CN217186464U

CN217186464U - Operation positioning device

Info

Publication number: CN217186464U
Application number: CN202220061536.4U
Authority: CN
Inventors: 朱圣晓; 孙东辉; 韩龙
Original assignee: Xinjunte Suzhou Medical Technology Co ltd
Current assignee: Xinjunte Suzhou Medical Technology Co ltd
Priority date: 2022-01-11
Filing date: 2022-01-11
Publication date: 2022-08-16
Anticipated expiration: 2032-01-11

Abstract

The utility model relates to the field of medical equipment, especially, relate to a positioning device for operation. The first positioning plate and the second positioning plate are embedded with a plurality of positioning pieces in the base body respectively, and the positioning pieces comprise light sources or are reflective positioning pieces. Therefore the setting element can be discerned by X ray machine and binocular vision identification system simultaneously, the light source of X ray machine accessible operation positioner's setting element or the setting element that can reflect light is to the position of operation position to in the solid coordinate system confirmed through operation positioner, binocular vision identification system can discern through the size of setting element simultaneously, and calculate the position of operation robot self in the solid coordinate system confirmed through operation positioner, thereby unify the coordinate of operation robot and intelligent bone drill to in the solid coordinate system confirmed through operation positioner. Therefore, the surgical robot is guided to reach the corresponding surgical position, so that the method is more visual and has higher precision.

Description

Operation positioning device

Technical Field

The utility model relates to the field of medical equipment, especially, relate to a positioning device for operation.

Background

At present, in home and abroad orthopedic operations, a body surface positioner consisting of adhesive plaster, vertical thin metal wires and horizontal thin metal wires is often needed so as to accurately determine the position of a lesion and the position of an operation when an X-ray film is shot.

However, the body surface localizer is only suitable for the manual operation of doctors. When the orthopedic robot performs surgery, the surgical robot cannot be guided to automatically navigate and determine the accurate position in the three-dimensional coordinate system because the specific surgical position cannot be linked with the surgical robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a surgical positioning device to solve the problem that prior art's body surface locator can't guide surgical robot to carry out automatic navigation and confirm the accurate position in the three-dimensional coordinate system.

The utility model provides a positioning device for operation, positioning device for operation includes interconnect's first locating plate and second locating plate, first locating plate with it has a plurality of setting elements to imbed respectively in the base member of second locating plate, the setting element include the light source or the setting element is the setting element that can reflect light.

The first positioning plate and the second positioning plate are made of transparent plastic materials or metal materials and serve as base bodies.

When the first positioning plate and the second positioning plate both adopt metal materials as base bodies, the densities of the metal materials and the positioning pieces are different.

The first positioning plate and the second positioning plate are of an integral structure or are connected with each other through a connecting piece.

The first positioning plate and the second positioning plate are perpendicular to each other.

The size of the positioning piece can meet the requirement that a visual recognition system can recognize the size of the positioning piece.

Wherein, the positioning piece is a metal piece.

Wherein the plurality of positioning elements are embedded in the substrate by a positioning algorithm.

Wherein the periphery of the first positioning plate and/or the second positioning plate is provided with a fixed mounting hole.

The operation positioning device is arranged on a positioning support through the fixed mounting hole, and the positioning support is arranged beside an operation bed or on the body of a patient.

The utility model discloses a three-dimensional coordinate system can be confirmed to operation positioner, because first locating plate with it has a plurality of setting elements to imbed respectively in the base member of second locating plate, the setting element includes the light source or the setting element is the setting element that can reflect light. The light source of the positioning piece or the reflective positioning piece can be identified by the binocular vision identification system. Therefore the setting element can be discerned by X ray machine and binocular vision identification system simultaneously, the light source of X ray machine accessible operation positioner's setting element or the setting element that can reflect light is to the position of operation position to in the solid coordinate system confirmed through operation positioner, binocular vision identification system can discern through the size of setting element simultaneously, and calculate the position of operation robot self in the solid coordinate system confirmed through operation positioner, thereby unify the coordinate of operation robot and intelligent bone drill to in the solid coordinate system confirmed through operation positioner. Therefore, the surgical robot is guided to reach the corresponding surgical position, so that the operation is more intuitive, and the accuracy is higher.

Drawings

Fig. 1 is a schematic structural view of a surgical positioning device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantageous effects of the present invention more clearly understood, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In order to explain the technical solution of the present invention, the following description is made by using specific examples.

Referring to fig. 1, an embodiment of the present invention provides a surgical positioning device, which includes a first positioning plate 10 and a second positioning plate 20 connected to each other, a plurality of positioning elements 30 are respectively embedded in the base bodies of the first positioning plate 10 and the second positioning plate 20, and the positioning elements 30 on the first positioning plate 10 and the second positioning plate 20 are used for the photosensitive of an X-ray machine in horizontal and vertical directions, so as to block X-rays and form images on the X-ray film for surgical positioning. The positioning member 30 comprises a light source or the positioning member is a light reflective positioning member. The light source of the positioning piece or the reflective positioning piece can be identified by the binocular vision identification system. The plurality of positioning pieces perform coordinate positioning by adopting an image recognition algorithm; therefore, the binocular vision recognition system can adopt the existing image recognition algorithm, such as a PnP algorithm, through the light source of the positioning piece or the light of the reflective positioning piece, so that the pose of the mechanical arm in a stereoscopic coordinate system can be estimated, the pose of an intelligent bone drill positioned at the tail end of the mechanical arm in the stereoscopic coordinate system can be calculated, the coordinates of the robot are unified into the stereoscopic coordinate system, and the mechanical arm is guided to an operation position.

