CN213047263U - Multi-angle tracer and positioning system of surgical robot - Google Patents
Multi-angle tracer and positioning system of surgical robot Download PDFInfo
- Publication number
- CN213047263U CN213047263U CN202021010587.1U CN202021010587U CN213047263U CN 213047263 U CN213047263 U CN 213047263U CN 202021010587 U CN202021010587 U CN 202021010587U CN 213047263 U CN213047263 U CN 213047263U
- Authority
- CN
- China
- Prior art keywords
- tracer
- tracing
- angle
- base frame
- elements
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Accessories Of Cameras (AREA)
Abstract
The utility model relates to the field of medical technology, especially, relate to a positioning system of multi-angle spike ware and surgical robot. The multi-angle tracer includes a base frame; a plurality of tracing mechanisms arranged on the base frame; each tracing mechanism comprises one or more first tracing elements and one or more second tracing elements; wherein each first tracer element is disposed on an outer surface of the base frame; each second tracer element is disposed on an inner surface of the base frame. The utility model provides a multi-angle tracer and surgical robot's positioning system can realize that the navigation camera can all trail, discern under different angles.
Description
Technical Field
The utility model relates to the field of medical technology, especially, relate to a positioning system of multi-angle spike ware and surgical robot.
Background
Surgical navigation systems are increasingly used in orthopedic surgery to accurately correlate patient image data with patient anatomy, assist surgeons in performing surgical planning, and guide surgeons in operating surgical instruments. The operation navigation system enables the orthopedic operation to be more accurate, rapid and safe.
However, in an orthopedic navigation surgery, a navigation camera is used to determine the relative positional relationship between a patient, a patient image, and an instrument. During the procedure, a tracer which can be recognized by a navigation camera is required to be arranged on a patient, a mechanical arm or an instrument. Traditional tracers, such as patient tracers and probe tracers, are single tracers, have the problem that the angle of discernment is little, often need the art person to remove the navigation camera and have reached the purpose of tracking the tracer.
SUMMERY OF THE UTILITY MODEL
The utility model provides a positioning system of multi-angle tracer and surgical robot, this positioning system of multi-angle tracer and surgical robot can realize that the navigation camera can all trail, discern under different angles.
The utility model discloses a first aspect provides a multi-angle spike tracer, include:
a base frame;
a plurality of tracing mechanisms arranged on the base frame;
each of the tracing mechanisms comprises one or more first tracing elements and one or more second tracing elements;
wherein each of the first tracer elements is disposed on an outer surface of the base frame;
each of the second tracer elements is disposed on an inner surface of the base frame.
Further, the number of the tracing mechanisms is at least three.
Further, the base frame includes:
the body is of a frame structure;
the first tracing surfaces are circumferentially arranged on the outer surface of the body, and one or more first tracing elements of each tracing mechanism are respectively arranged on each first tracing surface;
at least three second spike face, the second spike face personally submit circumference set up in the internal surface of body, each be provided with each on the second spike face respectively one or more of tracer mechanism the second tracer element.
Furthermore, the first tracing surfaces are connected end to end and enclose the outer surface of the body for a circle;
the second tracing surface is arranged at the connecting area of the adjacent first tracing surfaces corresponding to the inner surface of the body.
Further, each of the tracing mechanisms comprises two first tracing elements arranged in the same orientation;
each of the tracer mechanisms comprises a second tracer element.
Further, the normal direction of the first tracing surface is the same as the arrangement orientation of one or more first tracing elements arranged thereon;
the normal direction of the second tracking surface is in the same orientation as the one or more second tracking elements disposed thereon.
Furthermore, one of the second tracing surfaces protrudes from the body more towards the inside of the base frame than the other second tracing surfaces.
Further, the included angle between the axial direction of the base frame and the normal direction of any one of the first tracer element or the second tracer element is 20-50 degrees.
Furthermore, a battery jar used for containing a battery is arranged on the base frame, and the battery is used for supplying power to each tracing mechanism.
The second aspect of the utility model provides a positioning system of surgical robot, including surgical robot, host computer, position finder, guide and the aforesaid multi-angle tracer.
