CN215228375U - Bending type optical probe - Google Patents
Bending type optical probe Download PDFInfo
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- CN215228375U CN215228375U CN202121743786.8U CN202121743786U CN215228375U CN 215228375 U CN215228375 U CN 215228375U CN 202121743786 U CN202121743786 U CN 202121743786U CN 215228375 U CN215228375 U CN 215228375U
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- handle
- optical probe
- light reflecting
- groove
- light
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- 239000000523 sample Substances 0.000 title claims abstract description 31
- 230000003287 optical effect Effects 0.000 title claims abstract description 27
- 238000005452 bending Methods 0.000 title claims abstract description 10
- 230000000712 assembly Effects 0.000 claims abstract description 6
- 238000000429 assembly Methods 0.000 claims abstract description 6
- 239000003292 glue Substances 0.000 claims description 5
- 125000003003 spiro group Chemical group 0.000 claims 1
- 210000000988 bone and bone Anatomy 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 16
- 230000008569 process Effects 0.000 description 15
- 238000012795 verification Methods 0.000 description 9
- 210000000588 acetabulum Anatomy 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 239000003550 marker Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 241000282376 Panthera tigris Species 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 210000005224 forefinger Anatomy 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000011540 hip replacement Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000004570 mortar (masonry) Substances 0.000 description 2
- 210000004197 pelvis Anatomy 0.000 description 2
- 210000004872 soft tissue Anatomy 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 238000013480 data collection Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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Abstract
The application discloses a curved optical probe. The bending type optical probe comprises a handle, a needle head and four reflecting components. The needle head comprises an arc-shaped section, the end part of the arc-shaped section forms a needle point, and the arc-shaped section is connected with one end of the handle. The light reflecting assembly comprises two light reflecting portions, wherein the two light reflecting portions in each light reflecting assembly are respectively arranged on the surface of the handle, which deviates from each other, and the light reflecting assemblies are arranged at intervals along the extending direction of the handle. The technical scheme that this application provided can solve among the prior art problem that the probe can't gather acetabular bone surface characteristic point accurately.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to a bent optical probe.
Background
Currently, most surgical navigation systems adopt an infrared tracking and positioning technology, that is, the position of a reflective ball mounted on a surgical tool is identified and navigated by an infrared positioning instrument, so as to obtain the position of the surgical tool for positioning and navigation. A preoperative doctor or a clinical engineer uses the probe to perform data registration work on the patient affected part and preoperative image data. During alignment, the system measures the position of the reflective ball on the probe through the infrared tracking and positioning device, and calculates the current probe tip position, namely the position of the characteristic point of the patient part. In the operation process, the probe can be used as a navigation tool to realize the functions of positioning, measurement and the like.
In the process of hip joint replacement robot surgery, because the acetabulum fossa is hemispherical, the angle adjustment range is large when the registration point is collected, and the incision exposure is small in minimally invasive surgery, the existing probe cannot accurately collect the feature point of the surface of the acetabulum bone.
SUMMERY OF THE UTILITY MODEL
The application provides a curved optical probe, it can solve the problem that the probe can't gather acetabular bone surface characteristic point accurately among the prior art.
In a first aspect, the present invention provides a curved optical probe, including:
a handle;
the needle head comprises an arc-shaped section, a needle point is formed at the end part of the arc-shaped section, and the arc-shaped section is connected with one end of the handle;
a plurality of reflection of light subassemblies, reflection of light subassembly include two reflection of light portions, and two reflection of light portions in each reflection of light subassembly set up respectively on the surface that the handle deviates from each other, and a plurality of reflection of light subassemblies are arranged along the extending direction interval of handle.
In the implementation process, the bent optical probe can be applied to mounting point confirmation, pelvis registration, intraoperative Marker (Marker) fixing verification, mortar cup mounting result verification and the like in the hip replacement robot operation process. The needle point is arranged at a part needing verification or registration, and the optical detection equipment calculates the position of the needle point by detecting the position of the light reflecting part, so that point verification or registration point collection is realized. Because a plurality of light reflecting components are adopted, and each light reflecting component comprises a light reflecting part which is arranged on the two sides, the needle point can be adopted in the acetabulum fossa at 360 degrees without dead angles, and higher data acquisition accuracy is realized through the layout of the plurality of light reflecting components. It should be noted that, because the acetabulum fossa is hemispherical, the angle range needs to be adjusted when the registration point is collected, and the incision exposure is small in the minimally invasive surgery, therefore, the needle head is designed to comprise an arc-shaped section, namely, a concave part which is beneficial to the sight line to pass exists in the extending direction of the needle head, so that the needle tip can be better placed in a wound with the incision exposed relatively, soft tissues are effectively avoided, and accurate collected data are ensured to be obtained.