In the embodiment of the present invention, the first positioning plate 10 and the second positioning plate 20 both use transparent plastic material or metal material as the base body; the plurality of positioning members 30 are embedded in the base body by following a positioning algorithm; when the first positioning plate 10 and the second positioning plate 20 both use a metal material as a base, the metal material and the positioning element 30 have different densities; when the positioning plate is made of metal material, the density of the positioning plate is different from that of the positioning member 30, so that the imaging and the recognition of the positioning member 30 under the X-ray machine are not affected. The first positioning plate 10 and the second positioning plate 20 are integrated or connected to each other by a connecting member. The first positioning plate 10 and the second positioning plate 20 are perpendicular to each other, so that the calculation for establishing the three-dimensional coordinate system is simplified, and of course, the first positioning plate 10 and the second positioning plate 20 may not be perpendicular to each other, i.e. the included angle between the first positioning plate 10 and the second positioning plate 20 is not 90 degrees.

In the embodiment of the present invention, the positioning member 30 is a metal member; the size of the positioning member 30 is such that the visual recognition system can recognize the size of the positioning member 30; the size of the positioning member 30 is 2mm in diameter, and may be smaller or larger until reaching the circular point, which mainly depends on the minimum recognition degree of the binocular vision recognition system, so that the binocular vision recognition system can recognize the circular point.

In the embodiment of the present invention, the periphery of the first positioning plate 10 and/or the second positioning plate 20 has a fixing mounting hole 40; the operation positioning device is arranged on a positioning bracket through the fixing and mounting hole 40, and the positioning bracket is arranged beside an operation bed or on the body of a patient.

The embodiment of the utility model provides a positioning device's of performing operation mounting means has two kinds, one kind is at operation table limit installation locating support, then installs positioning device that will perform operation on locating support, and another kind is fixed position support on one's body at the patient, then installs positioning device that will perform operation on locating support.

The embodiment of the utility model provides a use step of operation positioner is as follows:

1. the patient prone position is placed first calibration board directly over the patient, and the second locating plate is parallel with the patient back, and the second calibration board is irradiated perpendicularly with C type arm X-ray machine to the vertical direction of first calibration board and is obtained the positive position picture.

2. And (4) enabling the C-shaped arm X-ray machine to be perpendicular to the first calibration plate again, and then obtaining a picture, namely a side position picture.

3. In the obtained positive position picture, the metal piece on the calibration plate is developed and imaged on the image, and the positions of the emission source and the image intensifier of the imaging device in the operation coordinate system during radiography can be calculated through imaging of the metal piece in the image.

4. And then the coordinate position of the operation position in the operation coordinate system is obtained through the imaging of the operation position in the two images (the positive side position images).

Through the steps, the coordinate unification of the operation mechanical arm (with an operation tool such as a bone drill) and the operation area of the patient is realized, so that the operation mechanical arm is guided to be positioned in the operation area.

The embodiment of the utility model provides a can confirm a three-dimensional coordinate system to operation positioner, because first locating plate with it has a plurality of setting elements to imbed respectively in the base member of second locating plate, the setting element includes the light source or the setting element is the setting element that can reflect light. The light source of the positioning piece or the reflective positioning piece can be identified by the binocular vision identification system. Therefore the setting element can be discerned by X ray machine and binocular vision identification system simultaneously, the light source of X ray machine accessible operation positioner's setting element or the setting element that can reflect light is to the position of operation position to in the solid coordinate system confirmed through operation positioner, binocular vision identification system can discern through the size of setting element simultaneously, and calculate the position of operation robot self in the solid coordinate system confirmed through operation positioner, thereby unify the coordinate of operation robot and intelligent bone drill to in the solid coordinate system confirmed through operation positioner. Therefore, the surgical robot is guided to reach the corresponding surgical position, so that the method is more visual and has higher precision.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A surgical positioning apparatus, comprising: the operation positioning device comprises a first positioning plate and a second positioning plate which are connected with each other, a plurality of positioning pieces are embedded into the base bodies of the first positioning plate and the second positioning plate respectively, and each positioning piece comprises a light source or is a reflective positioning piece.

2. The surgical positioner of claim 1, wherein the first positioning plate and the second positioning plate are made of transparent plastic material or metal material.

3. The surgical positioner according to claim 2, wherein when the first positioning plate and the second positioning plate both use a metal material as a base, the metal material and the positioner have different densities.

4. The surgical positioning apparatus of claim 1, wherein the first positioning plate and the second positioning plate are integrated or connected to each other by a connecting member.

5. The surgical positioning apparatus of claim 1, wherein the first positioning plate and the second positioning plate are perpendicular to each other.

6. The surgical locator device of claim 1, wherein the locator is sized to be recognized by the visual recognition system.

7. The surgical positioner of claim 1, wherein the positioner is a metallic member.

8. The surgical positioning apparatus of claim 1, wherein the plurality of positioning elements are embedded in the substrate by a positioning algorithm.

9. The surgical locator device of claim 1, wherein the perimeter of the first locator plate and/or the second locator plate has a fixed mounting hole.

10. The surgical positioning device of claim 9, wherein the surgical positioning device is mounted to a positioning bracket mounted to a bedside or to a patient via the fixed mounting hole.