CN213606864U - Precision measuring device for surgical robot navigation system - Google Patents
Precision measuring device for surgical robot navigation system Download PDFInfo
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- CN213606864U CN213606864U CN202022147888.5U CN202022147888U CN213606864U CN 213606864 U CN213606864 U CN 213606864U CN 202022147888 U CN202022147888 U CN 202022147888U CN 213606864 U CN213606864 U CN 213606864U
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Abstract
The utility model relates to a surgical robot navigation precision measurement device, the device includes base (3), and instrument support (31) can replace target passageway (5), assistance-localization real-time needle (6), instrument support (33), vision positioning appurtenance II (4), scale (2), and vision positioning appurtenance I (1) is constituteed. The device is matched with medical imaging equipment and a surgical navigation robot and is used for measuring the precision of a robot navigation system. The method has simple structure and convenient realization, and can directly observe whether the target path position is accurately reached by naked eyes, and measure and calculate the system precision.
Description
Technical Field
The utility model relates to a surgical robot navigation precision measurement device belongs to surgical robot technical field.
Background
China is a large population, and with the improvement of living standard of people and the aggravation of the aging process of the population, China is becoming a large country for producing and using medical instruments with high and new technology. Therefore, the research of the robot-assisted surgery system has become a hot spot, and combines the experience of a surgeon and the characteristics of accurate positioning, stable operation, high operation precision and the like of the robot, so that the surgeon can obtain an operation environment similar to that of the traditional surgery, and can assist the surgeon in finishing fine operation actions, reduce the damage caused by misoperation and hand trembling caused by fatigue of the surgeon in the surgery, improve the surgery quality and safety, shorten the treatment time and reduce the medical cost.
The surgical navigation robot may be used for precise positioning of surgical instruments or implants. Through the cooperation with medical imaging equipment, realize operation planning and operation route location. The most important evaluation index for the surgical navigation robot is system precision, and the correct evaluation of the system precision is the key work for ensuring the safety and smooth completion of the surgery. Patent 201520673162.1 "a surgical robot system precision detection device", the device cost is higher, and processing is complicated, and is inconvenient to carry. In practice, it is often relatively difficult to ensure not only the precision of the spatial points, but also the precision of the spatial lines. To solve this problem, my company has applied for patent 201921244127.2 entitled "a surgical robot navigation system precision detection device", and subsequently further optimization and improvement of the device are carried out in practice.
Disclosure of Invention
The utility model aims at providing a can be accurate, evaluate surgical robot navigation precision measurement device comprehensively, be at "a surgical robot navigation precision detection device" 201921244127.2 utility model optimization design that goes on structurally.
The precision measuring device for the surgical robot navigation system comprises a base (3), a tool support (31), a replaceable target channel (5), an auxiliary positioning needle (6), a tool support (33), a visual positioning auxiliary tool II (4), a scale (2) and a visual positioning auxiliary tool I (1); wherein, the tool bracket I (31) and the tool bracket II (33) are positioned at two ends of the base (3); inserting a tool support (31) into the replaceable target channel (5); the auxiliary positioning needle (6) is inserted into the replaceable target channel (5); the visual positioning auxiliary tool II (4) is fixed on the tool bracket II (33) through a fixing screw hole (41); visual positioning appurtenance I (1) is fixed in the afterbody of scale (2), and scale (2) are fixed with base (3) through spacing spout.
The part of the lower end of the auxiliary positioning needle (6) inserted into the replaceable target channel (5) is a cylinder with the diameter smaller than that of the target channel, the rigid cylinder is wrapped in the cylinder, the diameter of a needle cap which is not inserted into the upper end of the auxiliary positioning needle is larger than that of the target channel, and the auxiliary positioning needle (6) and the replaceable target channel (5) with different diameters can be replaced according to different testing precision requirements.
The replaceable target channel (5) is of an L-shaped structure, and one end of the replaceable target channel (5) inserted into the tool support (31) can be fixed with the tool support through the fixing boss without shaking.
The rigid cylinder wrapped in the auxiliary positioning needle (6) is made of an X-ray opaque material.
The angle between the tool support (31) and the base (3) ranges from 0 degree to 90 degrees, and the tool support (33) is an inclined plane.
The base (3), the tool support (31), the tool support (33) and the scale (2) are made of nylon or plastic materials.
The tool support II (33) is fixedly connected with the visual positioning auxiliary tool II (4) through a fixing screw hole (41).
The device of the utility model is used by matching with medical imaging equipment and a surgical navigation robot (figure 6) to determine the system precision of the surgical navigation robot.
