CN217162286U - Measuring tool for positioning precision of tail end of optical navigation robot based on medical image - Google Patents
Measuring tool for positioning precision of tail end of optical navigation robot based on medical image Download PDFInfo
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- CN217162286U CN217162286U CN202123129910.4U CN202123129910U CN217162286U CN 217162286 U CN217162286 U CN 217162286U CN 202123129910 U CN202123129910 U CN 202123129910U CN 217162286 U CN217162286 U CN 217162286U
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Abstract
The utility model relates to the technical field of medical equipment, aim at providing a terminal positioning accuracy's of optical navigation robot measuring tool based on medical image. The measuring tool comprises: the device comprises an optical mark body, a precision measurement mark assembly, a mark mounting seat and a three-dimensional electric sliding table assembly. The optical marking body and the precision measurement marking assembly are both arranged on the upper surface of the marking mounting seat, the upper end part of the three-dimensional electric sliding table assembly is fixedly provided with the marking mounting seat, and the lower end part of the three-dimensional electric sliding table assembly is movably arranged on a horizontally arranged sliding table assembly base; the mark mounting base can be driven to displace in X, Y, Z three directions perpendicular to each other, and the displacement in each direction is recorded. The utility model discloses can control to the three motor operation of electronic slip table, need not direct touching surveyed steel needle, can not exert external force and then produce the deformation to it, measurement accuracy is very high. The electric sliding table is controlled by the aid of the external controller, the position of a measured steel needle is prevented from being manually adjusted, and operation is more convenient.
Description
Technical Field
The utility model belongs to the technical field of medical instrument, concretely relates to terminal positioning accuracy's of optical navigation robot measuring tool based on medical image.
Background
Percutaneous interventional puncture is a typical minimally invasive surgery, in which surgical instruments (puncture needles, biopsy needles, ablation needles, etc.) are accurately placed into organs of a patient under the guidance of medical images (B-ultrasound, MRI, CT, etc.) to perform tissue extraction or treatment. Compared with manual puncture, the robot can improve the precision of operation through technical means such as three-dimensional path planning and real-time target point tracking, reduce the dependence on doctor experience, reduce the labor intensity of doctors and enable the puncture interventional operation to be established on the basis of more science, controllability and predictability.
The positioning accuracy of the medical image-based optically navigated robot tip (the end of the surgical instrument) determines the relevant minimally invasive surgical effect, since the robot is planning and executing its walking path according to the surgical site in the medical image. If a positioning error exists between the surgical site in the medical image and the actual surgical site of the patient body, a robot path planning error is caused, and a surgical failure or a medical accident may be caused seriously. Therefore, it is necessary to measure the positioning accuracy of the end of the optical navigation robot and perform error correction according to the measurement result.
The existing tool for measuring the positioning precision of the tail end of an optical navigation robot system of a CT image is provided with a mechanical arm three-coordinate measuring instrument (such as a FARO portable articulated arm three-coordinate measuring instrument in America). The measuring instrument consists of three polar coordinate systems connected in series, when a side head is contacted with a measured piece, the measuring system can give out three-dimensional position information of the side head in space, and when a measuring head is contacted with the measured piece at different positions, actual values of measured parameters are given out by a computer according to an established measuring mathematical model. When the device is used, the probe needs to be dragged by a hand to be in contact with a measured object, and when the device is used for testing non-fixed objects and objects with low rigidity, the objects can move and deform, so that the accuracy of measured values is poor.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is, overcome not enough among the prior art, provide a measuring tool of terminal positioning accuracy of optical navigation robot based on medical image.
For solving the technical problem, the utility model discloses a solution is:
the utility model provides a measurement tool of terminal positioning accuracy of optical navigation robot based on medical image, includes: the optical marker body is used for identifying and positioning the optical navigation robot and guiding the motion of a surgical instrument at the tail end of the robot according to the medical image; the precision measurement marking assembly comprises a plurality of precision measurement marking pieces with different heights and positions, and marking points are arranged on the upper surfaces of the precision measurement marking pieces; the mark mounting seats are horizontally arranged; the optical mark body and the precision measurement mark assembly are both arranged on the upper surface of the mark mounting seat; the upper end part of the three-dimensional electric sliding table assembly is fixedly provided with the mark mounting seat, and the lower end part of the three-dimensional electric sliding table assembly is movably arranged on a horizontally arranged sliding table assembly base; the mark mounting base can be driven to displace in X, Y, Z three directions perpendicular to each other, and the displacement in each direction is recorded.
As an improvement, the precision measurement marking piece is a rod piece with uniform radial dimension or a screw rod piece with relatively larger top dimension, and the bottom end of the precision measurement marking piece is provided with an external thread for being vertically installed in a screw hole arranged on the upper surface of the marking installation seat; the top surface of the precision measurement marking piece is provided with a ring mark, and the circle center of the ring mark is provided with a marking point.