In an alternative embodiment, the needle comprises a connecting section, the connecting section is linear, one end of the connecting section is connected with the arc-shaped section, and the other end of the connecting section is connected with the handle.
In the process of realizing, the arc-shaped section of the needle body is connected with the handle through the linear connecting section, so that the assembling difficulty of the needle head and the handle can be reduced, and the assembling precision of the needle head and the handle is improved.
In an alternative embodiment, the connecting section is detachably connected to the handle.
In the process of the realization, the needle head is detachably connected with the handle through the connecting section, so that the needle head can be conveniently maintained and replaced, and the accuracy of data acquisition in each use is ensured.
In an optional embodiment, a propping groove is formed on the surface of the connecting section, and a jackscrew is configured on the surface of the connecting section;
one end of the handle is provided with a slot, and the surface of the handle is provided with a threaded hole communicated with the slot;
the connecting section is inserted into the open groove, and the jackscrew is in threaded connection with the threaded hole and is abutted against the abutting groove.
In the implementation process, the accurate positioning of the needle head and the handle can be ensured through the insertion and matching of the connecting section and the handle, and the connection stability of the needle head and the handle can be ensured through the propping of the jackscrew; meanwhile, the jackscrew is simple to disassemble and assemble, and the needle head is convenient to replace.
In an alternative embodiment, the light reflecting part comprises a connecting column and a light reflecting ball, the connecting column is fixed on the surface of the handle, and the light reflecting ball is detachably connected with the connecting column.
In the process of the realization, the reflecting part has simple structure and is beneficial to assembly. The optical detection device calculates the position of the needle point by detecting the position of the reflective ball, and realizes point verification or registration point acquisition. The connecting column is fixed on the handle and plays a role in positioning; the reflection of light ball and spliced pole detachably cooperation can guarantee the reflection of light ball dismouting easily to when not using, take off the protection with reflection of light ball, when using, fix a position fixedly with reflection of light ball fast.
In an optional embodiment, the bottom end of the connecting column is formed with threads, the surface of the handle is formed with screw holes, the connecting column is screwed in the screw holes, and medical glue is filled between the connecting column and the screw holes.
In the process of realizing, the connecting column and the handle are fixed by adopting a mode of screwing and adding medical glue, the manufacturing and assembling cost of the handle and the connecting column can be effectively reduced, and meanwhile, the connection stability, the safety and the reliability between the connecting column and the handle are ensured.
In an optional embodiment, the top end of the connecting column is formed with a clamping block, the light reflecting ball is formed with a clamping groove, and the clamping block is clamped in the clamping groove.
Above-mentioned in-process of realizing is connected through joint formula, can dismantle or assemble on the spliced pole with reflecting light ball fast on by the spliced pole.
In an alternative embodiment, the two surfaces of the handle facing away from each other are formed with a collar and a groove, respectively, which are close to the needle.
In the process of the realization, the tiger's mouth of the operator can be clamped at the convex ring, and the grooves deviate from the convex ring distribution, so that the thumb and the forefinger can be held more favorably, the ergonomic design is met, and the operation and the force application of the operator are facilitated.
In an alternative embodiment, the handle is formed with a hollow hole, and the hollow hole is triangular and located on a side of the handle away from the needle.
In the implementation process, the triangular hollow holes are formed in the handle, so that the operation and force application of the operator can be conveniently realized by using two hands.
In an alternative embodiment, the number of light reflecting members is four, and four light reflecting members are arranged at intervals.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a perspective view of a bending type optical probe in this embodiment;
FIG. 2 is a perspective view of the needle of the present embodiment;
FIG. 3 is a perspective view of the light reflecting portion of the present embodiment;
fig. 4 is a sectional view of the light reflecting portion in this embodiment.
Icon: 10-a handle; 11-a convex ring; 12-a groove; 13-hollowing out the holes; 14-a threaded hole;
20-a needle head; 21-arc segment; 21 a-needle tip; 22-a connecting segment; 23-a propping slot; 24-top thread;
30-a light reflecting component; 31-a light-reflecting portion; 32-connecting column; 33-a light-reflecting sphere; 34-a clamping block; 35-clip groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally 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 application can be understood in a specific case by those of ordinary skill in the art.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The technical solution in the present application will be described below with reference to the accompanying drawings.
The embodiment provides a curved optical probe, which can solve the problem that the probe cannot accurately collect characteristic points on the surface of an acetabular bone in the prior art.
Referring to fig. 1, fig. 1 is a perspective view of a bending optical probe in the present embodiment.
The bent optical probe includes a handle 10, a tip 20, and four light reflecting members 30.
The needle 20 includes a segment 21, the end of the segment 21 forms a needle tip 21a, and the segment 21 is connected to one end of the handle 10. The light reflecting assembly 30 includes two light reflecting portions 31, the two light reflecting portions 31 of each light reflecting assembly 30 are respectively disposed on the surfaces of the handle 10 facing away from each other, and the plurality of light reflecting assemblies 30 are arranged at intervals along the extending direction of the handle 10.
In the implementation process, the bent optical probe can be applied to mounting point confirmation, pelvis registration, intraoperative Marker (Marker) fixing verification, mortar cup mounting result verification and the like in the hip replacement robot operation process. The needle point 21a is arranged at a part to be verified or registered, and the optical detection device calculates the position of the needle point 21a by detecting the position of the reflecting part 31, so that point verification or registration point collection is realized. Due to the fact that the plurality of light reflecting assemblies 30 are adopted, and the two light reflecting portions 31 in each light reflecting assembly 30 are arranged on the two sides, 360-degree dead-corner-free point collection of the needle point 21a in the acetabulum nest can be achieved, and higher data collection accuracy is achieved through the layout of the plurality of light reflecting assemblies 30. It should be noted that, because the acetabulum fossa is hemispherical, the angle range needs to be adjusted when the registration point is collected, and the incision exposure is small in the minimally invasive surgery, therefore, the needle 20 is designed to include the arc-shaped section 21, that is, a concave part which is beneficial for the sight line to pass through exists in the extending direction of the needle 20, so that the needle point 21a can be well placed in the incision with the lower exposure of the incision at a proper angle, soft tissues are effectively avoided, and accurate collected data can be obtained. It should be noted that, in other embodiments, the number of the reflective members 30 is not limited, and may be one, two, three, five, etc. It should be noted that, in a possible implementation case, there may be a preset difference between specific positions of the two light reflecting portions 31 in each light reflecting assembly 30 in the extending direction of the handle 10, that is, the two light reflecting portions 31 are distributed in a double-sided asymmetric manner to distinguish position points of the light reflecting portions 31, so as to achieve higher data acquisition accuracy.
In the present disclosure, two surfaces of the handle 10 facing away from each other are respectively formed with a protruding ring 11 and a groove 12, and the protruding ring 11 and the groove 12 are close to the needle 20. The number of the grooves 12 is two, the two grooves 12 are arranged on one surface deviating from the convex ring 11 at intervals, and the two grooves 12 are mutually inclined. The tiger's mouth of an operator can be clamped at the convex ring 11, and the grooves 12 deviate from the convex ring 11, so that the thumb and the forefinger can be held more conveniently, the human engineering is met, and the operation and the force application of the operator are facilitated.
The handle 10 is formed with the fretwork hole 13, and the fretwork hole 13 is the triangle-shaped and is located the handle 10 and deviates from the one side in syringe needle 20. The triangular hollow hole 13 is provided in the handle 10, which facilitates both hands operation and force application by the operator.
Referring to fig. 2, fig. 2 is a perspective view of the needle 20 in this embodiment.
The needle 20 includes a connecting section 22, the connecting section 22 is linear, one end of the connecting section 22 is connected to the arc-shaped section 21, and the other end of the connecting section 22 is connected to the handle 10. The arc-shaped section 21 of the needle body is connected with the handle 10 through the linear connecting section 22, so that the assembly difficulty of the needle head 20 and the handle 10 can be reduced, and the assembly precision of the needle head 20 and the handle 10 can be improved.
In the present disclosure, the connecting section 22 is detachably connected to the handle 10 to facilitate maintenance and replacement of the needle 20, ensuring accuracy of data acquisition per use.
Referring to fig. 1 and 2, a slot is formed at one end of the handle 10, and a screw hole 14 penetrating the slot is formed on the surface of the handle 10. The surface of the connecting section 22 is formed with an abutting groove 23 and is provided with a jackscrew 24. The connecting section 22 is inserted into the slot, and the jackscrew 24 is screwed into the threaded hole 14 and abuts against the abutting slot 23.
In the implementation process, the accurate positioning of the needle head 20 and the handle 10 can be ensured through the insertion and matching of the connecting section 22 and the handle 10, and the connection stability of the needle head 20 and the handle 10 can be ensured through the propping of the jackscrew 24; meanwhile, the jackscrew 24 is simple to disassemble and assemble, so that the needle 20 can be replaced conveniently.
Referring to fig. 3, fig. 3 is a perspective view of the light reflecting portion 31 in the present embodiment. The light reflecting part 31 includes a coupling post 32 and a light reflecting ball 33, the coupling post 32 is fixed on the surface of the handle 10, and the light reflecting ball 33 is detachably coupled with the coupling post 32.
In the process of the above implementation, the light reflecting portion 31 is simple in structure and is favorable for assembly. The optical detection device calculates the position of the needle point 21a by detecting the position of the reflective ball 33, so as to realize point verification or registration point acquisition. The connecting column 32 is fixed on the handle 10 and plays a role in positioning; the reflective ball 33 is detachably matched with the connecting column 32, so that the reflective ball 33 can be easily disassembled and assembled, the reflective ball 33 is taken down for protection when not used, and the reflective ball 33 is quickly positioned and fixed when used.