The surgical navigation robot consists of a robot positioning system, a control system and an optical tracking system, wherein the control system takes software as a core and finishes X-ray image acquisition, tunnel entrance and stop point planning of anatomical features of a surgical position, navigation display and robot control in the surgical process; the optical tracking system can monitor the position of the instrument in real time through the visual positioning auxiliary tool and transmit the position to the control system; the robot positioning system assists a doctor in completing operation positioning.
The system precision detection principle: as shown in fig. 7, if we use the image of the circular rigid column of the auxiliary positioning needle (6) under the X-ray machine as the planned path, it is represented by a spatial straight line L; as shown in fig. 8, if we use the space straight line L ' to represent the tool path at the end of the robot, the accuracy of the robot is determined according to whether the end vertex of L ' reaches the end point of the straight line L, and whether L is parallel to L ', at this time, it is necessary to insert the k-wire into the end sleeve of the robot, and observe whether the k-wire can smoothly enter the target passage tunnel, see fig. 9.
The method comprises the following specific steps:
the first step is as follows: the control system collects the X-ray image of the device through medical imaging equipment, and then uses the circular rigid cylinder image of the auxiliary positioning needle (6) in software as a navigation planning path;
the second step is that: the control system drives the mechanical arm of the robot to move according to the planned path through a software program, and the final space position reached by the tail end of the mechanical arm is observed;
the third step: and inserting the Kirschner wire into the tail end guide hole of the mechanical arm, and observing whether the Kirschner wire can smoothly pass through the tunnel hole. If the system can not reach the target, the system precision is unqualified; if the data can pass through the system smoothly, determining the system precision through calculation;
system accuracy = (target channel diameter-kirschner wire diameter)/2.
The utility model discloses an advantage of design lies in: 1. the precision tunnel can be replaced, and different precision verification requirements can be met by using a set of quality control tools. 3. The exact target path position can be directly observed with the naked eye. 2. The device has simple structure and easy use, and can be widely used for verifying the precision of various surgical robot systems.
Drawings
FIG. 1 is a side view of a surgical robotic navigation system precision measurement device;
FIG. 2 is a partial side view of a surgical robotic navigation system precision measurement device;
fig. 3 is a partial detail view 01 of the precision measuring device of the surgical robot navigation system;
FIG. 4 is a partial detail view 02 of a surgical robotic navigation system precision measurement device;
fig. 5 is a partial detail view 03 of a surgical robot navigation system precision measurement device;
FIG. 6 is a schematic view of a surgical navigation robot;
FIG. 7 is a schematic diagram 01 of the accuracy detection;
FIG. 8 is a schematic diagram 02 of accuracy detection;
FIG. 9 is a schematic view of the relationship between the insertion of the end of the robotic arm into the K-wire and the target passage;
1. visual positioning auxiliary tool I
2. Scale with a measuring device
3. Base seat
4. Visual positioning auxiliary tool II
5. Replaceable target pathway
6. Auxiliary positioning needle
7. Kirschner wire
8. Guide hole
31. Tool support 1
32. Scale limit sliding groove
33. Tool support 2
34. Replaceable target channel fixing groove
35. Observation hole
41. Fixing screw hole
51. Target pathway
52. Replaceable target channel fixing boss
Detailed description of the preferred embodiment
In order to illustrate the device of the invention more clearly, the drawings that are necessary for describing the embodiments will be briefly described below, it being clear that the drawings in the following description are only intended to better understand the invention and should not be understood as limiting the invention.
In this embodiment, a 9-point scale is selected for description, and as shown in fig. 1, the precision measuring device of the surgical robot navigation system includes a base (3), a tool support (31), a replaceable target channel (5), an auxiliary positioning needle (6), a tool support (33), a visual positioning auxiliary tool (4), a scale (2), and a visual positioning auxiliary tool (1); wherein, the tool bracket I (31) and the tool bracket II (33) are positioned at two ends of the base (3); inserting a tool support (31) into the replaceable target channel (5); the auxiliary positioning needle (6) is inserted into the replaceable target channel (5); the visual positioning auxiliary tool II (4) is fixed on the tool bracket II (33) through a fixing screw hole (41); visual positioning appurtenance I (1) is fixed in the afterbody of scale (2), and scale (2) are fixed with base (3) through spacing spout. In fig. 4, an observation hole (35) is arranged on the limit sliding groove of the scale and the base, and whether the scale is arranged at a designated position or not can be observed during assembly.
In this experiment, the diameter of target passageway is the 3 mm cylinder, and the diameter of auxiliary positioning needle (6) lower extreme is the 2.8 mm cylinder, and the upper end diameter is 4 mm needle cap, and inside parcel 1 mm is just post.
