CN215688395U - Navigation accuracy detection device and navigation accuracy detection system - Google Patents

Abstract

The present disclosure relates to a navigation accuracy detecting device and a navigation accuracy detecting system, the navigation accuracy detecting device including: the detection die body is provided with a first tracker and a target position, the three-dimensional model of the detection die body is imported into a navigation system in advance, and the first tracker is used for being identified by a navigation camera of the navigation system, so that an image of the target position is formed in a display of the navigation system; the instrument die body is provided with a second tracker and a working position, the three-dimensional model of the instrument die body is pre-imported into the navigation system, and the second tracker is used for being identified by the navigation camera, so that an image of the working position is formed in the display; wherein the instrument body is used for operably enabling the image of the working position in the display to be superposed with the image of the target position so as to determine the navigation precision of the instrument by the navigation system through measuring the error between the working position and the target position by the three-coordinate measuring machine. The method and the device can accurately measure the navigation precision of the navigation system to the instrument.

Description

Navigation accuracy detection device and navigation accuracy detection system

Technical Field

The disclosure relates to the technical field of medical instruments, in particular to a navigation precision detection device and a navigation precision detection system.

Background

At present, when an instrument needs to operate an invisible part of a subject, a target part of the subject and the instrument need to be displayed in an image mode by means of an instrument navigation system, and the instrument needs to be assisted to operate the target position according to the displayed position of the target part and the position of the instrument.

Generally, in the image, when the working position of the instrument and the target position of the target site coincide with each other, it indicates that the instrument reaches the actual position of the target site, at which the instrument can perform the operation.

In the related art, a certain error exists in the navigation of the instrument by the surgical navigation system, so that although the working position of the instrument coincides with the target position of the object in the image, the error exists between the instrument and the target position in the actual physical space. Therefore, the accuracy of the system navigation is an important evaluation index for the surgical navigation system, and for the robot-assisted navigation system, the accuracy has an industry recommended standard, while for the robot-free pure navigation system, the accuracy has a standard of a specified F2554. However, the standard does not consider the influence of image factors, and the accuracy of the navigation system cannot be effectively measured. Therefore, how to accurately and comprehensively evaluate the navigation precision of the surgical navigation system to the instrument needs to be solved in the aspect of measurement.

SUMMERY OF THE UTILITY MODEL

An object of the present disclosure is to provide a navigation accuracy detecting apparatus and a navigation accuracy detecting system, which are capable of accurately measuring the navigation accuracy of an instrument by a navigation system to at least partially solve the above-mentioned problems in the related art.

In order to achieve the above object, the present disclosure provides a navigation accuracy detecting apparatus including: the detection die body is provided with a first tracker and a target position, the three-dimensional model of the detection die body is pre-imported into a navigation system, and the first tracker is used for being identified by a navigation camera of the navigation system so as to construct an image and a posture of the three-dimensional model of the detection die body in the navigation system, so that an image of the target position is formed in a display of the navigation system; the instrument die body is provided with a second tracker and a working position, the three-dimensional model of the instrument die body is pre-imported into the navigation system, and the second tracker is used for being recognized by the navigation camera so as to construct an image and a posture of the three-dimensional model of the instrument die body in the navigation system, so that an image of the working position is formed in the display; wherein the instrument phantom is configured to operably coincide the image of the working position with the image of the target position in the display to determine the accuracy of the navigation of the instrument by the navigation system by measuring the error between the working position and the target position with a three-coordinate measuring machine.

Optionally, the navigation accuracy detecting device further comprises a moving platform, on which the instrument phantom is movably disposed, and the moving platform is configured to operatively move the instrument phantom to overlap the image of the working position and the image of the target position and to operatively maintain the instrument phantom at the current position.

Optionally, the mobile platform includes a first rail extending along a first direction, a second rail extending along a second direction, a third rail extending along a third direction, and a mounting seat, the second rail is movably disposed on the first rail, the third rail is movably disposed on the second rail, the mounting seat is movably disposed on the third rail, the instrument body is disposed on the mounting seat, the first direction intersects with the second direction, and the third direction intersects with a plane where the first direction and the second direction are located.

Optionally, a first driving unit and a first transmission mechanism in driving connection with the first driving unit are arranged on the first rail, the second rail moves in the first direction through the first transmission mechanism, a second driving unit and a second transmission mechanism in driving connection with the second driving unit are arranged on the second rail, the third rail moves in the second direction through the second transmission mechanism, a third driving unit and a third transmission mechanism in driving connection with the third driving unit are arranged on the third rail, and the mounting seat moves in the third direction through the third transmission mechanism.

Optionally, the first transmission mechanism includes a first lead screw in driving connection with the first driving unit, the first lead screw is rotatably disposed on the first track around its axis and extends along the first direction, the second track is in threaded connection with the first lead screw, the second track abuts against the first track to limit the second track from rotating along with the first lead screw, and/or the second transmission mechanism includes a second lead screw in driving connection with the second driving unit, the second lead screw is rotatably disposed on the second track around its axis and extends along the second direction, the third track is in threaded connection with the second lead screw, the third track abuts against the second track to limit the third track from rotating along with the second lead screw, and/or the third transmission mechanism includes a third lead screw in driving connection with the third driving unit, the third lead screw can be rotationally arranged on the third track around the axis of the third lead screw and extends along the third direction, the mounting seat is in threaded connection with the third lead screw, and the mounting seat is abutted against the third track so as to limit the mounting seat to rotate along with the third lead screw.