In the present disclosure, a thread is formed at the bottom end of the connection column 32, a screw hole is formed on the surface of the handle 10, the connection column 32 is screwed in the screw hole, and medical glue is filled between the connection column 32 and the screw hole. The fixing is realized by adopting a mode of screwing and adding medical glue, the manufacturing and assembling cost of the handle 10 and the connecting column 32 can be effectively reduced, and meanwhile, the connection stability, safety and reliability between the connecting column 32 and the handle 10 are ensured.
Referring to fig. 4, fig. 4 is a sectional view of the light reflecting portion 31 in the present embodiment.
The top of spliced pole 32 is formed with joint piece 34, and reflection of light ball 33 is formed with joint groove 35, and joint piece 34 joint is in joint groove 35. By means of the snap-in connection, the light-reflecting ball 33 can be quickly removed from the connecting column 32 or can be quickly mounted on the connecting column 32.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A curved optical probe, comprising:
a handle;
the needle head comprises an arc-shaped section, a needle point is formed at the end part of the arc-shaped section, and the arc-shaped section is connected with one end of the handle;
a plurality of reflection of light subassembly, reflection of light subassembly includes two reflection of light portions, each two in the reflection of light subassembly reflection of light portion sets up respectively on the surface that the handle deviates from each other, and is a plurality of reflection of light subassembly is followed the extending direction interval arrangement of handle.
2. The bending type optical probe according to claim 1,
the syringe needle includes the linkage segment, the linkage segment is the linearity, the one end of linkage segment with the arcuation section is connected, the other end of linkage segment with the handle is connected.
3. The curved optical probe according to claim 2,
the connecting section is detachably connected with the handle.
4. The curved optical probe according to claim 3,
a propping groove is formed on the surface of the connecting section, and a jackscrew is configured on the surface of the connecting section;
a groove is formed at one end of the handle, and a threaded hole communicated with the groove is formed in the surface of the handle;
the connecting section is inserted into the open groove, and the jackscrew is in threaded connection with the threaded hole and abuts against the abutting groove.
5. The bending type optical probe according to claim 1,
the light reflecting part comprises a connecting column and a light reflecting ball, the connecting column is fixed on the surface of the handle, and the light reflecting ball is detachably connected with the connecting column.
6. The curved optical probe according to claim 5,
the bottom of spliced pole is formed with the screw, the surface of handle is formed with the screw, the spliced pole spiro union in the screw, and be in the spliced pole with it is filled with medical glue between the screw.
7. The curved optical probe according to claim 5,
the top of spliced pole is formed with the joint piece, reflection of light ball is formed with the joint groove, joint piece joint in the joint groove.
8. The bending type optical probe according to claim 1,
two surfaces of the handle, which are deviated from each other, are respectively provided with a convex ring and a groove, and the convex ring and the groove are close to the needle head.
9. The bending type optical probe according to claim 1,
the handle is formed with the fretwork hole, the fretwork hole is three horn shapes and is located the handle deviate from in one side of syringe needle.
10. The bending type optical probe according to claim 1,
the number of the light reflecting assemblies is four, and the four light reflecting assemblies are arranged at intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121743786.8U CN215228375U (en) | 2021-07-29 | 2021-07-29 | Bending type optical probe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121743786.8U CN215228375U (en) | 2021-07-29 | 2021-07-29 | Bending type optical probe |
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| CN215228375U true CN215228375U (en) | 2021-12-21 |
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| CN202121743786.8U Active CN215228375U (en) | 2021-07-29 | 2021-07-29 | Bending type optical probe |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114209431A (en) * | 2021-12-24 | 2022-03-22 | 杭州柳叶刀机器人有限公司 | Optical probe recognition method, optical probe recognition device, electronic apparatus, and storage medium |
| CN115607283A (en) * | 2022-12-02 | 2023-01-17 | 杭州柳叶刀机器人有限公司 | Pose calibration device and method of optical navigation type double-shoulder osteotome |
-
2021
- 2021-07-29 CN CN202121743786.8U patent/CN215228375U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114209431A (en) * | 2021-12-24 | 2022-03-22 | 杭州柳叶刀机器人有限公司 | Optical probe recognition method, optical probe recognition device, electronic apparatus, and storage medium |
| CN114209431B (en) * | 2021-12-24 | 2023-11-21 | 杭州柳叶刀机器人有限公司 | Optical probe identification method, device, electronic equipment and storage medium |
| CN115607283A (en) * | 2022-12-02 | 2023-01-17 | 杭州柳叶刀机器人有限公司 | Pose calibration device and method of optical navigation type double-shoulder osteotome |
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