 4 upper flat guides, upper plane X to stepper motor, on
Plane Y-direction stepping motor, upper plane belt wheel fixation kit, 2 upper plane magnetic railings ruler pedestals, 4 upper plane positive stops are used
Screw is fixed on surface plate, and upper plane X is to stepper motor by upper plane synchronization band and upper plane synchronization band fixed seat II
Type and upper plane belt wheel fixation kit link together, and upper plane Y-direction stepping motor is same with face above by upper plane synchronization band
Step band fixed seat I types and upper plane belt wheel fixation kit link together, upper plane synchronization band fixed seat I types, upper plane synchronization
Band fixed seat II types, upper plane magnetic grid read head fixed seat I types, upper plane magnetic grid read head fixed seat II types are separately mounted on 4
On flat guide, upper plane bearing is arranged in upper plane bearing mounting seat, and upper plane bearing mounting seat is solid installed in upper plane
Determine on frame, plane fixed mount two ends are fixed with upper plane magnetic grid read head fixed seat I types, upper plane synchronization band respectively on one of them
Seat I types fixed by screw, on another plane fixed mount two ends respectively with upper plane magnetic grid read head fixed seat II types, upper plane
Timing Belt fixed seat II types are fixed by screw；Described lower plane motion be provided with lower plane plate, lower plane guide rail, under
Plane synchronization band, lower plane belt wheel fixation kit, lower plane magnetic grid read head fixed seat I types, lower plane magnetic grid read head fixed seat II
Type, lower plane Timing Belt fixed seat I types, lower plane Timing Belt fixed seat II types, lower plane fixed mount, lower plane bearing are installed
Seat, lower plane bearing, lower plane X are to stepper motor, lower plane Y-direction stepping motor, lower plane positive stop and lower plane magnetic grid
Chi pedestal, wherein, 4 lower plane guide rails, lower plane X are fixed to stepper motor, lower plane Y-direction stepping motor, lower plane belt wheel
Component, 2 lower plane magnetic railings ruler pedestals, 4 lower plane positive stops are screwed on lower plane plate, lower plane X to
Stepper motor is connected to one by lower plane Timing Belt and lower plane Timing Belt fixed seat II types and lower plane belt wheel fixation kit
Rise, lower plane Y-direction stepping motor passes through lower plane Timing Belt and following face Timing Belt fixed seat I types and lower plane belt wheel fixation group
Part is linked together, and lower plane Timing Belt fixed seat I types, lower plane Timing Belt fixed seat II types, lower plane magnetic grid read head are fixed
Seat I types, lower plane magnetic grid read head fixed seat II types are separately mounted on 4 upper flat guides, and lower plane bearing is arranged on upper flat
In spherical bearing mounting seat, lower plane bearing mounting seat is arranged on lower plane fixed mount, one of lower plane fixed mount two ends
Fixed by screw with lower plane magnetic grid read head fixed seat I types, lower plane Timing Belt fixed seat I types respectively, another lower plane
Fixed mount two ends are fixed with lower plane magnetic grid read head fixed seat II types, lower plane Timing Belt fixed seat II types by screw respectively；
Described upper plane fixed mount is parallel with lower plane fixed mount.
6. noninvasive type real-time surgery according to claim 5 positions 3D navigation equipments, it is characterised in that the upper plane is consolidated
Fixed erection is equipped with 3 upper plane marks, and upper plane mark includes being arranged on three at upper and lower, the right position of plane fixed mount
Individual stainless steel steel ball, upper stainless steel steel ball is 80mm, lower stainless steel steel ball and right stainless steel steel with the spacing of lower stainless steel steel ball
The spacing of ball is 31mm；Described lower plane fixed mount setting has 3 lower planes to identify, and lower plane mark includes being arranged on lower putting down
Three stainless steel steel balls at upper and lower, the right position of face fixed mount, upper stainless steel steel ball is with the spacing of lower stainless steel steel ball
31mm, lower stainless steel steel ball is 80mm with the spacing of right stainless steel steel ball；Described upper plane bearing mounting seat is provided with flat
Face center identification, upper planar central identifies a stainless steel steel ball group by being arranged on the upper position of upper plane bearing mounting seat
Into；Described lower plane bearing mounting seat is provided with lower plane center identification, and lower plane center identification is by being arranged on lower plane axle
Hold the stainless steel steel ball composition at the right position of mounting seat；Three stainless steel steel balls of described upper plane mark are flat with lower
The position of three stainless steel steel balls of face mark differs；One stainless steel steel ball of described upper planar central mark is with
The position of one stainless steel steel ball of planar central mark differs.