Optionally, a first locking assembly is disposed on the first rail, and is configured to releasably lock the second rail to the first rail, a second locking assembly is disposed on the second rail, and is configured to releasably lock the third rail to the second rail, and a third locking assembly is disposed on the third rail and is configured to releasably lock the mount to the third rail.

Optionally, the second locking assembly and the third locking assembly are both configured in the same manner as the first locking assembly, the first locking assembly includes a locking plate fixedly connected to the first rail, a through hole for the first lead screw to pass through is provided on the locking plate, a first opening communicated with the through hole is provided on a side wall of the locking plate, the first opening can allow plate body portions located at two sides of the first opening to generate elastic deformation close to each other, the plate body portions at two sides of the first opening are connected through an adjusting member, and the adjusting member is used for locking the first lead screw to the locking plate in an unlockable manner so as to limit rotation of the first lead screw.

Optionally, a groove matched with a measuring ball of the three-coordinate measuring instrument is formed in an end face of the instrument mold body, the groove is cylindrical, the radius and the depth of the groove are equal to the radius of the measuring ball, the working position is located on an intersection point of a central axis of the groove and a plane where the end face is located and is used for being overlapped with the center of the measuring ball, the detection mold body comprises a containing groove formed in a top face of the detection mold body and a ball detachably placed in the containing groove, the radius of the ball is equal to that of the measuring ball, and the target position is located on the center of the ball.

Optionally, the number of the accommodating grooves is multiple, the detection mold body further comprises a plurality of columns arranged on the top surface of the detection mold body and in one-to-one correspondence with the accommodating grooves, and the accommodating grooves are arranged on the top surfaces of the corresponding columns.

Another aspect of the present disclosure further provides a navigation accuracy detecting system, including a three-coordinate measuring machine and the navigation accuracy detecting device as described above, where the three-coordinate measuring machine is configured to measure spatial coordinates of the working position and the target position when the image of the working position coincides with the image of the target position, so as to determine the navigation accuracy of the instrument by the navigation system according to the spatial coordinates of the working position and the target position.

According to the technical scheme, in the navigation precision detection device provided by the disclosure, the image of the working position in the display is overlapped with the image of the target position by moving the instrument die body, and the error between the target position and the working position is measured by the three-coordinate measuring instrument to determine the navigation precision of the navigation system to the instrument.

In specific work, a three-dimensional model of a detection die body and a three-dimensional model of an instrument die body are pre-imported into a navigation system, a first tracker and a second tracker are identified through a navigation camera in the navigation system, so that images and postures of the three-dimensional model of the detection die body and the three-dimensional model of the instrument die body are constructed in the navigation system, further, an image of a target position and an image of a working position can be formed in a display, then, the image of the working position in the display is overlapped with the image of the target position by moving the instrument die body, and a space coordinate of the target position and a space coordinate of the working position are measured through a three-coordinate measuring instrument, so that the error between the target position and the working position is determined according to the two space coordinates, namely, the navigation precision of the navigation system for instruments is determined. In addition, the measured navigation precision can be compared with the preset navigation precision to determine whether the navigation precision of the navigation system is qualified. Therefore, the navigation precision measuring device provided by the disclosure can accurately measure the navigation precision of the navigation system to the instrument, and is suitable for popularization and application.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a perspective view of a navigation accuracy detecting apparatus provided in an exemplary embodiment of the present disclosure;

fig. 2 is a perspective view of another angle of a navigation accuracy detecting apparatus provided in an exemplary embodiment of the present disclosure;

FIG. 3 is an enlarged partial schematic view of the location A in FIG. 2;

fig. 4 is a front view of a navigation accuracy detecting apparatus provided in an exemplary embodiment of the present disclosure;

FIG. 5 is a cross-sectional view taken at the location B-B in FIG. 4;

FIG. 6 is an enlarged partial schematic view of the C position of FIG. 5;

FIG. 7 is a schematic view of the instrument body of the navigation accuracy detection apparatus provided in an exemplary embodiment of the present disclosure mated with a measurement ball of a three-coordinate measuring machine;

fig. 8 is a schematic view illustrating a detection mold body of the navigation accuracy detection apparatus provided in an exemplary embodiment of the present disclosure being matched with a measurement ball of a coordinate measuring machine.

