CN208974134U - A kind of surgical instrument of active tracking - Google Patents
A kind of surgical instrument of active tracking Download PDFInfo
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- CN208974134U CN208974134U CN201821464385.7U CN201821464385U CN208974134U CN 208974134 U CN208974134 U CN 208974134U CN 201821464385 U CN201821464385 U CN 201821464385U CN 208974134 U CN208974134 U CN 208974134U
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- surgical instrument
- tracking
- follow
- depth camera
- implement body
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Abstract
The utility model relates to medical instruments field, in particular to a kind of surgical instrument of active tracking, comprising: implement body, be installed at the implement body handheld terminal can be by depth camera Perodic ranging follow-up mechanism；Wherein, the follow-up mechanism includes connecting tracking frame with the implement body handheld terminal, being mounted on light source assembly on the tracking frame, and issuing when the light source assembly is powered can be by the light beam of depth camera Perodic ranging.Surgical instrument is tracked by depth camera Perodic ranging, to obtain the real-time position information of surgical instrument, and is finally merged in navigation picture, so that doctor can understand the relative pose of surgical instrument and human body in real time.Also, since follow-up mechanism is actively luminous light source assembly, other objects of target environment are substantially distinguished from, therefore, depth camera can be convenient and quickly identify object in effective field of view, reduce the interference of other objects in the visual field.
Description
Technical field
The utility model relates to medical instruments field, in particular to a kind of surgical instrument of active tracking.
Background technique
In the operation guiding system based on depth camera and augmented reality, principle are as follows: by being carried out to patient
CT scan obtains image data；Then, computer carries out three-dimensional reconstruction to image data, obtains one to one equal proportion of patient
Dummy model；The AR glasses for being mounted with depth camera module carry out periodic scan to the patient in surgical environments, obtain camera
The real-time position information of patient under coordinate system, and it is sent to computer；After computer obtains above-mentioned location information, by virtual mould
Type is mapped on corresponding position, and is sent to display equipment, to make to show that equipment obtains navigation picture, and the hand of navigation picture
Art position is overlapped with the patient in actual environment.Doctor can intuitively understand the internal structure of patient, quickly according to navigation picture
Determine knife-edge positions.But after surgical instrument is implanted into the patient by doctor, device cannot be but understood in time by AR glasses
The relative pose of tool and patient, therefore, how to obtain the location information of surgical instrument in real time is our asking of needing to solve at present
Topic.
Utility model content
In the operation guiding system based on depth camera, how in real time the technical problems to be solved in the utility model is,
Obtain the location information of surgical instrument.
The utility model is to solve above-mentioned technical problem by following technical proposals:
A kind of surgical instrument of active tracking, comprising:
Implement body, be installed at the implement body handheld terminal can be by depth camera Perodic ranging follow-up mechanism；
Wherein, the follow-up mechanism includes connecting tracking frame with the implement body handheld terminal, being mounted on light source group on the tracking frame
Part, issuing when the light source assembly is powered can be by the light beam of depth camera Perodic ranging.
The embodiments of the present invention by installing follow-up mechanism additional in implement body, makes in terms of existing technologies
Obtaining surgical instrument can be tracked by depth camera Perodic ranging, to obtain the real-time position information of surgical instrument, and final
Fusion is in navigation picture, in order to which in surgical procedure, doctor can understand the relative pose of surgical instrument and human body in real time.
Also, since follow-up mechanism is actively luminous light source assembly, it is substantially distinguished from other objects of target environment, therefore, depth
Camera can be convenient and quickly identify object in effective field of view, reduce the interference of other objects in the visual field.
Preferably, the light source assembly includes the mounting plate being mounted on the tracking frame, is installed on the mounting plate
Fluorescent tube, the fluorescent tube be powered when issue can be by the light beam of depth camera Perodic ranging.
Preferably, the mounting plate has part to extend to form pedestal, and the pedestal is connect with the tracking frame.
Preferably, one is offered in the mounting plate for accommodating the cavity of power supply.
Preferably, the tracking frame is aluminum alloy material.
Preferably, the implement body is probe or hole making drill or screwdriver.
Preferably, the implement body is detachably connected with the follow-up mechanism.
Detailed description of the invention
Fig. 1 is the surgical instrument schematic diagram of the first embodiment of the utility model；
Fig. 2 is the schematic rear view of the surgical instrument of the first embodiment of the utility model；
Fig. 3 is the schematic diagram of the surgical instrument of the second embodiment of the utility model.