7. noninvasive type real-time surgery according to claim 5 positions 3D navigation equipments, it is characterised in that the stroke measurment
Device is provided with 4 groups altogether, be respectively intended to detect plane bearing mounting seat X to Y-direction, lower plane bearing mounting seat X to Y-direction
Real time position；The magnetic grid read head fixed mount is separately mounted to plane magnetic grid read head fixed seat I types, upper plane magnetic grid read head and consolidates
In reservation II types, lower plane magnetic grid read head fixed seat I types, lower plane magnetic grid read head fixed seat II types, it is screwed；Magnetic grid is read
Head and drag chain button are arranged on magnetic grid read head fixed mount, are screwed；Drag chain is buckled installed in drag chain, for protecting magnetic grid to read
Head connecting line；Magnetic railings ruler is separately mounted on 2 upper plane magnetic railings ruler pedestals and 2 lower plane magnetic railings ruler pedestals；Magnetic railings ruler with
Magnetic grid read head is parallel, at a distance of 0.8mm；Upper two axis stepping motor, lower plane stepper motor drive upper plane fixed mount and lower plane
When fixed mount is moved, magnetic grid read head follows movement together, and during movement, magnetic grid read head is read inside magnetic railings ruler in real time
Data.
8. noninvasive type real-time surgery according to claim 2 positions 3D navigation equipments, it is characterised in that the Laser Driven
It is additionally provided with device and matrix correction plate is set in matrix correction plate slot, matrix correction plate slot；The matrix correction plate sets
Matrix correction point is equipped with, matrix correction point is made up of 552 stainless steel steel balls that 24 rows 23 being arranged on matrix correction plate are arranged,
Stainless steel steel ball is 6mm with the ranks spacing of stainless steel steel ball.
9. noninvasive type real-time surgery according to claim 5 positions 3D navigation equipments, it is characterised in that the upper plane is consolidated
Determine frame and lower plane fixed mount to be made of the carbon fibre material of the nonvisualized black under X-ray machine perspective；The upper plane
Bearing mounting base and lower plane bearing mounting seat are made of the ABS material of the nonvisualized white under X-ray machine perspective.
10. noninvasive type real-time surgery according to claim 1 positions 3D navigation equipments, it is characterised in that the two degrees of freedom
Fixed sliding block be slidably arranged on fixed rack, the two degrees of freedom bidirectional slider is slidably arranged on bidirectional sliding rail；It is described
Fixed rack and bidirectional sliding rail are circular arc type, fastened to each other with screw, and the plane where it is orthogonal；The laser positioning
Bar is arranged on the fixed sliding block of two degrees of freedom, and the operation path is arranged on two degrees of freedom bidirectional slider；The laser is determined
Position bar can do with the fixed sliding block of two degrees of freedom ± 25 ° of sliding in fixed rack；The operation path can be in bidirectional sliding rail
The interior sliding that ± 13 ° are done with two degrees of freedom bidirectional slider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620871979.4U CN206275730U (en) | 2016-08-12 | 2016-08-12 | Noninvasive type real-time surgery positions 3D navigation equipments |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620871979.4U CN206275730U (en) | 2016-08-12 | 2016-08-12 | Noninvasive type real-time surgery positions 3D navigation equipments |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206275730U true CN206275730U (en) | 2017-06-27 |
Family
ID=59084773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620871979.4U Withdrawn - After Issue CN206275730U (en) | 2016-08-12 | 2016-08-12 | Noninvasive type real-time surgery positions 3D navigation equipments |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206275730U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106073895A (en) * | 2016-08-12 | 2016-11-09 | 杭州三坛医疗科技有限公司 | Noninvasive type real-time surgery location 3D navigator |