Description of the reference numerals

1-detecting a die body; 110-a holding tank; 120-sphere; 130-a column; 2-a first tracker; 3-target position; 4-an instrument mould body; 410-grooves; 5-a second tracker; 6-working position; 7-a first track; 8-a second track; 9-a third track; 10-a mounting seat; 11-a first drive unit; 12-a second drive unit; 13-a third drive unit; 14-a first lead screw; 15-a second lead screw; 16-a third lead screw; 17-a first locking assembly; 1701-locking plate; 1702-via; 1703-a first gap; 1704-an adjustment member; 18-a second locking assembly; 19-a third locking assembly; 20-measuring ball head; 21-a first sliding seat; 22-a first screw; 23-a first slide rail; 24-a first slider; 25-a second sliding seat; 26-a second screw; 27-a second slide rail; 28-a second slide; 29-a third sliding seat; 30-a third screw; 31-a third slide rail; 32-a third slider; 33-a handle; 34-a support bar; 35-a snap ring; 36-second gap.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, for convenience of description, a three-coordinate, that is, an XYZ coordinate system is defined for the navigation accuracy detecting apparatus, where a Z direction is a vertical direction, corresponds to a height direction of the navigation accuracy detecting apparatus in a use state, and a side indicated by an arrow is an upper side, and vice versa; the X direction corresponds to the transverse direction; the Y direction corresponds to the longitudinal direction. Where not otherwise stated, "inner and outer" refer to inner and outer relative to the contour of the component or structure itself. In addition, it should be noted that terms such as "first", "second", and the like are used for distinguishing one element from another, and have no order or importance. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.

In a specific embodiment of the first aspect of the present disclosure, a navigation accuracy detecting apparatus is provided. Referring to fig. 1 to 8, the navigation accuracy detecting apparatus includes: the detection die body 1 is provided with a first tracker 2 and a target position 3, a three-dimensional model of the detection die body 1 is imported into a navigation system in advance, and the first tracker 2 is used for being identified by a navigation camera of the navigation system so as to construct an image and a posture of the three-dimensional model of the detection die body 1 in the navigation system, so that an image of the target position 3 is formed in a display of the navigation system; the instrument die body 4 is provided with a second tracker 5 and a working position 6, the three-dimensional model of the instrument die body 4 is led into a navigation system in advance, and the second tracker 5 is used for being recognized by a navigation camera so as to construct an image and a posture of the three-dimensional model of the instrument die body 4 in the navigation system, so that an image of the working position 6 is formed in a display; wherein the instrument phantom 4 is operable to superimpose an image of the working position 6 on an image of the target position 3 in the display to determine the accuracy of the navigation of the instrument by the navigation system by measuring the error between the working position 6 and the target position 3 by means of the three-coordinate measuring machine.

Through the technical scheme, in the navigation precision detection device provided by the disclosure, the image of the working position 6 in the display is overlapped with the image of the target position 3 by moving the instrument die body 4, and the error between the target position 4 and the working position 6 is measured by the three-coordinate measuring machine, so that the navigation precision of the navigation system to the instrument is determined.

In specific work, a three-dimensional model of a detection die body 1 and a three-dimensional model of an instrument die body 4 are pre-imported into a navigation system, a first tracker 2 and a second tracker 5 are identified through a navigation camera in the navigation system, so that an image and a posture of the three-dimensional model of the detection die body 1 and an image and a posture of the three-dimensional model of the instrument die body 4 are established in the navigation system, an image of a target position 3 and an image of a working position 6 can be further formed in a display, then the image of the working position 6 in the display is overlapped with the image of the target position 3 by moving the instrument die body 4, a space coordinate of the target position 3 and a space coordinate of the working position 6 are measured through a three-coordinate measuring instrument, and the error between the target position 3 and the working position 6 is determined according to the two space coordinates, namely the navigation precision of the navigation system for instruments is determined. In addition, the measured navigation precision can be compared with the preset navigation precision to determine whether the navigation precision of the navigation system is qualified. Therefore, the navigation precision measuring device provided by the disclosure can accurately measure the navigation precision of the navigation system to the instrument, and is suitable for popularization and application.

The navigation system can be a surgical navigation system for guiding an operator to operate surgical instruments, and the navigation precision measuring device provided by the disclosure can be used for measuring the navigation precision of the surgical navigation system to the surgical instruments. The preset navigation precision can be set according to the actual application requirement and can be a value or a range, if the measured navigation precision is smaller than the preset navigation precision value or within the preset navigation precision range, the navigation precision of the instrument is qualified by the navigation system, the use requirement is met, otherwise, the instrument is unqualified.

Considering that when measuring the navigation accuracy of the instrument by the navigation system, the image of the working position 6 and the image of the target position 3 are overlapped by manually moving the instrument body 4, the method depends on the sensitivity of the hand and subjective judgment. Therefore, in order to further improve the accuracy of the measurement of the navigation accuracy, in some embodiments, as shown in fig. 1, 2, and 6 to 8, the navigation accuracy detecting device further includes a moving platform on which the instrument phantom 4 is movably disposed, the moving platform being configured to operatively move the instrument phantom 4 to cause the image of the working position 6 and the image of the target position 3 to coincide and operatively maintain the instrument phantom 4 at the current position. Thus, the position of the working position 6 of the instrument die body 4 in the physical space can be precisely adjusted by moving the instrument die body 4 through the moving platform, so that the image of the working position 6 is highly overlapped with the image of the target position 3. In addition, when the image of the working position 6 is coincident with the image of the target position 3, the instrument phantom 4 can be maintained at the current position by the mobile platform, so that the three-coordinate measuring machine can measure the spatial coordinates of the working position 6 and the target position 3. Therefore, the instrument body 4 is controlled by arranging the mobile platform, so that human errors can be avoided, and the navigation precision of the navigation system to the instrument can be measured more accurately.