The utility model provides a technical scheme can reach following beneficial effect:
the utility model provides a multi-angle tracer, this multi-angle tracer includes bed frame and a plurality of spike mechanism, wherein, the bed frame is frame construction, it is concrete, utilize to move towards different and be circumference each other and set up in the outside first spike subassembly of bed frame, and move towards different and be circumference each other and set up in the inside second spike subassembly of bed frame, and then formed a plurality of spike mechanisms that move towards different each other, in the navigation operation, the navigation camera can be trailed under angle and the direction of difference, the tracer mechanism that the discernment corresponds, it removes the navigation camera to need not the art person, the operation flow is simplified, shorten the operation time. Moreover, the multi-angle tracer has a plurality of tracing mechanisms with different directions, so that the risk that the tracer cannot be captured by the navigation camera can be reduced, and the risk that an operator adjusts the navigation camera is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a multi-angle tracer according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first tracing assembly and a second tracing assembly provided in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a positional relationship among the first tracing surface, the second tracing surface, the first tracing element and the second tracing element according to an embodiment of the present invention;
FIG. 4 is a schematic view of the normal orientation between a first tracer element and a second tracer element in the same tracer mechanism;
FIG. 5 is a schematic view of the normal directions of the first tracing surface and the second tracing surface in the same tracing mechanism;
fig. 6 is a schematic structural view of an included angle between a normal direction of the base frame and the first tracing surface.
Reference numerals:
1-a base frame;
11-a first tracing surface;
12-a second tracing surface;
13-a battery well;
14-a body;
2-a tracing mechanism;
21-a first tracer element;
22-second tracer element.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the following specific embodiments, which are obviously some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In this embodiment, the multi-angle tracer can be applied to the operation of a patient operation area, a probe, a surgical instrument and the like, and a specific application scenario is selected according to actual requirements and is not limited herein. In the following embodiments, for simplicity of description, the multi-angle tracer is simply referred to as a tracer.
As shown in fig. 1 and fig. 2, the present embodiment provides a multi-angle tracer, which includes a base frame 1 and a plurality of tracer mechanisms 2 disposed on the base frame 1, wherein the base frame 1 is a frame structure, and in order to make the tracer have a plurality of identification directions, each tracer mechanism 2 includes one or more first tracer elements 21 and one or more second tracer elements 22, and the structural design is reasonable and ingenious.
As shown in fig. 2, in order to ensure that each tracer mechanism 2 has a unique identification angle, it should therefore be ensured that all tracer elements in the same tracer mechanism 2 are oriented in the same direction as the tracer mechanism 2, specifically, each tracer mechanism 2 comprises a first tracer element 21 and a second tracer element 22 which are oriented in the same direction as each other, and the orientation direction of the first tracer element 21 or the second tracer element 22 is the orientation direction of the tracer mechanism 2.
As shown in fig. 2, wherein each first tracing element 21 is disposed on the outer surface of the base frame 1, and the orientation of each first tracing element 21 is different, each second tracing element 22 is disposed on the inner surface of the base frame 1, and the orientation of each second tracing element 22 is different, such a design structure utilizes the first tracing elements 21 which are different in orientation and circumferentially disposed outside the base frame 1, and the second tracing elements 22 which are different in orientation and circumferentially disposed inside the base frame 1, thereby forming a plurality of tracing mechanisms 2 which are different in orientation, in the navigation operation, the navigation camera can track and identify the corresponding tracing mechanisms 2 at different angles and directions, without moving the navigation camera, thereby simplifying the operation process and shortening the operation time. Moreover, the multi-angle tracer has the plurality of tracer mechanisms 2 with different directions, so that the risk that the tracer cannot be captured by the navigation camera can be reduced, and the risk that an operator adjusts the navigation camera is reduced.
For being able to make this tracer have a plurality of discernment directions, in this embodiment, tracer mechanism 2 is at least three, and is concrete, and tracer mechanism 2 can be three, four, five etc. wherein, when guaranteeing this tracer has a plurality of discernment directions, can also simplify structural design, and tracer mechanism 2 can be three.