Specific embodiment
It is practical new to this below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer
Each embodiment of type is explained in detail.However, it will be understood by those skilled in the art that each in the utility model
In embodiment, in order to make the reader understand this application better, many technical details are proposed.But even if without these skills
The application technical side claimed also may be implemented in art details and various changes and modifications based on the following respective embodiments
Case
The utility model first embodiment is related to a kind of surgical instrument of active tracking, as shown in Figure 1, the surgical device
Tool include: implement body 1, be installed at 1 handheld terminal of implement body can be by depth camera Perodic ranging follow-up mechanism；Its
In, follow-up mechanism includes connecting tracking frame 2 with 1 handheld terminal of implement body, being mounted on light source assembly on tracking frame 2, light source assembly
Issuing when energization can be by the light beam of depth camera Perodic ranging.
It is to be understood that depth camera is different from the 2D camera that we usually use.Exist with traditional camera difference
In the camera can simultaneously photographed grey-tone image information and comprising depth 3 dimension information.Its design principle system is for be measured
Scene emits a reference beam or target object issues and refers to the light velocity, by the time difference or phase difference for calculating light echo, to change
The distance for the scenery that is taken is calculated, to generate depth information, is furthermore shot in conjunction with traditional camera, to obtain 2 dimension image information.
Currently, depth camera has TOF, structure light, laser scanning etc. several, wherein to use more general target TOF in the utility model
For camera.
Therefore, install follow-up mechanism additional in surgical instrument, may be implemented depth camera to the segmentation of target image, label,
Identification, tracking, to accurately obtain surgical instrument multidate information.
In addition, it is necessary to explanation, the surgical instrument can be probe, be also possible to hole making drill or screwdriver etc., this
Utility model is illustrated by taking probe as an example, as shown in Figure 1
Specifically, as shown in Fig. 2, light source assembly mentioned above includes the mounting plate 3 being mounted on tracking frame 2, dress
The fluorescent tube 4 being located on mounting plate 3, issuing when fluorescent tube 4 is powered can be by the light beam of depth camera Perodic ranging.Wherein, it installs
Plate 3 has part to extend to form pedestal, and pedestal is connect with tracking frame 2.Also, one is offered in mounting plate 3 for accommodating power supply
Cavity 5, battery can be selected as power supply, when battery is put into cavity 5, circuit pathways, fluorescent tube 4 shine.
It is noted that the plane where mounting plate 3 is parallel with implement body 1 in some possible scenes, such as scheme
Shown in 1.Certainly, in the possible scene of other, mounting plate 3 and implement body 1 form angle.Common situation is to pacify
Loading board 3 is perpendicular to implement body 1, this mode advantage, since mounting plate 3 is perpendicular to implement body 1, so that light source assembly
It can be constantly exposed in the effective field of view of depth camera, thus, regardless of surgical instrument rotates, it can guarantee light source group always
Part is not blocked.
In addition, since the volume of follow-up mechanism is greater than implement body 1, and the composition of follow-up mechanism is compared to implement body
1 is also complex, if tracking frame 2 is identical material with implement body 1, it is obvious certainly will to will cause surgical instrument follow-up mechanism one end
It is heavy, also, implement body 1, partially due to needing to intervene human body, selected material is generally the biology for meeting related request
Medical material, such as titanium alloy etc., tracking frame 2 can select above-mentioned material to make, but titanium alloy material cost is more expensive.If
Tracking frame 2 is made using above-mentioned material, then will increase the cost of manufacture of product.And for save the cost, while curing for convenience
Life operates with, and in design, can control the weight of surgical instrument as far as possible, avoid surgical instrument excessively heavy, tracking frame 2 is selected
Aluminum alloy material production, while guaranteeing certain mechanical strength, also reduces the overall weight of surgical instrument, and control production
The cost of product.
In conclusion enabling surgical instrument by depth camera periodicity by installing follow-up mechanism additional in implement body 1
Ranging tracking, to obtain the real-time position information of surgical instrument, and is finally merged in navigation picture, in order to grasp in operation
In work, doctor can understand the relative pose of surgical instrument and human body in real time.Also, since follow-up mechanism is actively luminous light
Source component is substantially distinguished from other objects of target environment, and therefore, depth camera, which can be convenient, quickly to be identified in effective field of view
Object out reduces the interference of other objects in the visual field.
