CN214285145U - Image registration tool - Google Patents
Image registration tool Download PDFInfo
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- CN214285145U CN214285145U CN202022844916.9U CN202022844916U CN214285145U CN 214285145 U CN214285145 U CN 214285145U CN 202022844916 U CN202022844916 U CN 202022844916U CN 214285145 U CN214285145 U CN 214285145U
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- image registration
- registration tool
- optical tracking
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- 230000003287 optical effect Effects 0.000 claims abstract description 39
- 230000009131 signaling function Effects 0.000 claims abstract description 15
- 239000011248 coating agent Substances 0.000 claims description 4
- 238000000576 coating method Methods 0.000 claims description 4
- 238000012790 confirmation Methods 0.000 abstract description 7
- 238000004891 communication Methods 0.000 abstract description 5
- 230000007704 transition Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 239000000523 sample Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 239000008280 blood Substances 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Abstract
The utility model relates to an image registering tool, which comprises a handle and a needle part, wherein the needle part is arranged at the lower end of the handle; the upper surface of the handle is distributed with a plurality of optical tracking marks, a signal function module is arranged in the handle, a first button and a second button are arranged on the side surface of the handle, and the first button and the second button are both electrically connected with the signal function module; the optical tracking identification is matched with a binocular vision system and used for determining the position information and the motion information of the needle part, and the signal function module is in wireless connection with the binocular vision system. When the image registration tool is used, a doctor can directly confirm whether a selected reference point is suitable through the image registration tool confirmation button, the image registration tool rotation dragging button is used for controlling the rotation of the image three-dimensional model, the operation of an assistant on a display through a mouse is replaced, the low-efficiency communication between the doctor and the assistant can be reduced, and the time consumption and the extra risk caused by unsmooth communication are reduced.
Description
Technical Field
The utility model relates to an image registration field especially relates to an image registration instrument.
Background
The purpose of image registration is to match the virtual lesion 3D model with the surgically planned path to the actual body during surgery. The method comprises the key steps that a doctor sequentially collects corresponding points of virtual marking points in a model on the body of a patient through a probe according to the prompt of a 3D model of navigation software, and obtains position signals of the virtual marking points by using an optical tracking principle. The steps of using a conventional probe to acquire the anatomical marker points are cumbersome: after one probe is held by one doctor to select one mark point, another doctor clicks a confirmation button on a navigation monitor by a mouse, and the acquisition of the next mark point can be started after the precision meets the system requirement. In addition, because the virtual mark points are distributed on different planes of the 3D model, the 3D model needs to be turned frequently in the acquisition process, and in the traditional technical scheme, another assistant also needs to turn over the virtual 3D model in the screen in a mouse dragging mode, so that an operator is matched to finish mark point acquisition. As dozens or even hundreds of anatomical mark points are generally required to be acquired in the operation registration process under the robot/navigation, the application mode of the traditional probe is low in real-time performance and poor in hand-eye coordination, the operation efficiency is reduced, and the operation time is prolonged.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problem that the existing operation registering process can not be independently completed, the assistant is needed to assist the operation to bring the problems of uncoordinated hands and eyes, low operation efficiency and long operation time, and an image registering tool is provided.
The utility model discloses a following technical scheme realizes above-mentioned purpose: an image registration tool is applied to surgical robot equipment and used for calibrating a spatial position by matching with a binocular vision system, and comprises a handle and a needle part, wherein the needle part is arranged at the lower end of the handle; the upper surface of the handle is distributed with a plurality of optical tracking marks, a signal function module is arranged in the handle, a first button and a second button are arranged on the side surface of the handle, and the first button and the second button are both electrically connected with the signal function module; the optical tracking identification is matched with a binocular vision system and used for determining the position information and the motion information of the needle part, and the signal function module is in wireless connection with the binocular vision system.
Furthermore, the handle comprises a first connecting part arranged horizontally and a second connecting part arranged vertically, and the second connecting part is fixedly connected with the middle part of the first connecting part; the lower surface of the second connecting part is provided with an accommodating cavity, and the signal function module is arranged in the accommodating cavity; the first button and the second button are positioned on the right side wall of the containing cavity.
Further, the first button is a selection confirmation button, and the second button is a rotary drag button.
Further, there are 4 optical tracking marks on the upper surface of the handle, two of the optical tracking marks are located at two ends of the first connecting portion, and the other two optical tracking marks are distributed on the upper surface of the second connecting portion.
Further, the optical tracking mark is detachably connected with the handle.
Furthermore, the handle is provided with 4 installation positions, each base below is equipped with the threaded connection section, the threaded connection section with installation position fixed connection.
Further, the optical tracking mark comprises a base, the base is detachably connected with the handle, a reflecting sheet is arranged above the base, and a horn mouth surrounding ring is arranged around the reflecting sheet.
Further, the inner surface of the bell mouth surrounding ring is provided with a smooth reflecting coating.
Compared with the prior art, the beneficial effects of the utility model are as follows: (1) when the system is matched with a registration system for use, a doctor can directly confirm whether a selected reference point is suitable or not through an image registration tool confirmation button, and controls the rotation of the image three-dimensional model through the rotation dragging button of the image registration tool, so that the operation of an assistant on a display through a mouse is replaced, the communication time between the doctor and the assistant can be greatly reduced, the flow is simplified, the efficiency is improved, and meanwhile, the exposure time of a wound of a patient can be reduced, so that the overall operation time is reduced, and the operation quality is improved. (2) The optical tracking mark is made of plastic materials, the surface of the horn mouth surrounding ring is provided with a smooth reflecting coating, the surface is smooth, the granular sensation on the surface of the optical small ball is avoided, if the optical tracking mark is polluted by blood or other impurities in the operation, the optical tracking mark can be quickly cleaned and is not easy to wear, the accuracy of optical positioning and tracking is not influenced, and the optical tracking mark is more economical.
Drawings
Fig. 1 is a schematic view of the image registration tool of the present invention (1);
FIG. 2 is a schematic view of the image registration tool of FIG. 1 (2);
FIG. 3 is a schematic view of the needle portion of FIG. 1;
FIG. 4 is a schematic view of the optical tracking indicator of FIG. 2;
the reference numerals are explained below:
100. handle, 110, first connecting portion, 120, second connecting portion, 121, signal function module, 122, confirm button, 123, rotatory drag button, 133, optical tracking sign, 200, needle portion, 210, first changeover portion, 220, second changeover portion, 230, third changeover portion, 240, the needle point portion.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
an image registration tool is applied to surgical robot equipment and used for calibrating a spatial position in cooperation with a binocular vision system. As shown in fig. 1 and 2, the image registration tool includes a handle 100 and a needle portion 200, and the needle portion 200 is disposed at a lower end of the handle 100. The handle 100 is in a T-like shape and comprises a first connecting portion 110 and a second connecting portion 120, the second connecting portion 120 is fixedly connected with the middle of the first connecting portion 110, and the first connecting portion 110 is inclined relative to the second connecting portion 120 in view of convenient holding.
The handle 100 is internally provided with a containing cavity, the containing cavity is internally provided with a signal function module 121, one side of the containing cavity is provided with a first button and a second button, and the first button and the second button are electrically connected with the signal function module 121. Considering that the operator holds the image registration tool with four fingers at the right side of the image registration tool, the first button and the second button are also arranged at the right side wall of the accommodating cavity for the operator to control. The first button is a selection confirmation button 122, and the second button is a rotary drag button 123. The signal function module is in wireless connection with the binocular vision system and is used for sending a selection confirmation signal and a rotary dragging signal to the binocular vision system so that an operator can independently complete the matching operation of the image registration tool and the display end.
There are 4 optics to track sign 133 on the 100 upper surface distributions of handle, and optics is tracked the sign and can be dismantled with the handle and be connected, is provided with 4 installation positions on the handle, and every base below is equipped with the threaded connection section, threaded connection section and installation position fixed connection. The optical tracking identifier is matched with a binocular vision system to determine the position information and the motion information of the needle point of the image registration tool. The optical tracking marks 133 are connected to the handle 100 by plugging, and together form a quick-release and quick-assembly structure of the image registration tool, wherein two optical tracking marks 133 are located at two ends of the first connecting portion 110, and the other two optical tracking marks 133 are located on the upper surface of the second connecting portion 120 and distributed vertically. The positional arrangement between the four optical tracking markers 133 meets the criteria that must be met using NDI optical tracking products.
As shown in fig. 3, the needle portion 200 includes a first transition section 210, a second transition section 220, a third transition section 230, and a needle tip portion 240 in sequence, and the cross-sectional widths of the first transition section 210, the second transition section 220, the third transition section 230, and the needle tip portion 240 decrease in sequence. The first transition section 210 is cylindrical, the second transition section 220 is rounded off, and the third transition section 230 is cylindrical. The structure that the cross-sectional widths of the first transition section 210, the second transition section 220 and the third transition section 230 are gradually decreased provides a smooth transition between the handle 100 and the needle tip 240, so that the needle tip 240 is prevented from being bent due to slender in the operation process, and optical positioning displacement errors are avoided; meanwhile, the structure increases the rigidity of the image registration tool and ensures the stability of quality. Of course, the arrangement of the transition section is not limited to the three-section type disclosed in the present application, and the combination mode of one or two transition sections also belongs to the protection scope of the present application.