The base frame 1 may be provided with marking points for determining the assembly position of the first tracer element 21 and the second tracer element 22. To facilitate the assembly of the first tracer element 21 and the second tracer element 22, as shown in fig. 3, specifically, in this embodiment, the base frame 1 includes a body 14, at least three first tracer surfaces 11 and at least three second tracer surfaces 12, the body 14 is a frame structure, wherein the first tracer surfaces 11 are circumferentially disposed outside the body 14, one or more first tracer elements 21 of each tracer mechanism 2 are respectively disposed on each first tracer surface 11, the second tracer surfaces 12 are circumferentially disposed inside the body 14, one or more second tracer elements 22 of each tracer mechanism 2 are respectively disposed on each second tracer surface 12, the determination of the assembly position of the first tracer element 21 is facilitated by using the first tracer surfaces 11, the determination of the assembly position of the second tracer elements 22 is facilitated by using the second tracer surfaces 12, and the marking of the assembly position on the base frame 1 is not required, the assembly efficiency is improved.
As shown in fig. 3, it is further, in this embodiment, each first tracer surface 11 end to end connects each other and encloses and establish body 14 surface a week, wherein, the connection region department of adjacent first tracer surface 11 is provided with second tracer surface 12 corresponding to body 14 internal surface, this kind of structural design, can make this tracer all be provided with tracer mechanism 2 in circumference, and then the guarantee navigation camera can trail the tracer from the multi-angle, discernment, and simultaneously, can also ensure to utilize the bed frame 1 of minimum volume to hold first tracer element 21 and the second tracer element 22 that needs, the functionality of this tracer has been improved, make whole tracer more exquisite.
With continued reference to fig. 3, the second tracing surface 12 may be disposed on the upper surface of the adjacent first tracing surface 11 at the connecting region. The utility model provides a second spike face 12's design mode is provided with in this embodiment, and is concrete, and the internal surface of 11 junction regions of adjacent first spike face is provided with a second spike face 12, and this kind of structural design can avoid the thickness of 11 junction regions of adjacent first spike face too big, has reduced the use amount of material, and then makes whole tracer lighter and more handy, simultaneously, also improves the aesthetic feeling of whole tracer.
The first tracking surfaces 11 may be three, four, five, etc. in number, and the second tracking surfaces 12 may also be three, four, five, etc. in number. Referring to fig. 3, in the present embodiment, while the navigation camera is ensured to track the tracer from multiple angles, it is also ensured that the required tracer is accommodated by using the pedestal 1 with the minimum volume, and the number of the first tracer surface 11 and the second tracer surface 12 is three.
With reference to fig. 3, in the present embodiment, in order to enable each tracing mechanism 2 in the tracer with a smaller volume to have a sufficiently large difference, and ensure that the navigation camera can identify the pose of the tracer at each angle, one of the second tracing surfaces 12 is disposed to protrude from the body 14 toward the inside of the base frame 1 than the other second tracing surfaces 12.
Wherein, for the specific spatial position that the guarantee navigation camera can discern the tracer, tracer mechanism 2 includes at least three tracer, and wherein, at least one tracer is not collinear with other tracer, and this kind of structure can confirm the spatial position of this tracer.
Further, the number of the tracing members may be three, four, five, etc., wherein, to simplify the structure of the tracer, it is preferable that the number of the tracing members of each set of tracing mechanism 2 is three. As shown in fig. 2, fig. 3 and fig. 4, specifically, in this embodiment, each tracing mechanism 2 includes two first tracing elements 21 facing the same direction, and two first tracing elements 21 are disposed on each first tracing surface 11, each tracing mechanism 2 includes one second tracing element 22, and one second tracing element 22 is disposed on each second tracing surface 12, since one second tracing surface 12 is disposed at the connection region of the adjacent first tracing surfaces 11, that is, the assembly area of the second tracing surface 12 is smaller than that of the first tracing surface 11, therefore, the design of one second tracing element 22 is easier to assemble to the second tracing surface 12 with a smaller area, so that the structural design of the tracer is more reasonable, and the assembly process is faster and more convenient.
In this embodiment, in order to ensure that there is a sufficient distance between the tracing elements and that the tracing elements do not interfere with each other, specifically, the distance between two adjacent first tracing elements 21 and the distance between the adjacent first tracing elements 21 and the adjacent second tracing elements 22 are not less than 40 mm.
In the present embodiment, to ensure that the navigation camera can track and identify the first and second tracing elements 21 and 22, the first and second tracing elements 21 and 22 may be a reflective ball or an active light emitting diode or other structural component capable of reflecting light or directly emitting light, wherein, to ensure the brightness of the light sources of the first and second tracing elements 21 and 22, preferably, both the first and second tracing elements 21 and 22 are light emitting diodes.