The mobile platform may be configured in any suitable manner according to practical application requirements, for example, in some embodiments, referring to fig. 1 and 2, the mobile platform includes a first rail 7 extending along a first direction, a second rail 8 extending along a second direction, a third rail 9 extending along a third direction, and a mounting seat 10, the second rail 8 is movably disposed on the first rail 7, the third rail 9 is movably disposed on the second rail 8, the mounting seat 10 is movably disposed on the third rail 9, the instrument mold body 4 is disposed on the mounting seat 10, the first direction and the second direction intersect, and the third direction intersects with a plane in which the first direction and the second direction lie. Therefore, the movement of the instrument die body 4 in a three-dimensional space can be realized through the first rail 7, the second rail 8 and the third rail 9, and the manipulation of the instrument die body 4 is facilitated.

The first direction, the second direction, and the third direction may be set according to actual application requirements, for example, referring to fig. 1, the first direction may be a longitudinal direction, that is, a Y direction in fig. 1 is corresponded; the second direction may be transverse, i.e. corresponding to the X-direction in fig. 1; the third direction may be a vertical direction, i.e., corresponding to the Z direction in fig. 1, which is not specifically limited by the present disclosure.

In some embodiments, referring to fig. 1, the first rail 7 is provided with a first driving unit 11 and a first transmission mechanism in driving connection with the first driving unit 11, and the second rail 8 moves in the first direction through the first transmission mechanism. In this way, the movement of the second rail 8 in the first direction can be realized by providing the first drive unit 11 and the first transmission mechanism.

The first transmission mechanism may be configured in any suitable manner, for example, as shown in fig. 1, the first transmission mechanism may include a first lead screw 14 in driving connection with the first driving unit 11, the first lead screw 14 may be rotatably disposed on the first rail 7 around its axis and extend in a first direction, the second rail 8 is in threaded connection with the first lead screw 14, and the second rail 8 abuts against the first rail 7 to limit the second rail 8 from rotating along with the first lead screw 14. In this way, the second rail 8 can be movably arranged on the first rail 7 by means of a spindle drive. In other embodiments, the first transmission mechanism may also drive the second rail 8 to move along the first direction by using a synchronous belt transmission or a rack and pinion transmission, and the disclosure is not limited in this respect.

In some specific embodiments, referring to fig. 1, the second rail 8 is provided with a first sliding seat 21, and the first sliding seat 21 is provided with a first nut 22 in threaded connection with the first lead screw 14. The movement of the second rail 8 in the first direction is achieved by the threaded cooperation of the first lead screw 14 and the first nut 22.

In some specific embodiments, the moving platform further comprises a first guiding mechanism for guiding the movement of the second rail 8 in the first direction.

The first guide mechanism may be configured in any suitable manner, for example, as shown in fig. 1, the first guide mechanism may include a first slide rail 23 and a first slider 24 which are engaged with each other, the first slide rail 23 is disposed on the first rail 7 and extends in the first direction, and the first slider 24 is disposed on the first slide base 21. In this way, by the sliding fit of the first slide rail 23 and the first slider 24, the stable movement of the second rail 8 in the first direction can be achieved.

In some specific embodiments, referring to fig. 1, the number of the first slide rails 23 may be two, and two first slide rails 23 are respectively disposed at two sides of the first lead screw 14 at intervals, and correspondingly, the number of the first sliders 24 is two that are in one-to-one correspondence with the two first slide rails 23, so as to enhance the stability of the movement of the second rail 8, which is beneficial to making the instrument mold body 4 stably move.

The first driving unit 11 may be configured in any suitable manner according to the practical application requirements, for example, the first driving unit 11 may be a first driving motor, and an output end of the first driving motor is in transmission connection with the first lead screw 14 to drive the first lead screw 14 to rotate in an electric manner. Alternatively, as shown in fig. 1, the first driving unit 11 may also be a first rotating wheel, which is coaxially fixed on the first lead screw 14, so as to drive the first lead screw 14 to rotate by manually rotating the first rotating wheel, and the disclosure is not limited thereto.

In some embodiments, referring to fig. 2, the second rail 8 is provided with a second driving unit 12 and a second transmission mechanism in driving connection with the second driving unit 12, and the third rail 9 is moved in the second direction by the second transmission mechanism. In this way, the movement of the third rail 9 in the second direction can be achieved by providing the second drive unit 12 and the second transmission mechanism.

