CN210408594U

CN210408594U - Tracer device and positioning system

Info

Publication number: CN210408594U
Application number: CN201920700989.5U
Authority: CN
Inventors: 邓明明; 赵永强; 李寅岩
Original assignee: Tinavi Medical Technologies Co Ltd
Current assignee: Tinavi Medical Technologies Co Ltd; Beijing Tinavi Medical Technology Co Ltd
Priority date: 2019-05-15
Filing date: 2019-05-15
Publication date: 2020-04-28
Anticipated expiration: 2029-05-15

Abstract

The utility model relates to a tracer equipment and positioning system, the tracer equipment is used for pointing out the space position of the mechanical arm of the surgical robot, the tracer equipment includes a base, has two opposite ends and an outer peripheral surface between the two ends, one end is used for connecting with the operation end of the mechanical arm, the other end is used for installing surgical instruments; the positioning assembly is connected to the base and used for indicating the spatial position of the base, and comprises at least three tracing elements which are arranged on the outer peripheral surface in a non-collinear manner; wherein, the quantity of locating component is the multiunit, and multiunit locating component distributes along the circumference of base, and in each spike element that same locating component includes, the normal contained angle of arbitrary two spike elements is less than or equal to 20. The embodiment of the utility model provides a tracer and positioning system can make tracer more easily be discerned by optics position finder at the arm rotation process.

Description

Tracer device and positioning system

Technical Field

The utility model relates to a medical equipment location technical field especially relates to a tracer and positioning system.

Background

In the operation process of the navigation operation, the navigation system needs to acquire the position of the operation end of the mechanical arm in a space coordinate system taking the optical position finder as a reference through the tracer device arranged on the operation end of the mechanical arm, so as to calculate the position of the surgical instrument fixed on the operation end of the mechanical arm, and plan the operation path of the mechanical arm accordingly.

In the existing mechanical arm tracing equipment, the tracing element is unreasonable in arrangement position, so that in the operation process, when the operation end of a mechanical arm rotates and an included angle between the tracing element of the tracing equipment and the normal direction of an optical position finder changes, the optical position finder may not identify the position of the tracing equipment, and a navigation system loses the space position of the mechanical arm.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a tracer and positioning system can make tracer more easily be discerned by optics position finder at the arm rotation process.

In one aspect, according to the embodiment of the present invention, a tracing device is provided for indicating a spatial position of a mechanical arm of a surgical robot, the tracing device includes: the base is provided with two opposite end parts and an outer peripheral surface positioned between the two end parts, wherein one end part is used for being connected with the operation end of the mechanical arm, and the other end part is used for installing a surgical instrument; the positioning assembly is connected to the base and used for indicating the spatial position of the base, and comprises at least three tracing elements which are arranged on the outer peripheral surface of the base in a non-collinear manner; wherein, the quantity of locating component is the multiunit, and multiunit locating component distributes along the circumference of base, and in each spike element that same locating component includes, the normal contained angle of arbitrary two spike elements is less than or equal to 20.

According to the utility model discloses an aspect, multiunit locating component sets up along the full circumferencial direction of base, and in two sets of adjacent locating component, wherein the normal direction of arbitrary spike element in a set of locating component and the normal direction of arbitrary spike element in another set of locating component contained angle less than or equal to 90.

According to an aspect of an embodiment of the invention, the normal direction of each tracer element in the same positioning assembly is identical.

According to one aspect of the embodiment of the present invention, five sets of positioning assemblies are arranged along the entire circumference of the base; in two adjacent sets of locating component, the angle between the normal direction of arbitrary tracer element in one set of locating component and the normal direction of arbitrary tracer element in another set of locating component is 72 °, and/or, the angle between the perpendicular of arbitrary point in the base outside to the periphery and each tracer element's of at least one set of locating component normal direction is less than or equal to 36 °.

According to an aspect of the embodiment of the present invention, two adjacent sets of positioning assemblies are spaced from each other; or, two adjacent groups of positioning assemblies are arranged in a staggered manner.

According to the utility model discloses an aspect, the at least three spike element of locating component arranges with predetermined distribution pattern, and arbitrary two sets of locating component's spike element's distribution pattern is different to make optics position finder can distinguish each group's locating component according to distribution pattern.