As shown in fig. 3, in the present embodiment, a battery container 13 for accommodating a battery is disposed on the base frame 1, and the battery is used for supplying power to each tracer mechanism 2, that is, the battery is used for supplying power to the first tracer element 21 and the second tracer element 22, so as to ensure normal light emission of the tracer.
The orientation of the first 11 and second 12 tracking surfaces may be designed arbitrarily, provided that each of the tracking means 2, which are oriented differently, comprises a first 21 and a second 22 tracking element, which are oriented identically to each other. For example, the normal phase directions of the first tracing surfaces 11 are different, and the normal phase directions of the second tracing surfaces 12 are different, wherein the orientation direction of the first tracing element 21 is the same as the normal direction of the first tracing surface 11 where the first tracing element is located, the orientation direction of the second tracing element 22 is the same as the normal direction of the second tracing surface 12 where the second tracing element is located, the orientation of the first tracing surface 11 is defined as the orientation of the first assembled tracing element 21, and the orientation of the second tracing surface 12 is the orientation of the second assembled tracing element 22, so that the first and second tracing elements 21 and 22 can be assembled more conveniently and more quickly, and meanwhile, due to the structural design, the first and second tracing elements 21 and 22 can meet the assembly requirement without an exposed substrate.
It can also be, as shown in fig. 5, the normal phase direction of each first tracing surface 11 is different, the normal phase direction of each second tracing surface 12 is different, the normal direction of any one first tracing surface 11 is different from the normal direction of any one second tracing surface 12, this kind of design structure, through limiting that the normal direction of any one first tracing surface 11 is different from the normal direction of any one second tracing surface 12, that is to say, the normal direction of the first tracing surface 11 and the second tracing surface 12 where the tracer that is the same in the normal direction is located is different, the thickness of the adjacent first tracing surface 11 connection region can be better avoided too big.
As shown in fig. 6, in this embodiment, in order to ensure that the navigation camera can clearly track and identify the tracer, an included angle θ between the axial direction of the base frame 1 and the normal direction of any one of the first tracer element 21 or the second tracer element 22 is 20 to 50 °, specifically, the included angle θ may be 20 °, 30 °, 40 °, 50 °, and the like.
It should be noted here that the normal direction of the planar area formed by the three first tracing surfaces 11 connected end to end is the normal direction of the base frame 1.
In this embodiment, a positioning system of a surgical robot is provided, which includes a surgical robot, an upper computer, a position finder, a guide member, and a multi-angle tracer in any of the above embodiments.
The positioning system of the surgical robot has the same advantages as the multi-angle tracer in any of the above embodiments, and the above description is already made for clarity, and is not repeated herein.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A multi-angle tracer, comprising:
a base frame (1);
a plurality of tracing mechanisms (2) arranged on the base frame (1);
each of said tracer organs (2) comprising one or more first tracer elements (21) and one or more second tracer elements (22);
wherein each of the first tracer elements (21) is provided on an outer surface of the base frame (1);
each of the second tracer elements (22) is arranged on an inner surface of the base frame (1).
2. A multi-angle tracer according to claim 1, characterised in that the tracer mechanisms (2) are at least three.
3. The multi-angle tracer of claim 2,
the base frame (1) comprises:
a body (14), the body (14) being a frame structure;
at least three first tracing surfaces (11), wherein the first tracing surfaces (11) are circumferentially arranged on the outer surface of the body (14), and one or more first tracing elements (21) of each tracing mechanism (2) are respectively arranged on each first tracing surface (11);
at least three second spike face (12), second spike face (12) be circumference set up in the internal surface of body (14), each be provided with each on second spike face (12) respectively one or more of tracer mechanism (2) second tracer element (22).
4. A multi-angle tracer according to claim 3, wherein each of the first tracing surfaces (11) are connected end to end with each other and enclose a circumference of the outer surface of the body (14);
the second tracing surface (12) is provided corresponding to the inner surface of the body (14) at the connection region of the adjacent first tracing surfaces (11).
5. The multi-angle tracer of claim 4, wherein each of the tracing mechanisms (2) comprises two first tracing elements (21) disposed in the same orientation;
each of said tracer organs (2) further comprises a second tracer element (22).