The second transmission mechanism may be configured in any suitable manner, for example, as shown in fig. 2, the second transmission mechanism may include a second lead screw 15 in driving connection with the second driving unit 12, the second lead screw 15 is rotatably disposed on the second rail 8 around its axis and extends in the second direction, the third rail 9 is in threaded connection with the second lead screw 15, and the third rail 9 abuts against the second rail 8 to limit the third rail 9 from rotating along with the second lead screw 15. In this way, the third rail 9 can be movably arranged on the second rail 8 by means of a screw drive. In other embodiments, the second transmission mechanism may also use a synchronous belt transmission or a rack and pinion transmission to move the third rail 9 along the second direction, and the disclosure is not limited in this respect.

In some specific embodiments, referring to fig. 2, a second sliding seat 25 is disposed on the third rail 9, and a second nut 26 threadedly coupled to the second lead screw 15 is disposed on the second sliding seat 25. The movement of the third rail 9 in the second direction can be achieved by the threaded cooperation of the second lead screw 15 and the second nut 26.

In some specific embodiments, the moving platform further comprises a second guiding mechanism for guiding the movement of the third rail 9 in the second direction.

The second guiding mechanism may be configured in any suitable manner, for example, as shown with reference to fig. 2, the second guiding mechanism may comprise a second sliding rail 27 and a second sliding block 28 which are mutually matched, the second sliding rail 27 is arranged on the second rail 8 and extends along the second direction, and the second sliding block 28 is arranged on the second sliding seat 25. In this way, by the sliding fit of the second slide rail 27 and the second slider 28, the stable movement of the third rail 9 in the second direction can be achieved.

In some specific embodiments, referring to fig. 2, the number of the second slide rails 27 may be two, and two second slide rails 27 are respectively disposed at two sides of the second lead screw 15 at intervals, and correspondingly, the number of the second slide blocks 28 is two corresponding to two second slide rails 27 one to one, so as to enhance the stability of the movement of the third rail 9, which is beneficial to make the instrument mold body 4 stably move.

The second driving unit 12 may be configured in any suitable manner according to the actual application requirements, for example, the second driving unit 12 may be a second driving motor, and an output end of the second driving motor is in transmission connection with the second lead screw 15 to drive the second lead screw 15 to rotate in an electric manner. Alternatively, as shown in fig. 2, the second driving unit 12 may also be a second runner, and the second runner is coaxially and fixedly sleeved on the second lead screw 15, so as to drive the second lead screw 15 to rotate by manually rotating the second runner, which is not limited in this disclosure.

In some embodiments, referring to fig. 1, the third rail 9 is provided with a third driving unit 13 and a third transmission mechanism in driving connection with the third driving unit 13, and the mounting base 10 moves along a third direction through the third transmission mechanism. In this way, the movement of the mount 10 in the third direction can be achieved by providing the third drive unit 13 and the third transmission mechanism.

The third transmission mechanism may be configured in any suitable manner, for example, as shown in fig. 1, the third transmission mechanism may include a third lead screw 16 in driving connection with the third driving unit 13, the third lead screw 16 is rotatably disposed on the third rail 9 around its axis and extends along a third direction, the mounting seat 10 is in threaded connection with the third lead screw 16, and the mounting seat 10 abuts against the third rail 9 to limit the mounting seat 10 from rotating along with the third lead screw 16. In this way, the mounting base 10 can be movably arranged on the third rail 9 by means of a spindle drive. In other embodiments, the third transmission mechanism may also use a synchronous belt transmission or a rack and pinion transmission to move the mounting base 10 in the third direction, and the disclosure is not limited in this respect.

In some specific embodiments, referring to fig. 1, a third sliding seat 29 is disposed on the mounting seat 10, and a third nut 30 threadedly connected to the third lead screw 16 is disposed on the third sliding seat 29. The third screw 16 and the third nut 30 are engaged with each other to move the mounting base 10 in the third direction.

In some embodiments, the mobile platform further comprises a third guiding mechanism for guiding the mount 10 to move in a third direction.

The third guiding mechanism may be configured in any suitable manner, for example, as shown in fig. 1, the third guiding mechanism may include a third sliding rail 31 and a third sliding block 32 which are matched with each other, the third sliding rail 31 is arranged on the third rail 9 and extends along the third direction, and the third sliding block 32 is arranged on the third sliding seat 29. In this way, by the sliding fit of the third slide rail 31 and the third slider 32, the stable movement of the mount 10 in the third direction can be realized.

In some specific embodiments, referring to fig. 1, the number of the third slide rails 31 may be two, and two third slide rails 31 are respectively disposed at two sides of the third lead screw 16 at intervals, and correspondingly, the number of the third sliders 32 is two that are in one-to-one correspondence with the two third slide rails 31, so as to enhance the stability of the movement of the mounting base 10, which is beneficial to making the instrument mold body 4 stably move.

The third driving unit 13 may be configured in any suitable manner according to the practical application requirements, for example, the third driving unit 13 may be a third driving motor, and an output end of the third driving motor is in transmission connection with the third lead screw 16 to drive the third lead screw 16 to rotate in an electric manner. Alternatively, referring to fig. 1, the third driving unit 13 may also be a third pulley, and the third pulley is coaxially and fixedly sleeved on the third lead screw 16 to drive the third lead screw 16 to rotate by manually rotating the third pulley, which is not limited in this disclosure.