As an improvement, the mark mounting seat is in a rectangular plate shape, and the upper surface of the mark mounting seat is provided with a plurality of irregularly arranged screw holes for mounting the precision measurement mark assembly; the mark mounting seat is made of plastic or carbon fiber.
As an improvement, the optical marker is an optical reflecting small ball or a three-dimensional checkerboard which can be identified by an optical camera.
As an improvement, the optical marker is fixed at the side edge of the marker mounting seat through a vertical marker support, and the marker support is made of plastics or carbon fibers.
As an improvement, a horizontal mounting disc is arranged at the bottom end of the marker body support, and a mounting hole is formed in the mounting disc; the mark body bracket is fixed on the mark mounting seat through a screw passing through the mounting hole.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses can control to the three motor operation of electronic slip table, let electronic slip table in proper order in X, Y, the last slow movement of Z direction, until being surveyed the centre of a circle contact of needle point and ring. Because the steel needle to be detected does not need to be directly touched in the process, external force cannot be applied to the steel needle to be detected, and deformation is further caused. Therefore, the measuring precision of the device is high relative to a mechanical arm three-coordinate measuring machine.
2. The utility model discloses can utilize external controller to control electronic slip table, avoid the position of manual adjustment quilt survey steel needle, consequently the operation is got up and can be more convenient.
Drawings
Fig. 1 is a schematic overall structure diagram of an optical navigation robot system end positioning accuracy measurement tool.
Fig. 2 is a schematic view of an application scenario of the present invention.
FIG. 3 is a schematic view of a precision measurement marking assembly.
In the figure, an optical marker 1; a marker body holder 2; a precision measurement marker 3; a mark mounting seat 4; a three-dimensional electric slipway assembly 5; a slipway assembly base 6; a probe 7; the optical navigation robot 8.
Detailed Description
The following describes in detail a specific implementation of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the tool for measuring the positioning accuracy of the distal end of the optical navigation robot based on medical images comprises: the device comprises an optical marker 1, a marker support 2, a precision measurement marking assembly, a marking mounting seat 4, a three-dimensional electric sliding table assembly 5 and a sliding table assembly base 6.
The optical marker body 1 is used for identifying and positioning the optical navigation robot and guiding the movement of a surgical instrument at the tail end of the robot according to medical images; optionally, optically reflective beads (e.g., NDI's), or a solid checkerboard that can be recognized by an optical camera. The optical marker 1 is fixed at the side edge of the marker mounting seat 4 through a vertical marker support 2, and the marker support 2 is made of plastic or carbon fiber. The bottom of the marker body support 2 is provided with a horizontal mounting disc, the mounting disc is provided with a mounting hole, and the marker body support 2 is fixed on the marker mounting seat 4 through a screw passing through the mounting hole.
The precision measurement marking assembly comprises a plurality of precision measurement marking pieces 3 with different heights and positions. The precision measurement marker 3 is a rod piece with uniform radial dimension or a screw rod piece with relatively large top dimension (as shown in fig. 3), and the bottom end of the precision measurement marker is provided with an external thread for being vertically installed in a screw hole arranged on the upper surface of the marker installing seat 4; the top surface of the precision measurement marking piece 3 is provided with a ring mark, and the circle center of the ring mark is provided with a marking point.
The mark mounting seat 4 is in a rectangular plate shape arranged horizontally, and the material of the mark mounting seat can be plastic or carbon fiber. The upper surface is provided with a plurality of irregularly arranged screw holes for mounting the precision measurement marker 3.
The three-dimensional motorized stage assembly 5 is a commercial product commercially available, for example, from XYZM50H-25, a company of Shanghai, Union fiber laser instruments, Inc., and its controller. A mark mounting seat 4 is fixedly arranged at the upper end part of the three-dimensional electric slipway assembly 5, and the lower end part of the mark mounting seat is movably arranged on a slipway assembly base 6 which is horizontally arranged; the three-dimensional electric sliding table assembly 5 can drive the mark mounting seat 4 to displace in three directions X, Y, Z which are perpendicular to each other, and records displacement in each direction.
The following describes the method of using the measuring device in a CT machine as an example:
firstly, the optical marker 1, the marker support 2, the precision measurement marker 3 and the marker mounting seat 4 are assembled and put into a CT machine. The long edge of the mark mounting seat 4 is parallel to the edge of the CT machine, so that the optical mark body 1 fixed at the short edge is opposite to the optical camera in the optical navigation robot system. And starting the CT machine for scanning, and obtaining a CT image of the marker mounting seat 4 and the surface component thereof, wherein the CT image is used for planning a path and guiding the movement of the tail end of the robot by the optical navigation robot 8.
And then the mark mounting seat 4 is connected with the three-dimensional electric sliding table assembly 5 and the sliding table assembly base 6, the assembled mark mounting seat is placed in the CT machine, the long edge of the mark mounting seat 4 is still kept parallel to the machine edge of the CT machine, and the optical mark body 1 fixed at the short edge is enabled to be over against an optical camera in the optical navigation robot system.