6. A multi-angle tracer according to claim 3, characterised in that the normal direction of the first tracing surface (11) is in the same orientation as the arrangement of the one or more first tracing elements (21) disposed thereon;
the normal direction of the second tracing surface (12) is the same as the orientation of the one or more second tracing elements (22) arranged thereon.
7. The multi-angle tracer of claim 6, wherein one of the second tracing surfaces (12) is disposed to protrude from the body (14) further inward of the base frame than the remaining second tracing surfaces (12).
8. A multi-angle tracer according to claim 1, characterised in that the angle between the axial direction of the base frame (1) and the normal of either the first tracer element (21) or the second tracer element (22) is 20-50 °.
9. The multi-angle tracer of claim 1, wherein a battery compartment (13) is provided on the base frame (1) for housing a battery for powering each of the tracing mechanisms (2).
10. A positioning system for a surgical robot comprising a surgical robot, a host computer, a position finder, a guide and a multi-angle tracer according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021010587.1U CN213047263U (en) | 2020-06-05 | 2020-06-05 | Multi-angle tracer and positioning system of surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021010587.1U CN213047263U (en) | 2020-06-05 | 2020-06-05 | Multi-angle tracer and positioning system of surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213047263U true CN213047263U (en) | 2021-04-27 |
Family
ID=75565796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021010587.1U Active CN213047263U (en) | 2020-06-05 | 2020-06-05 | Multi-angle tracer and positioning system of surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213047263U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113116525A (en) * | 2021-04-28 | 2021-07-16 | 北京长木谷医疗科技有限公司 | Optical tracking structure for navigating surgical power system |
-
2020
- 2020-06-05 CN CN202021010587.1U patent/CN213047263U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113116525A (en) * | 2021-04-28 | 2021-07-16 | 北京长木谷医疗科技有限公司 | Optical tracking structure for navigating surgical power system |
| CN113116525B (en) * | 2021-04-28 | 2021-12-03 | 北京长木谷医疗科技有限公司 | Optical tracking structure for navigating surgical power system |
| WO2022227778A1 (en) * | 2021-04-28 | 2022-11-03 | 北京长木谷医疗科技有限公司 | Optical tracking structure for navigation surgical power system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11563931B2 (en) | System and method for calibrating a vision system with respect to a touch probe | |
| US11653983B2 (en) | Methods for locating and tracking a tool axis | |
| JP2022542335A (en) | Apparatus, method and system for precise positioning of medical devices | |
| WO2020135785A1 (en) | Surgical navigation system | |
| US10925678B2 (en) | Optical tracking tool for navigating surgery | |
| US20170165006A1 (en) | Tracking Devices For Use In Navigation Systems And Methods For Manufacturing The Same | |
| BR102016013381A2 (en) | apparatus and method for robot assisted surgery as well as positioning device | |
| CN213047263U (en) | Multi-angle tracer and positioning system of surgical robot | |
| CN111134841B (en) | Method and tool for registering pelvis in hip replacement | |
| US20210259787A1 (en) | Systems and methods for tracking objects | |
| CA3156036A1 (en) | Tracker for a surgical instrument | |
| CN109009438A (en) | Flexible noninvasive positioning device and its operation pathway is planned in art application and system | |
| US20110046636A1 (en) | Surgical Guide Instrument Capable of Omni-Directional Positioning and Omni-Directional Positioning Unit Thereof | |
| CN104220922B (en) | Illumination or instruction equipment including diode laser array | |
| CN108742841A (en) | A kind of operation tool real-time location method of multiposition tracker | |
| US20220203131A1 (en) | Radiotherapy system, and device and method for verifying same | |
| CN209789806U (en) | Endoscope front end structure and endoscope equipment | |
| CN112353450B (en) | Bone nail registration auxiliary mechanism, bone nail registration system and method | |
| CN211131155U (en) | Ultrasonic probe positioning quick-release clamp | |
| CN205944721U (en) | Laser equipment optical axis calibrating device and laser equipment | |
| CN116243331A (en) | Laser ranging device and method | |
| CN115831341A (en) | Self-adaptive registration system and method for surgical navigation | |
| GB2510510A (en) | Automatic measurement of dimensional data with a laser tracker | |
| CN115902911A (en) | Laser tracking pose measurement target device and method and hidden point measurement device | |
| CN108309452B (en) | Laser scanning register for operation navigation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |