CN208808648U - A kind of probe registration apparatus - Google Patents
A kind of probe registration apparatus Download PDFInfo
- Publication number
- CN208808648U CN208808648U CN201820492721.2U CN201820492721U CN208808648U CN 208808648 U CN208808648 U CN 208808648U CN 201820492721 U CN201820492721 U CN 201820492721U CN 208808648 U CN208808648 U CN 208808648U
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- Prior art keywords
- probe
- location tracking
- registration apparatus
- detecting portion
- mechanical arm
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Abstract
The utility model discloses a kind of probe registration apparatus, surgical probe is cooperated to use, probe is connected to mechanical arm for surgical equipment, mechanical arm is marked equipped with the first location tracking, probe registration apparatus includes being located at same base plane or location tracking labeling section and probe in detecting portion in parallel different matrix plane, the matrix front surface of location tracking labeling section is marked equipped with the second location tracking, and shown probe in detecting portion is equipped with the positioning device perpendicular to base plane.The utility model can easily determine the direction of the diameter and probe of probe relative to mechanical arm, to realize the visualization of surgical operation, and can shorten the registration time without re-starting calibration to probe direction when replacement, improve procedure efficiency.
Description
Technical field
The utility model relates to medical instruments fields, more particularly to a kind of probe registration apparatus.
Background technique
Inside the cranium disease, such as Parkinson's disease, epilepsy, tumour or hemotoncus are typically passed through surgery directional operation ability clearly
It removes or eradicates.In surgical procedures, primary problem is the specific location of determining biopsy needle or puncture needle, to biopsy needle or is worn
The accurate positioning of the operation tools such as pricker, to realize the visualization of surgical procedure.
During this, need that the coordinate system of intracranial tissues is coupled or is registrated with the coordinate system of Medical Devices,
Then the relative positional relationship of the operation tools such as clear biopsy needle or puncture needle and medical robot, when medical robot with clapped
When the medical image taken the photograph is associated, biopsy needle or puncture needle can be seen from display equipment according to above-mentioned relative positional relationship
The specific location of equal probe tools.Wherein, intracranial tissues coordinate system is by computerized tomography technology (CT)
Or the medical images scanning technique such as mr techniques (MRI) tomographic image reconstructing patient intracranial space and construct coordinate system to join
It is the positional relationship of intracranial tissues, this process can determine simultaneously the specific orientation of lesion or skull surface mark point, and obtain
Its encephalic coordinate value.Medical Devices coordinate system refers to used coordinate system when medical robot or other medical equipment operations.
Currently, medical robot includes mechanical arm and the surgical probe that is fixed on mechanical arm, using surgical probe into
It when entering cranium brain and being performed the operation, needs to be registrated the position of surgical probe and captured medical image, and needs quick
The diameter of surgical probe is accurately detected, quickly to carry out the replacement between different-diameter and the plantation drill point of length, this is just
Need it is a kind of can position, diameter and length to the surgical probe tool that is positioned or detected.Existing probe registration tools
When replacing various sizes of drill point, frequent progress direction calibration is needed, to bring great inconvenience for surgical procedure.
Utility model content
The utility model discloses a kind of probe registration apparatus, and for cooperating surgical probe to use, probe is connected to
Mechanical arm for surgical equipment, mechanical arm are marked equipped with the first location tracking, and probe registration apparatus includes being located at same matrix to put down
Face or location tracking labeling section and probe in detecting portion in parallel different matrix plane, before the matrix of location tracking labeling section
Surface is marked equipped with the second location tracking, and probe in detecting portion is equipped with the positioning device perpendicular to shown base plane.
Preferably, positioning device is positioning pin and/or location hole, and the location hole has one or more differences straight
Diameter.
Further, when being provided with positioning pin and location hole simultaneously, positioning pin can be set to matrix front surface, positioned
Hole is set to matrix rear surface.
Preferably, location tracking labeling section is X-shaped structural body, and the second location tracking label is located at each of X-shaped structural body
End；Probe in detecting portion is Y-shaped structure body, and Y-shaped structure body lower part is equipped with wavy grip part.