According to the utility model discloses an aspect, at least one tip of base is provided with positioning mechanism, and positioning mechanism is protruding including setting up in the locating hole and/or the location of tip.

According to an aspect of the embodiments of the present invention, the base is a columnar structure.

According to the utility model discloses an aspect is provided with a plurality of installation departments on the base, and the installation department includes mounting plane and/or mounting hole, is provided with at least one spike element on every installation department.

According to the utility model discloses an aspect still is provided with the face of dodging with the installation department one-to-one on the base.

According to the utility model discloses an aspect, in the axial of base, the base includes the first cylinder and the second cylinder of coaxial setting, and the external diameter of first cylinder is greater than the external diameter of second cylinder, and the one end that the second cylinder was kept away from to first cylinder is provided with the spread groove, and axial extension is followed to the spread groove.

According to an aspect of the embodiment of the present invention, the length of the line segment formed by connecting the distribution position points of any two tracing elements of the same positioning assembly is greater than 40 mm; and/or the absolute value of the length difference of any two line segments in a plurality of line segments formed by connecting the distribution position points of every two tracing elements of the same positioning assembly is more than 3.5 mm.

According to an aspect of the embodiment of the utility model, the tracer further includes the signal receiver who connects in the base, and signal receiver is used for receiving the actuating signal, and the tracer component is according to actuating signal transmission spatial position information.

According to an aspect of the embodiment of the utility model, the spike element is infrared emitter or reflection of light ball.

In another aspect, the embodiment of the present invention provides a positioning system, including an upper computer, an optical position finder, a surgical robot, a calibration assembly, and the above tracing device, wherein the tracing device is installed at an operation end of a mechanical arm of the surgical robot, and during an image registration process, the calibration assembly and a tracing element on the tracing device have a predetermined position relationship; the upper computer converts the coordinate system of the image of the affected part with the coordinate system taking the tracing element as the reference or the coordinate system taking the optical position finder as the reference through the acquired image of the affected part comprising the information of the identification point in the calibration assembly and the spatial position information of the tracing element on the tracing equipment acquired by the optical position finder, and finishes image registration; and the upper computer controls the mechanical arm of the surgical robot to reach a target space position corresponding to the planned route according to the planned route on the image of the affected part.

According to the utility model discloses in another aspect, positioning system still includes the patient tracer, and the optical position finder acquires the spatial position information of patient tracer with certain frequency, and the host computer revises surgical robot's route according to the spatial position information of the patient tracer who acquires.

According to the utility model provides a tracer and positioning system, the locating component who sets up through the circumference of multiunit edge base has enlarged the scope that tracer can be discerned by the optics position finder. Meanwhile, in each tracing element included in the same positioning assembly, the normal included angle of any two tracing elements is smaller than or equal to 20 degrees, so that the tracing equipment is easier to identify by the optical position finder in the rotation process of the mechanical arm, the situation that the optical position finder loses the position of the tracing equipment during rotation of the mechanical arm is reduced, and the positioning accuracy is improved.

Drawings

Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

Fig. 1 is an isometric view of a tracer device according to an embodiment of the invention;

fig. 2 is a front view of a tracer device according to an embodiment of the invention;

FIG. 3 is a cross-sectional view taken along the line M-M of FIG. 2;

fig. 4 is a sectional view taken along the direction N-N in fig. 2.

Wherein:

10-a base; 11-a first cylinder; 111-a connecting trough; 12-a second cylinder; 13-mounting plane; 14-an avoidance surface; 101-end portion; 102-peripheral surface

20-a positioning assembly; 21-a tracer element;

30-a positioning mechanism;

40-a signal receiver;

x-circumferential direction; y-axis direction.

In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.

Detailed Description

Features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. In the drawings and the following description, at least some well-known structures and techniques have not been shown in detail in order to avoid unnecessarily obscuring the present invention; also, the dimensions of some of the structures may be exaggerated for clarity. Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

The directional terms appearing in the following description are directions as shown in the drawings and are not intended to limit the specific structure of the tracking device and positioning system of the present invention. In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as either a fixed connection, a removable connection, or an integral connection; can be directly connected or indirectly connected. The specific meaning of the above terms in the present invention can be understood as the case may be, by those of ordinary skill in the art.