As shown in fig. 4, the optical tracking indicator 133 includes a base detachably connected to the handle 100, and a bell-mouth enclosure is disposed above the base. The optical tracking mark 133 is made of plastic material, and the inner surface of the bell-mouth enclosure is provided with a smooth reflective coating. Compared with the original optical small ball material, the method has the following advantages: a. the surface is smooth, the granular feeling of the surface of the optical ball is avoided, and if the surface is polluted by blood or other impurities in the operation, the surface can be quickly cleaned. b. The optical positioning and tracking device is not easy to wear, thereby influencing the precision of optical positioning and tracking. C. Has more economical efficiency. The arrangement of the bell mouth enclosure ensures that the circle in the middle of the bottom is best recognized by binocular vision to the maximum extent.
In the use, this application image registration instrument is used on operation robot equipment, connects in surgery operation arm equipment, uses with binocular vision system cooperation. After the position information of the target point is successfully acquired every time, the display on the binocular vision system displays related information in real time, at the moment, a doctor can directly confirm whether to receive the point information or discard the point information through the confirmation button, and an assistant is replaced to operate on the display through a mouse, so that the inefficient communication between the doctor and the assistant can be reduced, and the time consumption and the additional risk caused by unsmooth communication are reduced. The doctor presses the rotary drag button to switch the functional mode of the image registration tool. In the image registration process, since a doctor needs to select a plurality of target points at different positions on the image three-dimensional model, the image three-dimensional model needs to be rotated by a plurality of angles so as to conveniently select the target points. In the functional mode, the image registration tool moves, and the optical tracking identifier acquires motion information (mainly rotation information and translation information filtered by an algorithm) of the image registration tool in real time, and maps the motion information into an image three-dimensional model displayed by a display in real time, so that the image three-dimensional model rotates in real time. The doctor can control the rotation of the image three-dimensional model through the image registration tool to replace the operation of a mouse on the image model. It should be noted that the present application is mainly used to protect the structure of the image registration tool.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention.
Claims (8)
1. An image registration tool is matched with a binocular vision system to calibrate the spatial position, and is characterized by comprising a handle and a needle part, wherein the needle part is arranged at the lower end of the handle; the upper surface of the handle is distributed with a plurality of optical tracking marks, a signal function module is arranged in the handle, a first button and a second button are arranged on the side surface of the handle, and the first button and the second button are both electrically connected with the signal function module; the optical tracking identification is matched with a binocular vision system and used for determining the position information and the motion information of the needle part, and the signal function module is in wireless connection with the binocular vision system.
2. The image registration tool of claim 1, wherein the handle comprises a first connecting portion arranged horizontally and a second connecting portion arranged vertically, and the second connecting portion is fixedly connected with the middle of the first connecting portion; the lower surface of the second connecting part is provided with an accommodating cavity, and the signal function module is arranged in the accommodating cavity; the first button and the second button are positioned on the right side wall of the containing cavity.
3. The image registration tool of claim 1 or 2, wherein the first button is a select confirm button and the second button is a rotary drag button.
4. The image registration tool of claim 2, wherein the handle has 4 optical tracking marks distributed on an upper surface thereof, two of the optical tracking marks are located at two ends of the first connection portion, and the other two optical tracking marks are distributed on an upper surface of the second connection portion.
5. The image registration tool of claim 1 or 4, wherein the optical tracking identifier is removably attached to the handle.
6. The image registration tool of claim 5, wherein the optical tracking mark comprises a base, the base is detachably connected with the handle, a reflector is disposed above the base, and a bell-mouth enclosure is disposed around the reflector.
7. The image registration tool of claim 6, wherein the handle is provided with 4 mounting positions, and a threaded connection section is provided below each base and fixedly connected with the mounting positions.
8. The image registration tool of claim 6, wherein the flare enclosure inner surface is provided with a smooth reflective coating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022844916.9U CN214285145U (en) | 2020-12-01 | 2020-12-01 | Image registration tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022844916.9U CN214285145U (en) | 2020-12-01 | 2020-12-01 | Image registration tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214285145U true CN214285145U (en) | 2021-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022844916.9U Active CN214285145U (en) | 2020-12-01 | 2020-12-01 | Image registration tool |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114601561A (en) * | 2022-05-12 | 2022-06-10 | 杭州键嘉机器人有限公司 | Quick change device of passive identification point subassembly |
| WO2023115901A1 (en) * | 2021-12-20 | 2023-06-29 | 北京诺亦腾科技有限公司 | Spatial positioning apparatus for surgical navigation and rigid body structure |
-
2020
- 2020-12-01 CN CN202022844916.9U patent/CN214285145U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023115901A1 (en) * | 2021-12-20 | 2023-06-29 | 北京诺亦腾科技有限公司 | Spatial positioning apparatus for surgical navigation and rigid body structure |
| CN114601561A (en) * | 2022-05-12 | 2022-06-10 | 杭州键嘉机器人有限公司 | Quick change device of passive identification point subassembly |
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