The probe 7 with the planned length is inserted into a clamp at the tail end of the robot, and after the optical navigation robot 8 carries out path planning according to the CT images obtained before, the probe 7 is guided to move above any planned precision measurement marker 3. The three-dimensional electric sliding table assembly 5 is driven to make proper adjustment in the direction X, Y, Z, so that the marking point at the center of the circular ring on the upper surface of the precision measurement marking assembly 3 is superposed with the needle tip of the probe 7. And recording three-dimensional displacement data (namely, moving distances in X, Y, Z three directions) acquired by the three-dimensional electric sliding table assembly 5, and calculating the root of the square sum according to the three distance numerical values to obtain a specific error numerical value of the positioning precision of the tail end of the optical navigation robot 8.
Before the puncture operation is formally carried out by using the optical navigation robot 8 and the probe 7, the CT image and the planned path of the operation part on the body of the patient are firstly calibrated by using the error numerical value, so that accurate automatic operation path data can be obtained, and the accuracy of the operation part is ensured.
The utility model discloses use the CT image as the example in this example, use it in the measurement of the terminal positioning accuracy of optical navigation robot based on medical images such as B ultrasonic, MRI, relevant operating procedure is basically the same, and the reason is no longer repeated.
Claims (6)
1. A measurement tool for terminal positioning accuracy of an optical navigation robot based on medical images is characterized by comprising:
the optical marker body is used for identifying and positioning the optical navigation robot and guiding the motion of a surgical instrument at the tail end of the robot according to the medical image;
the precision measurement marking assembly comprises a plurality of precision measurement marking pieces with different heights and positions, and marking points are arranged on the upper surfaces of the precision measurement marking pieces;
the mark mounting seats are horizontally arranged; the optical marker body and the precision measurement marking assembly are both arranged on the upper surface of the marking mounting seat;
the upper end part of the three-dimensional electric sliding table assembly is fixedly provided with the mark mounting seat, and the lower end part of the three-dimensional electric sliding table assembly is movably arranged on a horizontally arranged sliding table assembly base; the mark mounting base can be driven to displace in X, Y, Z three directions perpendicular to each other, and the displacement in each direction is recorded.
2. The measuring tool of claim 1, wherein the precision measuring marker is a rod member with uniform radial dimension or a screw member with relatively large top dimension, and the bottom end of the precision measuring marker is provided with external threads for vertical installation in a screw hole formed in the upper surface of the marker mounting seat; the top surface of the precision measurement marking piece is provided with a ring mark, and the circle center of the ring mark is provided with a marking point.
3. The measuring tool of claim 1, wherein the mark mounting seat is rectangular plate-shaped, and the upper surface of the mark mounting seat is provided with a plurality of irregularly arranged screw holes for mounting the precision measurement mark assembly; the mark mounting seat is made of plastic or carbon fiber.
4. The measurement tool of claim 1, wherein the optical markers are optically reflective pellets or a solid checkerboard recognizable by an optical camera.
5. The measuring tool of claim 1, wherein the optical marker is fixed at the side of the marker mounting base by a vertical marker support made of plastic or carbon fiber.
6. The measuring tool of claim 5, wherein the bottom end of the marker body support is provided with a horizontal mounting plate, and a mounting hole is formed in the mounting plate; the mark body bracket is fixed on the mark mounting seat through a screw passing through the mounting hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123129910.4U CN217162286U (en) | 2021-12-13 | 2021-12-13 | Measuring tool for positioning precision of tail end of optical navigation robot based on medical image |
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| CN202123129910.4U CN217162286U (en) | 2021-12-13 | 2021-12-13 | Measuring tool for positioning precision of tail end of optical navigation robot based on medical image |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116370089A (en) * | 2023-05-22 | 2023-07-04 | 苏州派尼迩医疗科技有限公司 | Method and system for detecting positioning accuracy of puncture surgical robot |
| WO2024027857A1 (en) * | 2023-04-07 | 2024-02-08 | 苏州派尼迩医疗科技有限公司 | Method and system for registration of surgical robot coordinate system with ct scanner coordinate system |
-
2021
- 2021-12-13 CN CN202123129910.4U patent/CN217162286U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024027857A1 (en) * | 2023-04-07 | 2024-02-08 | 苏州派尼迩医疗科技有限公司 | Method and system for registration of surgical robot coordinate system with ct scanner coordinate system |
| CN116370089A (en) * | 2023-05-22 | 2023-07-04 | 苏州派尼迩医疗科技有限公司 | Method and system for detecting positioning accuracy of puncture surgical robot |
| CN116370089B (en) * | 2023-05-22 | 2023-11-24 | 苏州派尼迩医疗科技有限公司 | Method and system for detecting positioning accuracy of puncture surgical robot |
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