The second embodiment of the utility model is related to a kind of surgical instrument of active tracking, as shown in figure 3, second is real
The mode of applying is a kind of improvement to first embodiment, is mainly theed improvement is that: implement body 1 detachably connects with follow-up mechanism
It connects.
In actual operation, the surgical instrument of follow-up mechanism is added after completing primary operation, not due to follow-up mechanism
Convenient for disinfection, surgical instrument becomes medical waste using often being discarded after primary.And in view of most of surgical instrument at
This is higher, and present embodiment realizes economical environment-protective effect in such a way that implement body 1 and follow-up mechanism are detachably connected.
Specifically, 1 handheld terminal of implement body offers external screw thread 6, and track one end that frame 2 is connect with implement body 1
The trepanning screwed in for 1 handheld terminal of implement body is offered, is offered and 1 handheld terminal external screw thread of implement body on the hole wall of trepanning
6 internal screw threads matched, enable the handheld terminal of implement body 1 to screw in trepanning and fixation.
The above is only the preferred embodiment of the utility model, is not intended to limit the protection model of the utility model
It encloses.It should be pointed out that for those skilled in the art, under the premise of not departing from the utility model, may be used also
To make several improvements and retouch, these improvements and modifications also should be regarded as the protection scope of the utility model.
Claims (7)
1. a kind of surgical instrument of active tracking characterized by comprising implement body is installed at the implement body hand
That holds end can be by depth camera Perodic ranging follow-up mechanism；
Wherein, the follow-up mechanism includes connecting tracking frame with the implement body handheld terminal, being mounted on the tracking frame glazing
Source component, issuing when the light source assembly is powered can be by the light beam of depth camera Perodic ranging.
2. the surgical instrument of active tracking as described in claim 1, which is characterized in that the light source assembly includes being mounted on
Mounting plate on the tracking frame, the fluorescent tube being installed on the mounting plate, issuing when the fluorescent tube is powered can be by depth phase
The light beam of machine Perodic ranging.
3. the surgical instrument of active tracking as claimed in claim 2, which is characterized in that the mounting plate has part to extend shape
At pedestal, the pedestal is connect with the tracking frame.
4. the surgical instrument of active tracking as claimed in claim 2, which is characterized in that offer one in the mounting plate
For accommodating the cavity of power supply.
5. the surgical instrument of the active tracking as described in Claims 1-4 any one, which is characterized in that the tracking frame
For aluminum alloy material.
6. the surgical instrument of the active tracking as described in Claims 1-4 any one, which is characterized in that the instrument master
Body is probe or hole making drill or screwdriver.
7. the surgical instrument of the active tracking as described in Claims 1-4 any one, which is characterized in that the instrument master
Body is detachably connected with the follow-up mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821464385.7U CN208974134U (en) | 2018-09-07 | 2018-09-07 | A kind of surgical instrument of active tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821464385.7U CN208974134U (en) | 2018-09-07 | 2018-09-07 | A kind of surgical instrument of active tracking |
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| Publication Number | Publication Date |
|---|---|
| CN208974134U true CN208974134U (en) | 2019-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821464385.7U Active CN208974134U (en) | 2018-09-07 | 2018-09-07 | A kind of surgical instrument of active tracking |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110631479A (en) * | 2019-09-27 | 2019-12-31 | 北京航空航天大学 | Spatial pose measurement method based on multi-microsphere vision probe |
| CN111494009A (en) * | 2020-04-27 | 2020-08-07 | 上海霖晏医疗科技有限公司 | Image registration method and device for surgical navigation and surgical navigation system |
-
2018
- 2018-09-07 CN CN201821464385.7U patent/CN208974134U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110631479A (en) * | 2019-09-27 | 2019-12-31 | 北京航空航天大学 | Spatial pose measurement method based on multi-microsphere vision probe |
| CN111494009A (en) * | 2020-04-27 | 2020-08-07 | 上海霖晏医疗科技有限公司 | Image registration method and device for surgical navigation and surgical navigation system |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A surgical instrument for active tracking Effective date of registration: 20230324 Granted publication date: 20190614 Pledgee: Industrial Bank Co.,Ltd. Shanghai Pudong Sub branch Pledgor: SHANGHAI LIN YAN MEDICAL TECHNOLOGY Co.,Ltd.|Liu Yang Registration number: Y2023310000085 |