Considering that the image of the working position 6 is coincident with the image of the target position 4, the instrument phantom 4 needs to be maintained at the current position in order to measure the spatial coordinates of the working position 6 by the coordinate measuring machine. Thus, in some embodiments, referring to fig. 1 and 2, a first locking assembly 17 is provided on the first rail 7, the first locking assembly 17 being for releasably locking the second rail 8 to the first rail 7, a second locking assembly 18 is provided on the second rail 8, the second locking assembly 18 being for releasably locking the third rail 9 to the second rail 8, a third locking assembly 19 is provided on the third rail 9, the third locking assembly 19 being for releasably locking the mount 10 to the third rail 9. In this way, when the instrument phantom 4 needs to be held in the current position, the instrument phantom 4 can be locked in the current position by the first locking assembly 17, the second locking assembly 18 and the third locking assembly 19, so that the coordinate measuring machine measures the spatial coordinates of the working position 6.

The first, second and third locking assemblies 17, 18, 19 may be configured in any suitable manner depending on the needs of the application, for example, in some embodiments, the second and third locking assemblies 18, 19 are each configured in the same manner as the first locking assembly 17 for ease of operation and control.

In some specific embodiments, referring to fig. 3, the first locking assembly 17 includes a locking plate 1701 fixedly connected to the first rail 7, a through hole 1702 for the first lead screw 14 to pass through is formed in the locking plate 1701, a first gap 1703 communicated with the through hole 1702 is formed in a side wall of the locking plate 1701, the first gap 1703 can allow plate portions on two sides of the first gap to elastically deform close to each other, the plate portions on two sides of the first gap 1703 are connected through an adjusting member 1704, and the adjusting member 1704 is used for releasably locking the first lead screw 14 to the locking plate 1701 to limit the rotation of the first lead screw 14. Thus, when the first lead screw 14 needs to be locked with the locking plate 1701, the plate body parts on the two sides of the first notch 1703 can be forced to generate elastic deformation approaching to each other by the adjusting piece 1704, so that the friction force between the through hole 1702 and the first lead screw 14 is increased, and the first lead screw 14 can be locked with the locking plate 1701 by increasing the friction force, namely, the first lead screw 14 is prevented from rotating relative to the locking plate 1701. In addition, the plate body parts on both sides of the first gap 1703 can be restored to the natural state by canceling the acting force of the adjusting piece 1704 on the plate body parts on both sides of the first gap 1703, so as to allow the first lead screw 14 to rotate relative to the locking plate 1702. In this way, by controlling the adjusting element 1704, the first threaded spindle 14 can be locked and unlocked. Similarly, the second locking assembly 18 and the third locking assembly 19 can lock and unlock the second lead screw 15 and the third lead screw 16 in the same manner, and the detailed description of the disclosure is omitted here.

The adjustment member 1704 may be configured in any suitable manner, for example, the adjustment member 1704 may be a bolt having a head portion that is threaded through the plate portions on opposite sides of the first gap 1703 in sequence and a head portion that is threaded into the plate portion on the corresponding side. In this way, by rotating the bolt, the plate body portions on both sides of the first gap 1703 can be tightened or loosened to lock and unlock the first lead screw 14. To facilitate the rotation of the operating bolt, a handle 33 is attached to the end opposite to the head of the bolt, and the pre-tightening force between the bolt and the locking plate 1701 can be easily adjusted by the handle 33.

In order to facilitate the coordinate measurement of the working position 6 and the target position 3 by the coordinate measuring machine in space to obtain accurate measurement results, in some embodiments, as shown in fig. 6 to 8, the end face of the instrument mold body 4 is provided with a groove 410 matched with the measuring ball 20 of the coordinate measuring machine, the groove 410 is cylindrical and has a radius and a depth equal to the radius of the measuring ball 20, the working position 6 is located at the intersection point of the central axis of the groove 410 and the plane of the end face and is used for being coincided with the spherical center of the measuring ball 20, the detection mold body 1 comprises a receiving groove 110 arranged on the top face thereof and a ball 120 detachably placed in the receiving groove 110, the radius of the ball 120 is equal to that of the measuring ball 20, and the target position 3 is located on the spherical center of the ball 120. Thus, when measuring the navigation accuracy of the navigation system to the instrument, firstly, the instrument mold body 4 is moved by the moving platform to make the image of the working position 6 coincide with the image of the target position 3, then the instrument mold body 4 is kept at the current position, as shown in fig. 7, the measuring ball 20 of the three-coordinate measuring instrument is extended into the groove 410, the center of the measuring ball 20 coincides with the working position 6 at this time, so as to obtain the spatial coordinates of the working position 6, then, as shown in fig. 8, the ball 120 positioned on the accommodating groove 110 is taken down, then the measuring ball 20 is extended into the accommodating groove 110, the center of the measuring ball 20 coincides with the target position 3 at this time, so as to obtain the spatial coordinates of the target position 3, and finally, the distance between the working position 6 and the target position 3 can be calculated by the spatial coordinates of the working position 6 and the spatial coordinates of the target position 3, and the value of the distance is the navigation accuracy of the navigation system to the instrument, whether the navigation precision of the navigation system meets the requirement or not can be seen by comparing with the preset navigation precision.