To fully explain the effects of the present invention, the following description is made:
firstly, the detection device of the utility model is fixed at a certain position of an operation space, the control system of the operation robot collects images to the device through a medical X-ray machine, and a rigid column image of a calibration auxiliary positioning needle (6) can be seen in figures 7 and 8;
secondly, selecting a shadow line segment of the rigid column under the X line as a needle outlet point and a needle inlet point of the planned path in a control procedure of the surgical robot;
and thirdly, taking the auxiliary positioning needle (6) out of the replaceable target channel (5). Driving the robot to move according to the path planned in the second step through a software program of the control system, observing whether a tail end tool of the robot reaches a target channel hole or not after the robot finishes moving, inserting a 1 mm Kirschner wire along the tail end tool, and observing whether the Kirschner wire can smoothly pass through the target channel or not (see fig. 9);
fourthly, judging whether the positioning precision of the surgical robot navigation system reaches a preset target or not according to the condition that whether the Kirschner wire passes through the target channel or not, and if the positioning precision of the surgical robot navigation system cannot reach the preset target, judging that the system precision is unqualified; if the data can pass through the data processing device smoothly, calculating:
system accuracy = (target channel diameter-kirschner wire diameter)/2 = (3-1)/2 = 1 mm.
The present invention is not limited to the above embodiments and examples, and those skilled in the art can make various changes without departing from the spirit and scope of the present invention.
Claims (8)
1. A precision measuring device of a surgical robot navigation system comprises a base (3), a tool support (31), a replaceable target channel (5), an auxiliary positioning needle (6), a tool support (33), a visual positioning auxiliary tool II (4), a scale (2) and a visual positioning auxiliary tool I (1); wherein, the tool bracket I (31) and the tool bracket II (33) are positioned at two ends of the base (3); inserting a tool support (31) into the replaceable target channel (5); the auxiliary positioning needle (6) is inserted into the replaceable target channel (5); the visual positioning auxiliary tool II (4) is fixed on the tool bracket II (33) through a fixing screw hole (41); visual positioning appurtenance I (1) is fixed in the afterbody of scale (2), and scale (2) are fixed with base (3) through spacing spout.
2. The surgical robot navigation system precision measuring device according to claim 1, characterized in that the part of the auxiliary positioning needle (6) inserted into the replaceable target channel (5) at the lower end is a cylinder with a diameter smaller than that of the target channel, the cylinder is wrapped by a rigid cylinder, the diameter of the needle cap not inserted at the upper end is larger than that of the target channel, and the auxiliary positioning needle (6) and the replaceable target channel (5) with different diameters can be replaced according to different testing precision requirements.
3. The surgical robot navigation system precision measuring device according to claim 1, wherein the replaceable target channel (5) has an L-shaped structure, and one end of the insertion tool holder (31) can be fixed to the tool holder by a fixing boss without shaking.
4. The surgical robotic navigation system precision measuring device of claim 1, wherein the rigid cylinder wrapped inside the auxiliary positioning needle (6) is of X-ray opaque material.
5. The surgical robot navigation system precision measuring device according to claim 1, wherein the angle between the tool support (31) and the base (3) is 0 to 90 degrees, and the tool support (33) is an inclined surface.
6. The surgical robot navigation system precision measuring device of claim 1, wherein the base (3), the tool support (31), the tool support (33) and the scale (2) are made of nylon or plastic materials.
7. The surgical robot navigation system precision measuring device of claim 1, wherein the tool support (33) is fixedly connected with the visual positioning auxiliary tool II (4) through a fixing screw hole (41).
8. The surgical robot navigation system accuracy measuring device according to claim 1, wherein the device is used for measuring the accuracy of the robot navigation system by cooperating with a medical imaging apparatus and a surgical navigation robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022147888.5U CN213606864U (en) | 2020-09-27 | 2020-09-27 | Precision measuring device for surgical robot navigation system |
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| CN202022147888.5U CN213606864U (en) | 2020-09-27 | 2020-09-27 | Precision measuring device for surgical robot navigation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114081632A (en) * | 2021-11-22 | 2022-02-25 | 南京普爱医疗设备股份有限公司 | Comprehensive positioning error detection device for orthopedic surgery robot |
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- 2020-09-27 CN CN202022147888.5U patent/CN213606864U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114081632A (en) * | 2021-11-22 | 2022-02-25 | 南京普爱医疗设备股份有限公司 | Comprehensive positioning error detection device for orthopedic surgery robot |
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