CN209574879U - A kind of flexible positioning device to navigate suitable for robotic surgery under X-ray - Google Patents
A kind of flexible positioning device to navigate suitable for robotic surgery under X-ray Download PDFInfo
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- CN209574879U CN209574879U CN201821498890.3U CN201821498890U CN209574879U CN 209574879 U CN209574879 U CN 209574879U CN 201821498890 U CN201821498890 U CN 201821498890U CN 209574879 U CN209574879 U CN 209574879U
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Abstract
A kind of flexible positioning device to navigate suitable for robotic surgery under X-ray, comprising: flexible sheets and several metal marker objects for developing under X-ray and being identified by infrared equipment, flexible sheets are equipped with rule or irregular anchor window；Metal marker object is around anchor window is asymmetric, is evenly distributed in flexible sheets；When flexible sheets are fixed on the body surface of patient around the operative site of patient by anchor window, the spatial position of operative site has been reacted in the spatial position of several metal marker objects.Compared with existing plane x-ray image repeatedly transillumination, the application can be by establishing both sides relation after an X-ray and infrared while shooting, subsequent infrared equipment reads the spatial position data of metal marker object in real time, the dynamic change of the spatial position data is reacted on plane x-ray image, with obtain patients surgery position under X-ray spatial attitude variation, further by with infrared positioning surgical instrument or surgery mechanical arm position reaction to X-ray on navigate.
Description
Technical field
The utility model relates to the technical fields that robotic surgery in X-ray transmitted ambient navigates, and in particular to one kind is applicable in
The flexible positioning device that robotic surgery navigates under X-ray.
Background technique
When robot is performed the operation in the environment of X-ray transmits, need to carry out surgical navigational and positioning to operating robot,
But the x-ray image of shooting is flat image, and in reality, the diseased region of patient, such as joint are easy to happen displacement, angle
Etc. states change, the spatial variations of diseased region cannot be embodied in x-ray image, it is accurately fixed in order to be carried out to these diseased regions
Position, existing space-location method is: carrying out notch in diseased region, is clamped in the incision by fixture, which takes
Position ball with metal, carry out real-time space orientation by positioning ball to metal, with realize to the change state of diseased region into
Row positioning, to realize the purpose to operation robot navigation.
By the navigation of the above robotic surgery, localization method it is found that above-mentioned method is invasive navigation, positioning, this is invasive
Navigation, positioning can bring secondary injury to patient.
Summary of the invention
The application provides a kind of flexible positioning device to navigate suitable for robotic surgery under X-ray, comprising:
Flexible sheets, are an any regular or irregular shape, and flexible sheets are equipped with rule or irregular anchor window；
Several metal marker objects for developing under X-ray and being identified by infrared equipment, it is asymmetric, equal around anchor window
It is distributed in the flexible sheets evenly；
When flexible sheets are fixed on the body surface of patient around the operative site of patient by anchor window, several metal marks
The spatial position of operative site is reacted in the spatial position of note object.
In a kind of embodiment, in several metal marker objects any metal marker object respectively with residual metallic marker away from
From differing.
In a kind of embodiment, metal marker object is metal reflective ball, and metal reflective ball includes metal ball and plastics spherical shell,
Plastics spherical shell is coated on the outer surface of metal ball, and the outer surface of plastics spherical shell is coated with reflecting coating.
In a kind of embodiment, metal reflective ball is semi-spherical shape or ball shape.
In a kind of embodiment, the diameter range of metal reflective ball is 3-12mm.
In a kind of embodiment, metal marker object is metal reflective sheet.
In a kind of embodiment, metal marker object is pasted in flexible sheets.
It further include supporting element in a kind of embodiment, metal marker object is fixed on the top of supporting element, and the bottom of supporting element is viscous
It is affixed in flexible sheets.
In a kind of embodiment, flexible sheets include back sheet, and back sheet is equipped with anchor window, and the one side of back sheet is around fixed
Position window is pasted with metal marker object.
In a kind of embodiment, the another side of back sheet is coated with viscous layer around anchor window, and in posting on viscous layer
Peelable adherent layer.
The noninvasive positioning device of flexibility according to above-described embodiment is selected in robotic surgery according to the operative site of patient
It selects suitable flexible noninvasive positioning device and is fixed in the body surface of patient around the operative site of patient by anchor window,
Compared with existing plane x-ray image repeatedly transillumination, the application can be shot simultaneously by an X-ray equipment and infrared equipment
Afterwards, both sides relation is established, subsequent infrared equipment reads the spatial position data of metal marker object in real time, by the sky of metal marker object
Between the dynamic change of position data be reacted on plane x-ray image, become with obtaining the spatial attitude at patients surgery position under X-ray
Change, at the same can further by with infrared positioning surgical instrument or surgery mechanical arm position reaction to X-ray on, to robot
Operation carries out noninvasive positioning and navigation.
Detailed description of the invention
Fig. 1 is flexible sheet construction schematic diagram；
Fig. 2 is metal marker object and flexible sheets combination schematic diagram；
Fig. 3 is the metal marker object structural schematic diagram of embodiment one；
Fig. 4 is the metal marker object structural schematic diagram of embodiment two.
Specific embodiment
The utility model is described in further detail below by specific embodiment combination attached drawing.
In the utility model embodiment, by research and develop it is a kind of under X-ray to robotic surgery navigation flexibility it is noninvasive fixed
Position device is realized and carries out noninvasive positioning to the operative site of patient, and then realizes and navigate to robotic surgery.
The noninvasive positioning device of the flexibility is equipped with anchor window and metal marker object, and the noninvasive positioning device of the flexibility has one
Fixed flexibility, so that the noninvasive positioning device of the flexibility can be adapted for each position of human body, e.g., shoulder joint, chest etc., when this
Flexible noninvasive positioning device by anchor window around the operative site of patient by paste or fetter etc. it is noninvasive in a manner of be fixed on
When the body surface of patient, during robotic surgery, if the operative site of patient is displaced, the noninvasive positioning device of the flexibility
Because having its flexible state that corresponding variation also necessarily occurs, and it metal marker object is designed as having can develop under X-ray
Characteristic, therefore, the spatial position of metal marker object can react the spatial position at patients surgery position, by infrared equipment read
The spatial position data of metal marker object is reacted on the x-ray image of plane, in turn, can obtain the space at X-ray menisectomy position
Attitudes vibration, at the same can further by with infrared positioning surgical instrument or surgery mechanical arm position reaction to X-ray on, it is right
Robotic surgery is positioned and is navigated.
It is described in detail below by flexibility noninvasive positioning device of the specific embodiment to this example.
Embodiment one:
The noninvasive positioning device of flexibility that this example provides includes flexible sheets 1 and several develop under X-ray and are set by infrared
The metal marker object 2 of standby identification, wherein flexible sheets 1 are equipped with anchor window 11, several metal marker objects 2 surround anchor window
It is 11 asymmetric, be distributed evenly in flexible sheets 1, the operative site to flexible sheets 1 by anchor window 11 around patient is fixed
When the body surface of patient, the spatial position of operative site has been reacted in the spatial position of several metal marker objects 2.
This example is not especially limited the shape of flexible sheets 1, that is to say, the shape of flexible sheets 1 can be any regular or
Irregular shape, since the structure of partes corporis humani position is different, correspondingly, the size and shape of anchor window 11 also do not limit specifically
Fixed, the shape of anchor window 11 is also possible to rule or irregular shape is generally speaking conceived according to present invention, this
Field technical staff can make the flexible sheets 1 of respective shapes according to the patients surgery position of robotic surgery and open up corresponding shape
The anchor window 11 of shape, final purpose allow flexible sheets 1 to be fixed on patient around patients surgery position by anchor window 11
Body surface.The flexible sheets 1 of this example and the structure chart of anchor window 11 are as shown in Figure 1.
The material of the flexible sheets 1 of this example is also not especially limited, as long as having certain flexibility, e.g., flexible sheets 1 can
To be rubber, cloth etc., correspondingly, flexible sheets 1 are fixed on the mode of body surface, also there are many kinds of forms, and e.g., flexible sheets 1 can
To be a kind of flexible paste, it is directly adhered to the body surface of human body, flexible sheets there can also be restraining, be bound by people by restraining
The body surface of body.
Specifically, the flexible sheets 1 of this example include back sheet, which is equipped with anchor window 11, the one side of back sheet
It is pasted with metal marker object 2 around anchor window 11, those skilled in the art can add restraining on back sheet.
If flexible sheets 1 adopt the body surface for being affixed on human body in the method for paste, correspondingly, the another side of back sheet surrounds location window
Mouth 11 is coated with viscous layer, and in posting peelable adherent layer on viscous layer, when using flexible sheets 1, directly by adherent layer
It tears off, the viscous layer of flexible sheets 1 is affixed on to the body surface of human body.
Since this example is to carry out 3D compensation to the x-ray image of plane by the spatial position of metal marker object 2, with realization pair
The operative site of patient carries out space orientation under X-ray, when infrared equipment reads the spatial position data of metal marker object 2, such as
Several metal marker objects 2 of fruit are symmetrically distributed in flexible sheets 1, then, infrared equipment can only obtain the local pose of metal marker object 2
Variation, in order to obtain the global attitudes vibration of the metal marker object 2 in flexible sheets 1, the metal marker object 2 of this example is in flexible sheets
When being distributed on 1, each metal marker object 2 is distributed in flexible sheets 1 according to asymmetric, uniform principle, to several metals
When marker 2 is distributed in flexible sheets 1 so that, in several metal marker objects 2 any metal marker object respectively with residual metallic
The distance of marker differs.If N number of metal marker object 2 is distributed in flexible sheets 1, wherein N is greater than 3, then, any one
Metal marker object differs at a distance from remaining N-1 metal marker object respectively, and the metal marker object 2 of this example is in flexible sheets 1
Distribution schematic diagram it is as shown in Figure 2.
The metal marker object 2 of this example can be metal reflective ball or metal reflective sheet, the outer surface of the metal reflective sheet
Coated with reflecting coating, which kind of structure is specifically used, is not especially limited, this example is that metal reflective ball is with metal marker object 2
Example is illustrated.
The metal reflective ball of this example includes metal ball 21 and plastics spherical shell 22, and plastics spherical shell 22 is coated on metal ball 21
Outer surface, the outer surface of plastics spherical shell 22 is coated with reflecting coating, as shown in figure 3, metal reflective ball is semi-spherical shape, metal
Witch ball is pasted in flexible sheets 1 by seccotine, and e.g., metal reflective ball is pasted in flexible sheets 1 by 3M sticker.
In addition, since the space size of flexible sheets 1 is certain, in certain space, metal reflective ball metal marker object 2
The quantity the more more can accurately react the variation of the spatial attitude of flexible sheets 1, and the posture for further accurately reacting operative site becomes
Change, therefore, the volume design of metal reflective ball is extremely important, if volume is too big, the metal reflective ball of arrangement in certain space
Quantity can reduce, if volume is too small, small size is not easy to be identified by infrared equipment, in response to this, this example it is straight
Diameter is 3mm-12mm, wherein diameter is that 3mm is the smallest ball of volume, and diameter is that 12mm is the maximum ball of volume, this field
Technical staff can make other diameters according to the range disclosed in diameter.
It should be noted that the infrared equipment referred in this example is a kind of equipment for emitting infrared ray and receiving infrared-ray,
It that is to say, which is a kind of infrared transceiver device, which emits infrared light to metal marker object 2, this is infrared
Light is reflected back after the reflecting coating of metal marker object 2, and the infrared light that metal marker object 2 reflects is connect by the infrared equipment
It receives, the spatial position data that infrared equipment reads metal marker object 2 in real time is reached with this.
By taking C arm ray machine as an example, the mode that the flexible positioning device of this example uses is: being selected according to the diseased region of patient suitable
Flexible sheets 1, after flexible sheets 1 to be affixed on to the body surface of patient's diseased region, C arm ray machine to patient carry out the irradiation of X-ray with
The x-ray image and infrared shooting for obtaining plane obtain infrared image, have the development of metal marker object 2 in the x-ray image, namely
It is the position that can see metal marker object 2 in the x-ray image, establishes the positional relationship of X-ray irradiation and infrared shooting, it is subsequent,
Infrared equipment reads the spatial position data of metal marker object 2 in real time, and the spatial position data is reacted to the X-ray figure of plane
As in, to obtain the spatial attitude variation at patients surgery position under X-ray, it that is to say, by the Three-Dimensional Dynamic space of metal marker object 2
Position combines the x-ray image of plane to obtain the spatial attitude variation of diseased region, while will can further have infrared positioning
In surgical instrument or surgery mechanical arm position reaction to X-ray, to realize the positioning and navigation of surgical instrument or surgery mechanical arm.
Embodiment two:
Based on embodiment one, this example provides the metal marker object 2 of another structure, as shown in figure 4, the metal mark of this example
Remember that object 2 is the metal reflective ball of ball shape, in order to cooperate the metal reflective ball of ball shape to be pasted in flexible sheets 1, this example
It further include supporting element 3, the supporting element 3 of this example can be plastic material, be also possible to the metal material to develop under X-ray, gold
Belong to the top that witch ball metal marker object 2 is fixed on supporting element 3, the bottom of supporting element 3 is pasted in flexible sheets 1.
In this example, the mounting means that metal reflective ball specifically cooperates with supporting element 3 is: metal reflective ball is equipped with threaded hole,
The support portion of supporting element 3 is in coniform, and supporting element 3 is equipped with the screw rod cooperated with threaded hole in the point of support portion, and metal is anti-
Photosphere is spirally connected by the screw rod of threaded hole and supporting element 3, and metal reflective ball is made to be fixed on the top of supporting element 3；The branch of supporting element 3
Support part bottom end is pasted in flexible sheets 1 by strength sticker, thus, it is pasted on metal reflective ball in flexible sheets 1.
In other embodiments, metal reflective ball also can be set non-threaded holes, metal reflective ball by non-threaded holes with
The buckle installation of supporting element 3, in turn, is fixedly installed in metal reflective ball on supporting element 3.
Compared with embodiment one, the rounded shape of metal reflective ball of this example, compared with semi-spherical shape, the gold of ball shape
Belong to witch ball and be able to achieve 360 degree of reflections, infrared equipment is enable to recognize the spatial attitude variation of metal reflective ball in all angles.
Use above specific case is illustrated the utility model, is merely used to help understand the utility model, and
Not to limit the utility model.Think of for those skilled in the art of the present invention, according to the utility model
Think, several simple deductions, deformation or replacement can also be made.
Claims (8)
1. a kind of flexible positioning device to navigate suitable for robotic surgery under X-ray characterized by comprising
Flexible sheets, are an any regular or irregular shape, and the flexible sheets are equipped with rule or irregular anchor window；
Several metal marker objects for developing under X-ray and being identified by infrared equipment, it is asymmetric, equal around the anchor window
It is distributed in the flexible sheets evenly；
The metal marker object is metal reflective ball, and the metal reflective ball includes metal ball and plastics spherical shell, the plastics
Spherical shell is coated on the outer surface of the metal ball, and the outer surface of the plastics spherical shell is coated with reflecting coating；
It is described several when the flexible sheets are fixed on the body surface of patient around the operative site of patient by the anchor window
The spatial position of operative site is reacted in the spatial position of a metal marker object.
2. flexible positioning device as described in claim 1, which is characterized in that any metal in several described metal marker objects
Marker differs at a distance from residual metallic marker respectively.
3. flexible positioning device as described in claim 1, which is characterized in that the metal reflective ball is semi-spherical shape or ball
Shape.
4. flexible positioning device as claimed in claim 3, which is characterized in that the diameter range of the metal reflective ball is 3-
12mm。
5. flexible positioning device as described in claim 1, which is characterized in that the metal marker object is pasted on the flexible sheets
On.
6. flexible positioning device as described in claim 1, which is characterized in that further include supporting element, the metal marker object is solid
Due to the top of the supporting element, the bottom of the supporting element is pasted in the flexible sheets.
7. flexible positioning device as described in claim 1, which is characterized in that the flexible sheets include back sheet, the backing
Layer is equipped with the anchor window, and the one side of the back sheet is pasted with the metal marker object around the anchor window.
8. flexible positioning device as claimed in claim 7, which is characterized in that the another side of the back sheet surrounds the positioning
Window is coated with viscous layer, and in posting peelable adherent layer on the viscous layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821498890.3U CN209574879U (en) | 2018-09-13 | 2018-09-13 | A kind of flexible positioning device to navigate suitable for robotic surgery under X-ray |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821498890.3U CN209574879U (en) | 2018-09-13 | 2018-09-13 | A kind of flexible positioning device to navigate suitable for robotic surgery under X-ray |
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| CN209574879U true CN209574879U (en) | 2019-11-05 |
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| CN201821498890.3U Active CN209574879U (en) | 2018-09-13 | 2018-09-13 | A kind of flexible positioning device to navigate suitable for robotic surgery under X-ray |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091229A (en) * | 2018-09-13 | 2018-12-28 | 上海逸动医学科技有限公司 | The flexible positioning device and air navigation aid to navigate suitable for robotic surgery under X-ray |
| TWI744037B (en) * | 2019-11-12 | 2021-10-21 | 國立臺灣大學 | Robot guiding system and robot guiding method |
-
2018
- 2018-09-13 CN CN201821498890.3U patent/CN209574879U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091229A (en) * | 2018-09-13 | 2018-12-28 | 上海逸动医学科技有限公司 | The flexible positioning device and air navigation aid to navigate suitable for robotic surgery under X-ray |
| TWI744037B (en) * | 2019-11-12 | 2021-10-21 | 國立臺灣大學 | Robot guiding system and robot guiding method |
| US11896340B2 (en) | 2019-11-12 | 2024-02-13 | National Taiwan University | Robot navigation system and robot navigation method |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Yuanzhi Inventor after: Wang Shaobai Inventor after: Hou Yao Inventor after: Lan Tian Inventor before: Zhang Yuanzhi Inventor before: Wang Shaobai Inventor before: Hou Yao Inventor before: Lan Tian |