The recess 410 can also be designed as a hemispherical recess, the radius of which is equal to the radius of the measuring bulb 20, and the working position 6 is located at the center of the hemispherical recess, so that when the measuring bulb 20 is inserted into the hemispherical recess, the center of the measuring bulb 20 can also coincide with the working position 6. The receiving groove 110 may be configured in any suitable shape, and the purpose of the receiving groove is to stably place the ball 120, so that the center of the measuring ball 20 coincides with the target position 3 when the measuring ball 20 is placed, for example, the receiving groove 110 may be configured as a conical groove or a cylindrical groove, and the disclosure is not limited thereto.

In some specific embodiments, the number of the accommodating grooves 110 is multiple, so that the number of the target positions 3 is multiple, when the navigation accuracy is measured, the ball 120 may be placed on different accommodating grooves 110, and the working position 6 of the instrument mold body 4 coincides with different target positions 3, so that multiple values of the navigation accuracy may be obtained, and the multiple values of the navigation accuracy are averaged, so as to further improve the measurement accuracy of the navigation accuracy detection apparatus provided by the present disclosure.

In some specific embodiments, the detection phantom 1 further includes a plurality of pillars 130 disposed on a top surface thereof, corresponding to the receiving grooves 110 one to one, and the receiving grooves 110 are disposed on top surfaces of the corresponding pillars 130. The heights of the plurality of columns 130 may be different from each other or partially the same, so that the target position 3 may be dispersed as much as possible in the three-dimensional space, and the navigation accuracy of the navigation system to the instrument may be further measured comprehensively and accurately.

In some embodiments, the detection phantom 1 may be configured in any suitable manner, for example, the base may be configured as a rectangular body, a trapezoidal body, or any other suitable shape, and the disclosure is not limited thereto.

In some embodiments, the instrument body 4 may be configured in any suitable manner, for example, as a rod as shown in fig. 1, the mounting base 10 is fixedly connected with a support rod 34, and an end of the support rod 34 away from the mounting base 10 is provided with a clamping mechanism for mounting the instrument body 4.

The clamping mechanism may be configured in any suitable manner, for example, the clamping mechanism may comprise a snap ring 35 attached to the support rod 34, the snap ring 35 having a mounting hole for the instrument die body to pass through, and the side wall of the snap ring 35 having a second notch 36 communicating with the mounting hole, the instrument die body 4 being in interference fit with the snap ring 35. Thus, the instrument mold body 4 can be inserted into the mounting hole, and the instrument mold body 4 can be fixed on the mobile platform in an interference fit mode. In other embodiments, the clamping mechanism may also be configured as a clamp, which is not specifically limited by this disclosure.

In a specific embodiment of the second aspect of the present disclosure, a navigation accuracy detecting system is provided, which includes a three-coordinate measuring machine and a navigation accuracy detecting device as described above, the three-coordinate measuring machine is used for measuring the spatial coordinates of the working position 6 and the target position 3 when the image of the working position 6 is overlapped with the image of the target position 3, so as to determine the navigation accuracy of the instrument by the navigation system according to the spatial coordinates of the working position 6 and the target position 3. Therefore, the navigation precision of the navigation system to the instrument can be accurately measured through the matching of the navigation precision detection device and the three-coordinate measuring instrument.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (10)

1. A navigation accuracy detecting apparatus, characterized by comprising:

the detection die body (1) is provided with a first tracker (2) and a target position (3), the three-dimensional model of the detection die body (1) is led into a navigation system in advance, and the first tracker (2) is used for being recognized by a navigation camera of the navigation system so as to construct an image and a posture of the three-dimensional model of the detection die body (1) in the navigation system, so that an image of the target position (3) is formed in a display of the navigation system; and

the device comprises an instrument die body (4), wherein a second tracker (5) and a working position (6) are arranged on the instrument die body (4), a three-dimensional model of the instrument die body (4) is pre-imported into the navigation system, and the second tracker (5) is used for being recognized by the navigation camera so as to construct an image and a posture of the three-dimensional model of the instrument die body (4) in the navigation system, so that an image of the working position (6) is formed in the display;

wherein the instrument phantom (4) is operable to superimpose the image of the working position (6) with the image of the target position (3) in the display to determine the accuracy of the navigation of the instrument by the navigation system by measuring the error between the working position (6) and the target position (3) with a three-coordinate measuring machine.

2. The navigation accuracy detection device according to claim 1, further comprising a moving platform, wherein the instrument phantom (4) is movably disposed on the moving platform, and the moving platform is configured to operatively move the instrument phantom (4) to coincide the image of the working position (6) with the image of the target position (3) and to operatively maintain the instrument phantom (4) at a current position.