For a better understanding of the present invention, a tracer device and a positioning system according to embodiments of the present invention will be described in detail below with reference to fig. 1 to 4.

Referring to fig. 1 to 4, fig. 1 shows an axonometric view of a tracer device according to an embodiment of the invention, fig. 2 shows a front view of a tracer device according to an embodiment of the invention, fig. 3 shows a cross-sectional view along the direction M-M in fig. 2, and fig. 4 shows a cross-sectional view along the direction N-N in fig. 2.

An embodiment of the utility model provides a tracer for instruct the spatial position of surgical robot's arm, tracer include base 10 and locating component 20. The base 10 has two opposite ends 101 and an outer peripheral surface 102 between the two ends 101, wherein one end 101 is used for connecting with the operation end of the mechanical arm, and the other end 101 is used for installing a surgical instrument, and in the embodiment of the present invention, the surgical instrument mentioned above and below can be a guide for installing a bone needle sleeve. The positioning assembly 20 is disposed on the base 10 and is used for indicating a spatial position of the base 10. The positioning assembly 20 comprises at least three tracer elements 21, the at least three tracer elements 21 being non-colinearly disposed on the outer peripheral surface 102 of the base 10. Wherein, the quantity of locating component 20 is multiunit, and multiunit locating component 20 distributes along the circumference X of base 10, and in each spike element 21 that same locating component 20 includes, the normal contained angle of arbitrary two spike elements 21 is less than or equal to 20.

The embodiment of the utility model provides a tracer and positioning system has enlarged the scope that tracer can be discerned by the optics position finder through the locating component 20 that the circumference X of base 10 set up is followed to the multiunit. Meanwhile, in each tracing element 21 included in the same positioning assembly 20, the normal included angle between any two tracing elements 21 is smaller than or equal to 20 degrees, so that the tracing equipment is more easily identified by the optical position finder in the rotation process of the mechanical arm, the situation that the optical position finder loses the position of the tracing equipment during rotation of the mechanical arm is reduced, and the positioning accuracy is improved.

As an alternative embodiment, the same positioning assembly 20 includes each of the tracing elements 21, the normal included angle between any two tracing elements 21 is greater than or equal to 0 ° and less than or equal to 15 °, further alternatively greater than or equal to 0 ° and less than or equal to 10 °, for example, 8 °, 5 °, 3 °, 1 °, and the like. By limiting the angle range of the normal included angle between each tracing element 21 in the same positioning assembly 20, the tracing equipment can be optimized, so that the tracing equipment can be better identified by the optical position finder in the rotating process, and the space position of the mechanical arm can be better determined.

As an alternative embodiment, the normal direction of each tracer element 21 in the same positioning assembly 20 is identical, i.e. the normal angle of any two tracer elements 21 of the same positioning assembly 20 is 0 °. When this kind of arrangement makes tracer and optics position finder cooperation use, when making a tracer 21 in a set of locating component 20 by optics position finder discernment, must have three and above tracer 21 to be discerned by optics position finder simultaneously in this a set of locating component 20 to make optics position finder can confirm the position of locating component 20, make full use of tracer 21 is with the positioning accuracy who improves tracer.

As an alternative embodiment, the base 10 may be a column structure, a hollow column structure, or a column structure that is partially solid. Alternatively, the base 10 may be a cylindrical structure, specifically, a column with a uniform cross section along its own axial direction Y, or a column with a non-uniform cross section, for example, a stepped column structure.

With continued reference to fig. 1 to 4, in some alternative examples, in the axial direction Y of the base 10, the base 10 may include a first cylinder 11 and a second cylinder 12 coaxially disposed, and an outer diameter of the first cylinder 11 is greater than an outer diameter of the second cylinder 12, and an end of the first cylinder 11 away from the second cylinder 12 is provided with a connecting groove 111, and the connecting groove 111 extends along the axial direction Y. The base 10 with the structure can be sleeved on the operation end of the mechanical arm through the connecting groove 111, so that the connection with the mechanical arm is facilitated, and the connection stability can be ensured. Meanwhile, the quality of the tracing equipment can be reduced, the occupied space of the tracing equipment for the operation end of the mechanical arm is reduced, and further more operation space is saved.

Optionally, the end 101 of the base 10 for connecting to the mechanical arm may be fixed to the operation end of the mechanical arm by screws, and specifically, the end may be fixed by non-detachable screws, so that the tracer device is not easy to fall off.

Because the locating component that the tradition adopted is mostly flat locating component, flat locating component need fix through the support and can form great protruding structure on the arm, need carry out aseptic processing to this part during the operation. The operation end of arm needs earlier to wrap up through aseptic cover among the present operation process, will carry out aseptic processing's locating component and the connecting device who is used for installing locating component again and be connected to the operation end of arm for preparation step is more before the art, and the preparation time is longer.

And the embodiment of the utility model provides a tracer equipment is through setting up base 10 into the column to directly set up tracer element 21 on the lateral wall of base 10, for traditional platelike tracer equipment, for providing the basis with tracer equipment setting in aseptic cover, thereby can reduce operation steps, reduce operation time. And, the utility model discloses tracer equipment can be fixed all the time on the operation end of arm through the spread groove 111 that its tip 101 set up, need not to dismantle, can avoid dismouting in-process wearing and tearing tracer equipment, keeps tracer equipment's dimensional accuracy to improve navigation's operation precision.

As an alternative embodiment, the end of the base 10 connected to the robot arm may be an insulator to prevent current in the tracer device from flowing to the working device.

In some alternative examples, in order to facilitate the installation of the tracer elements 21, a plurality of installation parts are provided on the base 10 for installing the tracer elements 21, which can ensure the installation requirements of the tracer elements 21 and provide protection for the tracer elements 21. Alternatively, the mounting portion may include a mounting plane 13, the mounting plane 13 may extend from the outer circumferential surface 102 of the base 10 to the inside of the base 10 by a predetermined distance, and the mounting plane 13 may be an inclined surface intersecting a plane passing through the central axis of the base. Provided that the requirements of the installation of the tracer elements 21 and the normal direction of the tracer elements 21 to which they are installed can be met.

As an alternative embodiment, a mounting portion comprising mounting planes 13 is provided on each of the first column 11 and the second column 12, and at least one tracer element 21 is provided on each mounting plane 13. In order to facilitate the processing and better ensure the normal requirement of each tracer element 21 in the same positioning assembly 20, optionally, the number of the mounting parts on the first column 11 is the same as that of the mounting parts on the second column 12, and the mounting parts are arranged in a one-to-one correspondence manner. When the mounting portion includes the mounting planes 13, the number of the mounting planes 13 on the first column 11 is the same as the number of the mounting planes 13 on the second column 12 and is arranged in one-to-one correspondence. Further, the mounting planes 13 arranged on the first column 11 and the second column 12 in a one-to-one correspondence are parallel to each other, so that the processing is convenient, and the normal requirement of the tracer element 21 can be better met.

As an alternative embodiment, as shown in fig. 3 and 4, on the first column 11, each two mounting planes 13 may be in a group, and the extension surfaces of the two mounting planes 13 in the same group may be located on the same plane; and/or, on the second column body 12, every two installation planes 13 can be in a group, and the extension planes of the two installation planes 13 in the same group can be parallel to each other, so that the processing is convenient and the normal angle requirement of the tracer element 21 can be better ensured.

In some alternative embodiments, at least one tracer element 21 coincides with the normal to the mounting plane 13 to which it is connected, by means of which the mounting of this tracer element 21 can be better satisfied. Further optionally, each tracer element 21 is consistent with the normal direction of the installation plane 13 connected with the tracer element 21, so that the normal direction requirement of each tracer element 21 and the stability of connection between the corresponding installation planes 13 can be ensured, and the production efficiency of the tracer equipment is improved.

It will be appreciated that the above definition of the mounting portion including the mounting plane 13 is only an alternative embodiment, but is not limited to including the mounting plane 13, and in some other examples the mounting portion may also include only mounting holes, each of which has at least one tracer element 21 disposed therein. Optionally, the mounting hole may be a blind hole, and a normal direction of a bottom surface enclosing the mounting hole is consistent with a normal direction of the tracer element 21 inside the mounting hole, which may also meet the requirements of installation and a normal angle of the tracer element 21.

Of course, in some other examples, the mounting portion may also include both the mounting plane 13 and the mounting hole, as well as the mounting requirements of the tracer element 21 and the shape requirements of different bases 10.

As an optional implementation manner, in order to prevent the outer surface of the base from blocking the light in the installation portion region, the outer surface of the base needs to be designed to avoid the light of the tracer element 21, in the tracer device of each of the above embodiments, the base 10 is further provided with the avoiding surface 14 corresponding to the installation portion one to one, and the avoiding surface 14 may be a plane, or may be a curved surface, such as an arc surface. When the mounting portion includes the mounting plane 13, the escape plane 14 corresponding to the mounting portion is connected to one end of the mounting plane 13 thereof, and the other end extends in a direction away from each other, so that the mounting plane 13 and the escape plane 14 are integrally formed into a groove-like structure, which can facilitate the identification of the optical position finder for the tracer 21.

As an optional embodiment, tracer element 21 can be infrared emitter, not only can satisfy tracer equipment's tracer requirement, and simultaneously, because infrared emitter is both ends and is planar columnar structure, can directly paste and connect infrared emitter and can satisfy tracer element 21's normal direction requirement in corresponding mounting plane 13 or mounting hole, can further reduce tracer equipment's processing cost, save space, and guarantee the positioning accuracy to each tracer element 21 mounted position, and then make the tracer equipment can be better satisfy the positioning accuracy requirement to the arm.

Of course, limiting the tracking member 21 to an infrared emitter is only an alternative embodiment, and in some other examples, the tracking member 21 may also be a light emitting ball, which can also meet the tracking requirements of the tracking device.

When the tracer 21 is an infrared emitter, the normal direction of the tracer 21 refers to a direction perpendicular to the light emitting surface of the tracer 21, and when the tracer 21 is a luminescent ball, the normal direction of the tracer 21 refers to an extending direction of the center line of the luminescent ball.

As an optional implementation manner, the embodiment of the present invention provides a tracing apparatus, wherein the number of the tracing elements 21 included in each group of the positioning assemblies 20 can be set according to requirements, for example, the number of the tracing elements 21 included in each group of the positioning assemblies 20 can be three, four, five, etc. or even more, and specifically can be set according to the positioning precision requirement and the arrangement manner of the tracing elements 21.

As an alternative embodiment, the at least three tracer elements 21 of the locating assembly 20 are arranged in a predetermined distribution pattern. In particular, the predetermined distribution pattern of the tracer elements 21 is an asymmetrical pattern, for example, the three tracer elements 21 may be the three vertices of a triangle with three unequal sides.

The embodiment of the utility model provides an in, three setpoint can be confirmed through three spike element 21 of collineation not to optics position finder, and a triangle-shaped template can be constituteed to the line between the three setpoint to confirm a spike face, perhaps confirm the coordinate system of this spike face. The positioning points are fixedly arranged on the side wall of the tracing equipment, so that the optical position finder compares the spatial positions of the three points with the triangular templates in the preset distribution graph, and the spatial position coordinates of the tracing equipment in a coordinate system taking the optical position finder as a reference can be obtained.

In some embodiments of the present invention, the positioning component 20 may include four or more tracing elements 21 arranged in a predetermined distribution pattern, each three tracing elements 21 are not collinear, when the coordinate system of the tracing surface is established, the optical position finder obtains the spatial position information of the tracing elements 21, and selects the position information of three points with the minimum error or deviation to establish the coordinate system of the tracing surface, thereby reducing the measurement error of the spatial position of the tracing device.

As an alternative embodiment, at least three tracer elements 21 of the positioning assemblies 20 are arranged in a predetermined distribution pattern, the distribution pattern of the tracer elements 21 of any two sets of positioning assemblies 20 being different, so that the optical position finder can distinguish the sets of positioning assemblies 20 according to the distribution pattern and uniquely determine the spatial position coordinates of the tracer device according to the spatial position coordinates between the positioning points formed by the sets of positioning assemblies 20.

In some alternative examples, the tracing device provided in the above embodiments of the present invention has a length of a line segment formed by connecting the distribution positions of any two tracing elements 21 in the same positioning assembly 20, which is greater than 40 mm. Alternatively, the length of the line segment formed by connecting the distribution points of any two tracing elements 2121 in the same tracing surface 30 may be any value between 40mm and 80mm, and further may be any value between 40mm and 60mm, for example, may be 45mm, 50mm, 55mm, and so on.

For better understanding of the above size limitation, it will be illustrated that, as shown in fig. 2, point A, B, C, D indicated in fig. 2 is the distribution position point of four tracing elements 21 of the same positioning assembly 20, and the surface formed by connecting them in sequence is a tracing surface on which the lengths AB, AC, AD, BC, BD, CD of any line segment satisfy more than 40 mm. Through the arrangement, the mutual coincidence of the distribution position points of any two tracing elements 21 on each tracing surface 30 acquired by the optical position finder can be avoided, and the positioning requirement and the adjustment precision of the mechanical arm are further improved.

As an alternative implementation manner, in the tracing apparatus of the above embodiments, in a plurality of line segments formed by connecting the distribution position points of every two tracing elements 21 in the same positioning assembly 20, the absolute value of the length difference between any two line segments is greater than 3.5 mm.

For better understanding of the above size limitation, it will be illustrated that, as also shown in fig. 2, the plurality of line segments formed by connecting the distribution points of each two tracing elements 21 in the same positioning assembly 20 in fig. 2 include AB, AC, AD, BC, BD, CD, the absolute values of the difference in the lengths of any line segments (| AB-AC |, | AB-AD |, | AB-BC |, | AB-CD |, | AC-AD |, | AC-BC |, | AC-BD |, | AC-CD |, | AD-BC |, | AD-BD |, | AD-CD |, | BC-CD |, and | BD-CD |) all greater than 3.5 mm. Through the arrangement, the optical position finder can accurately distinguish line segments formed by distribution position points of different tracing elements 21 on each tracing surface, and the pose judgment and adjustment precision of the mechanical arm can be further improved.

As an optional implementation manner, the number of the positioning assemblies 20 can be specifically set according to requirements, and can be 3-8 groups. The plurality of sets of positioning assemblies 20 are arranged along the entire circumference of the base 10, and specifically, each positioning assembly 20 is arranged at a different position on the circumference X of the base 10 and covers the entire circumference. And when the base 10 is rotated about its axial direction Y, there is always a set of positioning members 20 that can be identified at any point outside the base 10. For example, when the tracer device is used with an optical position finder, the axis Y of the base 10 is perpendicular to the normal direction of the optical position finder. When the base 10 rotates around the axis thereof, a group of positioning assemblies 20 can be identified by the optical position finder, so that when the base 10 is located at different positions, the optical position finder can acquire the spatial position information of the tracer device through the base 10, and the real-time monitoring of the spatial position of the operation end of the mechanical arm is realized.

Wherein, the normal direction of the optical position finder is as follows: in the optical position finder, the lens orientations of the two optical sensors are determined in a plane in which the lenses of the two optical sensors of the optical position finder face, and the direction is extended outward from a perpendicular line to a line connecting the two optical sensors.

As an alternative implementation manner, in the tracer device of each of the above embodiments, in two adjacent sets of positioning assemblies 20, an included angle between a normal direction of any tracer element 21 in one set of positioning assembly 20 and a normal direction of any tracer element 21 in the other set of positioning assembly 20 is less than or equal to 90 °. Through the arrangement, when the tracing device and the optical position finder are used in a matched mode, because the included angle between the normal direction of any tracing element 21 of one of the adjacent positioning assemblies 20 and the normal direction of any tracing element 21 of the other one is not more than 90 degrees, the included angle between the normal direction of the tracing element 21 and the normal direction of the optical position finder is not more than 45 degrees, the optical position finder can detect signals of the tracing element 21 conveniently, and normal stable use of the tracing device is guaranteed.

In some optional examples, the utility model provides a tracer device, it sets up five sets of locating component 20 along the full circumference of base 10, in two adjacent sets of locating component 20, wherein the angle between the normal direction of the tracer element 21 in one set of locating component 20 and the normal direction of the tracer element 21 in another set of locating component 20 is 72 °, and the angle that the perpendicular line to outer peripheral face 102 at any point outside base 10 and the normal direction of each tracer element 21 of at least one set of locating component 20 is less than or equal to 36 °. Through set up five groups of locating component 20 at base 10's full circumference X, can further promote tracer equipment's distinguishable angle, also reduced the installation accuracy requirement to locating component 20 simultaneously. In the design of arranging a plurality of sets of positioning assemblies 20 in the full circumferential direction, five sets are designed to be the set with the best effect by comprehensively considering installation, design precision and recognizable angles of equipment.

In specific implementation, in the multiple sets of positioning assemblies 20 included in the tracing apparatus, two adjacent sets of positioning assemblies 20 may be arranged at intervals, and certainly, in some other examples, two adjacent sets of positioning assemblies 20 may also be arranged in an intersecting manner, and both of them may meet the tracing requirement of the tracing apparatus. The intersecting design can save the occupation of the outer surface of the base and can reduce the occupation space of the base 10.

As an alternative implementation manner, the above embodiments of the present invention provide a tracing apparatus, wherein at least one end portion 101 of the base 10 is provided with a positioning mechanism 30, and the positioning mechanism 30 includes a positioning hole and/or a positioning protrusion disposed on the end portion 101. Through setting up positioning mechanism 30, can enough satisfy and carry out the mark of leaving the factory to tracer equipment, specifically can be used for the coordinate system conversion of three-coordinate system and front end, can be used for tracer equipment to carry out on-the-spot precision testing simultaneously. In some alternative examples, the base 10 may be provided with the positioning mechanism 30 only at one end 101 thereof, or may be provided with the positioning mechanism 30 at both ends 101 thereof.

As an alternative implementation manner, the tracing device provided in the above embodiments of the present invention further includes a signal receiver 40 connected to the base 10, the signal receiver 40 is configured to receive the start signal, and the tracing element 21 transmits the spatial position information according to the start signal. The number of the signal receivers 40 may be only one, and the tracing elements 21 of each positioning assembly 20 are controlled simultaneously by one signal receiver 40, however, the number of the signal receivers 40 may also be more than one, for example, in some alternative examples, the number of the signal receivers 40 may be the same as the number of the positioning assemblies 20 and be arranged in a one-to-one correspondence, and each signal receiver 40 controls each tracing element 21 of one of the positioning assemblies 20.

Furthermore, the embodiment of the present invention further provides a positioning system, which includes an upper computer, an optical position finder, a surgical robot, a calibration assembly and the tracing devices of the above embodiments; the tracing equipment is arranged at the mechanical arm operating end of the surgical robot, wherein, in the image registration process, the calibration component and the tracing element 21 on the tracing equipment have a preset position relation; the upper computer converts the coordinate system of the image of the affected part and the coordinate system taking the tracing element 21 as the reference or the coordinate system taking the optical position finder as the reference through the acquired image of the affected part comprising the identification point information in the calibration assembly and the spatial position information of the tracing element 21 on the tracing device acquired by the optical position finder to complete image registration, and the upper computer controls the mechanical arm of the surgical robot to reach the target spatial position corresponding to the planned route according to the planned route on the image of the affected part.

As an optional implementation mode, the positioning system further comprises a patient tracer, the optical position finder acquires the spatial position information of the patient tracer at a certain frequency, and the upper computer corrects the route of the surgical robot according to the acquired spatial position information of the patient tracer.

The embodiment of the utility model provides a positioning system, because of its tracer equipment that includes above-mentioned each embodiment, through locating component 20 that the circumference X of base 10 was set up is followed to the multiunit, has enlarged the scope that tracer equipment can be discerned by the optics position finder. Simultaneously, in each tracer element 21 that inject same locating component 20 and include, two arbitrary tracer elements 21's normal direction contained angle less than or equal to 20 make tracer equipment more easily discerned by the optics position finder at the arm rotation in-process, when reducing the arm rotation, the condition that the optics position finder loses tracer equipment's position takes place, has improved the precision of location, guarantees the completion operation requirement that surgical robot can be better, consequently, easily uses widely.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present invention is not limited to the particular embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims

1. A tracing apparatus for indicating a spatial position of a robotic arm of a surgical robot, said tracing apparatus comprising:

a base having two opposite ends and an outer peripheral surface therebetween, one of the ends for connection to an operating end of the robotic arm and the other end for mounting a surgical instrument;

a positioning assembly connected to the base and configured to indicate a spatial position of the base, the positioning assembly including at least three tracer elements disposed non-collinearly on an outer peripheral surface of the base;

the number of the positioning assemblies is multiple, the multiple groups of the positioning assemblies are distributed along the circumferential direction of the base, and in each tracing element included in the same positioning assembly, the normal included angle of any two tracing elements is less than or equal to 20 degrees.

2. The tracer apparatus of claim 1, wherein a plurality of sets of the positioning assemblies are disposed along a full circumference of the base, and wherein an angle between a normal of any of the tracer elements in one set of the positioning assemblies and a normal of any of the tracer elements in another set of the positioning assemblies is less than or equal to 90 ° between adjacent sets of the positioning assemblies.

3. The tracer apparatus of claim 1, wherein the normal direction of each of the tracer elements in the same locating assembly is coincident.

4. The tracer apparatus of claim 3, wherein five sets of the positioning assemblies are disposed along a full circumference of the base;

in two adjacent sets of locating component, the contained angle between the normal direction of arbitrary tracer element in one set of locating component and the normal direction of arbitrary tracer element in another set of locating component is 72 °, and/or, the contained angle of the perpendicular line of any point outside the base to the periphery face and each tracer element's of at least one set of locating component normal direction is less than or equal to 36 °.

5. The tracer device of claim 1,

two adjacent groups of positioning assemblies are arranged at intervals; or, two adjacent groups of the positioning assemblies are arranged in a staggered mode.

6. The tracer apparatus of claim 1, wherein at least three of the tracer elements of the positioning assemblies are arranged in a predetermined distribution pattern, the distribution pattern of the tracer elements of any two sets of the positioning assemblies being different such that an optical position finder can distinguish the sets of the positioning assemblies according to the distribution pattern.

7. Tracer device according to claim 1, characterized in that at least one of the ends of the base is provided with positioning means comprising positioning holes and/or positioning projections provided at the end.

8. The tracer of any of claims 1-7, wherein the base is a cylindrical structure.

9. Tracer device according to any of claims 1 to 7, characterized in that a plurality of mounting portions are provided on the base, which mounting portions comprise mounting planes and/or mounting holes, each mounting portion being provided with at least one tracer element.

10. The tracer of claim 9, wherein the base is further provided with an avoidance surface in one-to-one correspondence with the mounting portion.

11. The tracer device according to any one of claims 1 to 7, wherein the base includes a first cylinder and a second cylinder coaxially disposed in an axial direction of the base, an outer diameter of the first cylinder is larger than an outer diameter of the second cylinder, and an end of the first cylinder remote from the second cylinder is provided with a connecting groove extending in the axial direction.

12. The tracer device of any of claims 1-7, wherein the length of a line segment formed by connecting the distributed location points of any two tracer elements of the same locating assembly is greater than 40 mm;

and/or in a plurality of line segments formed by connecting the distribution position points of every two tracing elements of the same positioning assembly, the absolute value of the length difference of any two line segments is larger than 3.5 mm.

13. The tracer device of any of claims 1-7, further comprising a signal receiver coupled to the base, the signal receiver configured to receive an activation signal, the tracer element configured to transmit spatial location information based on the activation signal.

14. The tracer device of any of claims 1-7, wherein the tracer elements are infrared emitters or reflective spheres.

15. A positioning system comprising a host computer, an optical position finder, a surgical robot, a calibration assembly, and a tracing device according to any one of claims 1-14, wherein the tracing device is mounted at an operation end of a mechanical arm of the surgical robot, and wherein the calibration assembly has a predetermined positional relationship with the tracing element on the tracing device during image registration;

the upper computer converts the coordinate system of the image of the affected part and a coordinate system taking the tracing element as a reference or a coordinate system taking the optical position finder as a reference through the acquired image of the affected part comprising the identification point information in the calibration assembly and the spatial position information of the tracing element on the tracing equipment acquired by the optical position finder, so as to complete image registration; and the upper computer controls the mechanical arm of the surgical robot to reach a target space position corresponding to the planned route according to the planned route on the affected part image.

16. The positioning system of claim 15, further comprising a patient tracer, wherein the optical position finder obtains spatial position information of the patient tracer at a frequency, and wherein the upper computer corrects the path of the surgical robot according to the obtained spatial position information of the patient tracer.