Further, the top in probe in detecting portion includes the preceding plate and rear plate for clamping position tracking labeling section,
It is fixed between probe in detecting portion and location tracking labeling section by clamp device.
Preferably, edge is seamlessly transitted in arc-shaped everywhere in X-shaped structural body and Y-shaped structure body.
Further, location tracking is labeled as one or more black and white patterns with characteristic point.
As above, the utility model relates to probe registration apparatus and method, for cooperating surgical probe to use, probe
It is connected to the robotic arm apparatus for carrying out the robot of surgical operation, medical staff is held the device and operated, examined using probe
The ingehious design in survey portion can easily determine the direction of the diameter and probe of probe relative to mechanical arm, will pass through tracking
The first location tracking on mechanical arm is marked in the position real time reaction to CT images of probe, realizes the visual of surgical operation
Change, since location tracking labeling section and probe in detecting portion are located in same base plane or parallel base plane, uses
After positioning pin or location hole ensure to visit pin insertion apertures or probe perpendicular to base plane, when replacing probe again, without pair
Probe direction re-starts calibration, so as to shorten the registration time, improves procedure efficiency, has very high practical value.
For the above content of the utility model can be clearer and more comprehensible, preferred embodiment is cited below particularly, and in conjunction with attached drawing, make
Detailed description are as follows.
Detailed description of the invention
The utility model is introduced below in conjunction with attached drawing.
Fig. 1 is the overall structure diagram of probe registration apparatus disclosed in the utility model first embodiment；
Fig. 2 is another overall structure diagram of probe registration apparatus disclosed in the utility model first embodiment；
Fig. 3 is the flow chart of probe method for registering disclosed in the utility model second embodiment.
Specific embodiment
The embodiments of the present invention is illustrated by particular specific embodiment below, those skilled in the art can be by this theory
The bright revealed content of book understands other advantages and effect of the utility model easily.
It should be noted that in the present invention, the up, down, left, right, before and after in figure is considered as described in this specification
Probe registration apparatus up, down, left, right, before and after.
The illustrative embodiments of the utility model are introduced referring now to the drawings, however, the utility model can use many
Different forms is implemented, and is not limited to the embodiment described herein, and to provide these embodiments be in order at large and complete
Open the utility model entirely, and the scope of the utility model is sufficiently conveyed to person of ordinary skill in the field.For
The term in illustrative embodiments being illustrated in the accompanying drawings not is the restriction to the utility model.In the accompanying drawings, identical
Cells/elements use identical appended drawing reference.
Unless otherwise indicated, term (including scientific and technical terminology) used herein has person of ordinary skill in the field
It is common to understand meaning.Further it will be understood that with the term that usually used dictionary limits, should be understood as and its
The context of related fields has consistent meaning, and is not construed as Utopian or too formal meaning.
First embodiment
As illustrated in figs. 1 and 2, present embodiment discloses a kind of probe registration apparatus 100, for cooperating surgical probe
It uses, probe is connected to mechanical arm for surgical equipment, and mechanical arm is marked equipped with the first location tracking, probe registration apparatus 100
Including the location tracking labeling section 10 being located in same base plane or parallel different matrix plane and probe in detecting portion 20,
The matrix front surface of location tracking labeling section 10 is equipped with the second location tracking label 11, and shown probe in detecting portion is equipped with perpendicular to institute
Show the positioning device 21 of base plane.
The probe registration apparatus 100 of the present embodiment is used for mechanical arm of the cooperation for drilling in surgical operation,
Mechanical arm is marked equipped with the first location tracking, and mechanical arm is marked according to the first location tracking thereon to be joined with CT image
System.It is equipped with the insertion hole of cooperation probe insertion in mechanical arm front end, to be inserted into fixed probe, the probe of the present embodiment is registrated dress
It sets using positioning pin or location hole and carries out direction positioning, so that visiting the central axis of pin insertion apertures or probe in the present embodiment
Base plane, when probe installation on the robotic arm after, tracing and positioning track labeling section the second location tracking label, pass through
Second location tracking marks the first location tracking on identified space coordinates and mechanical arm to mark identified space coordinate
Positional relationship between system determines direction of the probe relative to mechanical arm, and can use the limit detection hole in probe in detecting portion
Determine the diameter of probe, it is in operation very convenient；When needing replacing probe, without direction calibration is carried out again, into one
Step improves the efficiency and success rate of operation, has good practicability.
In the present embodiment, positioning device 21 can be positioning pin 21a, or location hole 21b, positioning pin 21a and fixed
The central axis of position hole 21b is each perpendicular to base plane, when not installing probe, positioning pin 21a is inserted into and visits pin insertion apertures with true
The central axis for visiting pin insertion apertures is protected in base plane, when installing probe, inserts a probe into location hole 21b to ensure probe
Central axis is in base plane.
The matrix of the present embodiment includes location tracking labeling section 10 and drill point test section 20, it is preferable that location tracking label
The two-part structure for the same matrix that portion 10 and drill point test section 20 can be integrally formed, it is flat which is located at same matrix
On face or location tracking labeling section 10 and drill point test section 20 can also be located in two base planes being parallel to each other, with
Guarantee that the drill point registration apparatus of the present embodiment need to only carry out a correction for direction.
In the present embodiment, as shown in Figure 1, location tracking labeling section 10 can be designed as X-shaped structural body, the X of the present embodiment
The each end of shape structural body can be former disk, and one or more of original disks are equipped with the second positioning that black and white pattern is constituted and chase after
Track label 11, it is preferable that at least provided with three the second location tracking labels 11 in the location tracking labeling section 10 of the present embodiment,
Two location tracking labels 11 respectively include the characteristic point that can be tracked, and at least three characteristic points are convenient for determining the probe of the present embodiment
Space coordinates where registration apparatus.The second location tracking label 11 of the present embodiment is one or more with characteristic point
Black and white pattern, as shown in Figure 1, being respectively arranged one in the end of four branches of X-shaped structural body has the circular of characteristic point
Black and white pattern, so that registered placement is more accurate.
Further, the probe in detecting portion 20 of the present embodiment is Y-shaped structure body, and the mobile jib of Y-shaped structure body is fixed upward to be connected
It is connected to the center of X-shaped structural body, it is preferable that the mobile jib of Y-shaped structure body includes for clamping the X as location tracking labeling section 10
The preceding plate 20a and rear plate 20b of shape structural body, X-shaped structural body and Y-shaped structure body can be consolidated by the fixed device such as bolt
It is fixed.It is convenient for operator to hold downward in the Liang Ge branch of Y-shaped structure body, and its two sides is each provided with corresponding wavy knot
Structure, the design hold the probe registration apparatus of the present embodiment convenient for manpower, increase the convenience of operation.This field skill
Art personnel are it is also contemplated that probe in detecting portion 20 is not limited only to the Y-shaped structure body of the present embodiment, or other are convenient for holding
The base structure held.
Matrix surface in probe in detecting portion 20 is provided perpendicular to the positioning pin 21a of the matrix surface, in use, will determine
Spy pin insertion apertures on the pin 21a insertion mechanical arm of position, to ensure the central axis for visiting pin insertion apertures always perpendicular to probe in detecting portion
20 matrix surface, then ensure visit pin insertion apertures central axis in the matrix surface where location tracking labeling section, such as
This one, after probe, which is secured to probe, to insert in the hole, can obtain probe the second location tracking label determined by
Direction in space coordinates.The first positioning in identified space coordinates and mechanical arm is marked to chase after according to the second location tracking
There are certain positional relationships between space coordinates determined by track label, so that it is determined that side of the probe relative to mechanical arm
To.
Further, the matrix surface in probe in detecting portion 20 is also provided with anchor point 21b, as shown in Fig. 2, examining in probe
The surface in survey portion 20 is equipped with the slot of one or more different-diameters as anchor point 21b, when being equipped with multiple slots, each slot
The diameter in hole is different, detects so as to the diameter to different probe；Each slot can be in ranks or star disc distribution,
And the diameter of adjacent slot sequentially increasing or decreasing, can in a limited space in slot more than quantity is set to the maximum extent
Hole.When probe tip is inserted into anchor point 21b, on the one hand the position of needle point can be limited using limit detection hole 22, with
Avoid drill point that positional shift occurs, it is very convenient in operation；On the other hand, available probe marks institute in the second location tracking
Direction in determining space coordinates marks first in identified space coordinates and mechanical arm according to the second location tracking
There are certain positional relationships between space coordinates determined by location tracking label, so that it is determined that probe is relative to mechanical arm
Direction.
In the present embodiment, when being provided with positioning pin 21a and location hole 21b simultaneously, positioning pin 21a can be set to spy
The matrix front surface 20a of needle test section 20, the slot of one or more different-diameters as location hole 21b are set to probe inspection
The matrix rear surface 20b in survey portion 20, can make full use of limited instrument spatial in this way, convenient for reducing apparatus volume, save material
Expect and reduce cost.
Preferably, each edge of each composition part of the probe registration apparatus 100 of the present embodiment is in that arc-shaped is smooth
Phase connection between the Liang Ge branch of transition such as Y-shaped structure body lower part is divided into the arc-shaped transition of indent, which can
When preventing from operator from holding one of branch operating, more sharp corner angle are touched and the damage caused by hand.
The lower end of such as Y-shaped structure body is fillet design again, can equally prevent operator from holding the probe registration dress of the present embodiment
It sets when being operated, is accidentally injured caused by manpower as more sharp corner angle.
Second embodiment
The utility model second embodiment also discloses a kind of probe method for registering, is registrated and is filled using probe as described above
Carry out registered placement is set, as shown in Figure 3, comprising the following steps:
Step S31, by positioning pin be inserted into mechanical arm on spy pin insertion apertures so that visit pin insertion apertures central axis in
Base plane, or probe backshank is mounted on probe and is inserted in the hole, and probe tip is inserted into location hole, so that probe shaft
To perpendicular to base plane；
Step S32 tracks the second location tracking mark on the first location tracking label and probe registration apparatus of mechanical arm
Note marks the positional relationship between identified space coordinates according to the first location tracking label and the second location tracking, obtains
Direction to spy pin insertion apertures relative to mechanical arm.
Preferably, the probe method for registering of the present embodiment can also include:
Step S33, determines probe diameter, and probe tip is inserted into location hole, determines probe according to the diameter of location hole
Diameter.
Wherein, for the probe registration apparatus in above-mentioned steps for cooperating surgical probe to use, probe is connected to surgery
Surgery mechanical arm equipment, mechanical arm are marked equipped with the first location tracking, probe registration apparatus include positioned at same base plane or
Location tracking labeling section and probe in detecting portion in parallel different matrix plane, the matrix front surface of location tracking labeling section
It is marked equipped with the second location tracking, shown probe in detecting portion is equipped with the positioning device perpendicular to shown base plane, positioning device
It can be positioning pin or location hole.
In the present embodiment, the second positioning with location tracking labeling section can be marked according to the first location tracking on mechanical arm
Tracking label is to determine direction of the probe relative to mechanical arm, since the position of probe tip can be carried out according to this body structure of probe
Location tracking, and the provider location of mechanical arm is associated with CT image, arrives CT so as to also reflect the provider location of probe
On image, surgical procedure visualization is realized.
In conclusion the utility model relates to probe registration apparatus and method, for cooperating surgical probe to use,
Probe is connected to the robotic arm apparatus for carrying out the robot of surgical operation, and medical staff holds the device and operates, and utilizes spy
The ingehious design of needle test section can easily determine the direction of the diameter and probe of probe relative to mechanical arm, will pass through
The first location tracking label on tracking mechanical arm can by the position real time reaction to CT images of probe, realize surgical operation
Depending on changing, since location tracking labeling section and probe in detecting portion are located in same base plane or parallel base plane, when
When carrying out probe replacement again, without re-starting calibration to probe direction, so as to shorten the registration time, operation effect is improved
Rate has very high practical value.In addition, the utility model above-described embodiment be only illustrated the principles of the present invention and
Its effect, rather than limits the present invention.Anyone skilled in the art all can be in the spirit without prejudice to the utility model
Under the scope of and, carry out modifications and changes to above-described embodiment.Therefore, those skilled in the art are taken off without departing from the utility model
All equivalent modifications or change completed under the spirit and technical idea shown, should be contained by the claim of the utility model
Lid.
Claims (7)
1. a kind of probe registration apparatus, for cooperating surgical probe to use, the probe is connected to mechanical arm for surgical
Equipment, the mechanical arm are marked equipped with the first location tracking, which is characterized in that including being located at same base plane or parallel
Location tracking labeling section and probe in detecting portion in different matrix plane, the described matrix front surface of the location tracking labeling section
It is marked equipped with the second location tracking, the probe in detecting portion is equipped with the positioning device perpendicular to described matrix plane.
2. probe registration apparatus as described in claim 1, which is characterized in that the positioning device is positioning pin and/or positioning
Hole, and the location hole has one or more different-diameters.
3. probe registration apparatus as claimed in claim 2, which is characterized in that when being provided with the positioning pin and described fixed simultaneously
When the hole of position, the positioning pin can be set to described matrix front surface, the location hole is set to described matrix rear surface.
4. probe registration apparatus according to claim 1 or 2, which is characterized in that the location tracking labeling section is X-shaped knot
Structure body, the second location tracking label are located at each end of the X-shaped structural body；The probe in detecting portion is Y-shaped structure
Body, Y-shaped structure body lower part are equipped with wavy grip part.
5. probe registration apparatus according to claim 4, which is characterized in that the top in the probe in detecting portion includes being used for
The preceding plate and rear plate for clamping the location tracking labeling section, between the probe in detecting portion and the location tracking labeling section
It is fixed by clamp device.
6. probe registration apparatus according to claim 4, which is characterized in that the X-shaped structural body and the Y-shaped structure body
Everywhere in edge in arc-shaped seamlessly transit.
7. probe registration apparatus according to claim 1, which is characterized in that the location tracking is labeled as one or more
Black and white pattern with characteristic point, the black and white pattern are circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820492721.2U CN208808648U (en) | 2018-04-09 | 2018-04-09 | A kind of probe registration apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820492721.2U CN208808648U (en) | 2018-04-09 | 2018-04-09 | A kind of probe registration apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208808648U true CN208808648U (en) | 2019-05-03 |
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ID=66268115
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820492721.2U Expired - Fee Related CN208808648U (en) | 2018-04-09 | 2018-04-09 | A kind of probe registration apparatus |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108784833A (en) * | 2018-04-09 | 2018-11-13 | 上海术凯机器人有限公司 | A kind of probe registration apparatus and method |
| CN110547871A (en) * | 2019-09-23 | 2019-12-10 | 重庆博仕康科技有限公司 | Photo-magnetic integrated surgical navigation reference frame and marking device |
| CN112656509A (en) * | 2020-12-18 | 2021-04-16 | 华科精准（北京）医疗科技有限公司 | Registration auxiliary device |
| CN114027828A (en) * | 2021-12-15 | 2022-02-11 | 杭州柳叶刀机器人有限公司 | Knee joint clearance measuring method and device, terminal equipment and readable storage medium |
-
2018
- 2018-04-09 CN CN201820492721.2U patent/CN208808648U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108784833A (en) * | 2018-04-09 | 2018-11-13 | 上海术凯机器人有限公司 | A kind of probe registration apparatus and method |
| CN110547871A (en) * | 2019-09-23 | 2019-12-10 | 重庆博仕康科技有限公司 | Photo-magnetic integrated surgical navigation reference frame and marking device |
| CN112656509A (en) * | 2020-12-18 | 2021-04-16 | 华科精准（北京）医疗科技有限公司 | Registration auxiliary device |
| CN112656509B (en) * | 2020-12-18 | 2023-09-22 | 华科精准（北京）医疗科技有限公司 | Registration auxiliary device |
| CN114027828A (en) * | 2021-12-15 | 2022-02-11 | 杭州柳叶刀机器人有限公司 | Knee joint clearance measuring method and device, terminal equipment and readable storage medium |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190503 Termination date: 20200409 |
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| CF01 | Termination of patent right due to non-payment of annual fee |