3. The navigation accuracy detecting device according to claim 2, wherein the moving platform comprises a first rail (7) extending along a first direction, a second rail (8) extending along a second direction, a third rail (9) extending along a third direction, and a mounting seat (10), the second rail (8) is movably disposed on the first rail (7), the third rail (9) is movably disposed on the second rail (8), the mounting seat (10) is movably disposed on the third rail (9), the instrument mold body (4) is disposed on the mounting seat (10), the first direction and the second direction are intersected, and the third direction is intersected with a plane in which the first direction and the second direction are located.

4. The navigation accuracy detecting apparatus according to claim 3, wherein a first driving unit (11) and a first transmission mechanism drivingly connected to the first driving unit (11) are provided on the first rail (7), the second rail (8) is moved in the first direction by the first transmission mechanism,

a second driving unit (12) and a second transmission mechanism in driving connection with the second driving unit (12) are arranged on the second track (8), the third track (9) moves along the second direction through the second transmission mechanism,

and a third driving unit (13) and a third transmission mechanism in driving connection with the third driving unit (13) are arranged on the third track (9), and the mounting seat (10) moves along the third direction through the third transmission mechanism.

5. The navigation accuracy detecting apparatus according to claim 4, wherein the first transmission mechanism includes a first lead screw (14) drivingly connected to the first driving unit (11), the first lead screw (14) is rotatably disposed on the first rail (7) around its axis and extends in the first direction, the second rail (8) is threadedly connected to the first lead screw (14), the second rail (8) abuts against the first rail (7) to restrict the second rail (8) from rotating with the first lead screw (14), and/or,

the second transmission mechanism comprises a second lead screw (15) in driving connection with the second driving unit (12), the second lead screw (15) is rotatably arranged on the second track (8) around the axis of the second lead screw (15) and extends along the second direction, the third track (9) is in threaded connection with the second lead screw (15), the third track (9) abuts against the second track (8) so as to limit the third track (9) to rotate along with the second lead screw (15), and/or,

the third transmission mechanism comprises a third lead screw (16) in driving connection with the third driving unit (13), the third lead screw (16) can be rotatably arranged on the third track (9) around the axis of the third lead screw (16) and extends along the third direction, the mounting seat (10) is in threaded connection with the third lead screw (16), and the mounting seat (10) abuts against the third track (9) to limit the mounting seat (10) to rotate along with the third lead screw (16).

6. The navigation accuracy detection device according to claim 5, characterized in that a first locking member (17) is provided on the first rail (7), the first locking member (17) being configured to releasably lock the second rail (8) to the first rail (7),

a second locking assembly (18) is arranged on the second rail (8), the second locking assembly (18) being used for locking the third rail (9) to the second rail (8) in an unlocking manner,

a third locking assembly (19) is arranged on the third rail (9), and the third locking assembly (19) is used for locking the mounting seat (10) to the third rail (9) in an unlocking manner.

7. The navigation accuracy detection apparatus according to claim 6, characterized in that the second locking member (18) and the third locking member (19) are each configured in the same manner as the first locking member (17),

the first locking assembly (17) comprises a locking plate (1701) fixedly connected to the first rail (7), a through hole (1702) for the first lead screw (14) to pass through is formed in the locking plate (1701), a first gap (1703) communicated with the through hole (1702) is formed in the side wall of the locking plate (1701), the first gap (1703) can allow plate body parts on two sides of the first gap to generate mutual approaching elastic deformation, the plate body parts on two sides of the first gap (1703) are connected through an adjusting piece (1704), and the adjusting piece (1704) is used for locking the first lead screw (14) on the locking plate (1701) in an unlocking mode so as to limit the rotation of the first lead screw (14).

8. The navigation accuracy detecting apparatus according to any one of claims 1 to 7, the end surface of the instrument die body (4) is provided with a groove (410) matched with a measuring ball head (20) of the three-coordinate measuring instrument, the groove (410) is cylindrical and has a radius and a depth which are equal to the radius of the measuring bulb (20), the working position (6) is located on the intersection point of the central axis of the groove (410) and the plane of the end face and is used for being coincided with the spherical center of the measuring ball head (20), the detection die body (1) comprises a containing groove (110) arranged on the top surface of the detection die body and a ball body (120) detachably placed in the containing groove (110), the radius of the ball body (120) is equal to that of the measuring ball head (20), and the target position (3) is located on the center of the sphere (120).

9. The navigation accuracy testing device of claim 8, wherein the number of the accommodating grooves (110) is multiple, the testing mold body (1) further comprises a plurality of columns (130) which are arranged on the top surface of the accommodating grooves and correspond to the accommodating grooves (110) one by one, and the accommodating grooves (110) are arranged on the top surfaces of the corresponding columns (130).

10. A navigation accuracy detection system, characterized by comprising a three-coordinate measuring machine and a navigation accuracy detection device according to any one of claims 1 to 9, wherein the three-coordinate measuring machine is used for measuring the space coordinates of the working position (6) and the target position (3) when the image of the working position (6) is superposed with the image of the target position (3) so as to determine the navigation accuracy of the instrument by the navigation system according to the space coordinates of the working position (6) and the target position (3).

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