| CN109431600A (en) * | 2018-11-26 | 2019-03-08 | 深圳安科高技术股份有限公司 | A kind of laser registration instrument and control circuit and control method for surgical navigational |
| CN112190333A (en) * | 2020-07-14 | 2021-01-08 | 山东威高医疗科技有限公司 | Space locator used with electromagnetic navigation system and C arm |
| CN117462267A (en) * | 2023-12-27 | 2024-01-30 | 苏州铸正机器人有限公司 | Aiming method of robot end effector under perspective guidance |
-
2016
- 2016-08-12 CN CN201620871979.4U patent/CN206275730U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106073895A (en) * | 2016-08-12 | 2016-11-09 | 杭州三坛医疗科技有限公司 | Noninvasive type real-time surgery location 3D navigator |
| CN109431600A (en) * | 2018-11-26 | 2019-03-08 | 深圳安科高技术股份有限公司 | A kind of laser registration instrument and control circuit and control method for surgical navigational |
| CN109431600B (en) * | 2018-11-26 | 2021-08-03 | 深圳安科高技术股份有限公司 | Laser registration instrument for surgical navigation, control circuit and control method |
| CN112190333A (en) * | 2020-07-14 | 2021-01-08 | 山东威高医疗科技有限公司 | Space locator used with electromagnetic navigation system and C arm |
| CN112190333B (en) * | 2020-07-14 | 2023-01-20 | 山东威高医疗科技有限公司 | Space locator used with electromagnetic navigation system and C arm |
| CN117462267A (en) * | 2023-12-27 | 2024-01-30 | 苏州铸正机器人有限公司 | Aiming method of robot end effector under perspective guidance |
| CN117462267B (en) * | 2023-12-27 | 2024-03-01 | 苏州铸正机器人有限公司 | Aiming method of robot end effector under perspective guidance |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106073895B (en) | Noninvasive type real-time surgery positions 3D navigation equipment | |
| CN206275730U (en) | Noninvasive type real-time surgery positions 3D navigation equipments | |
| CN103519902B (en) | Noninvasive type real-time surgery positioning navigating device | |
| CN103040525B (en) | A kind of multimode medical image operation piloting method and system | |
| JP5702861B2 (en) | Assisted automatic data collection method for anatomical surfaces | |
| US8275443B2 (en) | MRI compatible robot with calibration phantom and phantom | |
| US9451928B2 (en) | Incorporating internal anatomy in clinical radiotherapy setups | |
| US20150018842A1 (en) | Systems and methods for frameless image-guided biopsy and therapeutic intervention | |
| CN108272502A (en) | A kind of ablation needle guiding operating method and system of CT three-dimensional imagings guiding | |
| CN109692033B (en) | Percutaneous lumbar intervertebral foramen mirror puncture auxiliary positioning ware | |
| JP4981966B2 (en) | Radiotherapy apparatus control method and radiotherapy apparatus control apparatus | |
| EP3072472B1 (en) | Stereotactic whole-body guide system for precisely positioning surgical instruments inside the body | |
| Bax et al. | A compact mechatronic system for 3D ultrasound guided prostate interventions | |
| CN1345203A (en) | Apparatus and mehtod for detecting anomalies in human tissue | |
| WO2021253943A1 (en) | Laser locating frame system | |
| CN111671502A (en) | Needle holder for percutaneous puncture minimally invasive surgery intelligent guidance | |
| JP2007203043A (en) | Imaging medical technique device and method for this kind of device | |
| CN107049489A (en) | A kind of operation piloting method and system | |
| CN104546111A (en) | Individualized guiding template assisting in setting pedicle screw into small incision and manufacturing method of individualized guiding template | |
| CN214549595U (en) | Medical system | |
| CN107913094A (en) | A kind of combined type localised puncture device and its localised puncture method | |
| CN109106454B (en) | RC intracranial minimally invasive treatment positioning device | |
| Kelly et al. | Evolution of contemporary instrumentation for computer-assisted stereotactic surgery | |
| CN2435052Y (en) | Magnetic resonance x-ray double-location leading hepatic portal vein and hepatic duct puncture device | |
| CN204839680U (en) | A down puncture direction of CT guide appearance for human tissues and organs shelters from piercing part position |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170627 Effective date of abandoning: 20190104 |