CN217566301U - Tracer for accurately calibrating position of actuator - Google Patents
Tracer for accurately calibrating position of actuator Download PDFInfo
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- CN217566301U CN217566301U CN202221032206.9U CN202221032206U CN217566301U CN 217566301 U CN217566301 U CN 217566301U CN 202221032206 U CN202221032206 U CN 202221032206U CN 217566301 U CN217566301 U CN 217566301U
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Abstract
The utility model provides a tracer of accurate calibration executor position belongs to tracer technical field, including support body and location mark, support body and location mark are equipped with radial positioning structure, terminal location structure on the support body, and radial positioning structure is used for confirming the radial position of executor; the end positioning structure is used for abutting against the end of the actuator so as to determine the axial position of the actuator; the positioning mark is arranged on the frame body and used for prompting the position information of the tracer. The utility model provides a pair of tracer through the radial position of radial positioning structure restriction executor, and end positioning structure is used for restricting the axial position of executor, and radial positioning structure, end positioning structure have predetermined positional relation with the executor respectively, then combine the positional information of alignment mark, and navigation can be accurate learn the actual position of executor. The utility model provides a tracer has operation process simple swift, marks the characteristics that the precision is high.
Description
Technical Field
The utility model belongs to the technical field of the tracer equipment, more specifically say, relate to a tracer of accurate demarcation executor position.
Background
In a robot-assisted navigation system, a surgical tool is mounted on an actuator, and a tracer is required to be provided in order to determine the position of the surgical tool at the end of the actuator. Existing tracers can typically only be fixed at a position remote from the distal end of the surgical tool to avoid positional changes or interference with the surgical tool due to movement of the surgical tool. The farther the tracer is from the target marking position, the poorer the position accuracy marked by the tracer is, surgical tools such as acetabular files need to be installed on a rod-shaped actuator, the types of the acetabular files are numerous, errors exist in installation and machining accuracy, and the tail end positions of the acetabular files cannot be determined by a robot system.
Therefore, a tracer which can be quickly assembled on an actuator and quickly disassembled is needed to accurately mark the spatial position of a surgical tool.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an accurate spike ware of maring executor position aims at solving the above-mentioned technical problem who exists among the prior art.
In order to achieve the above object, the utility model adopts the following technical scheme: a tracer for accurately calibrating the position of an actuator is provided, comprising:
the frame body is provided with a radial positioning structure and a tail end positioning structure, and the radial positioning structure is detachably connected with the actuator to determine the radial position of the actuator; the end positioning feature for abutting the actuator end to determine an axial position of the actuator;
and the positioning mark is arranged on the frame body and used for prompting the position information of the tracer.
With reference to the foregoing possible implementation manner, in a second possible implementation manner, the radial positioning structure is an opening and closing structure, and the opening and closing structure is used for clamping the actuator to form a predetermined radial positioning relationship with the actuator.
With reference to the foregoing possible implementation manner, in a third possible implementation manner, the opening and closing structure includes a first positioning portion disposed on the frame body and a moving member movably connected to the frame body, the moving member is provided with a second positioning portion corresponding to the first positioning portion, and the actuator is clamped by cooperation of the first positioning portion and the second positioning portion.
With reference to the foregoing possible embodiments, in a fourth possible implementation manner, the first positioning portion and the second positioning portion are in a groove shape, a semicircular shape, or a "V" shape in a clamping state.
With reference to the foregoing possible embodiment, in a fifth possible implementation manner, the first positioning portion axis is parallel to an axial direction of the actuator.
In a sixth possible implementation manner, in combination with the above possible implementation manners, the movable connection is a hinge.
With reference to the foregoing possible embodiment, in a seventh possible implementation manner, the end positioning structure is a planar structure, and the planar structure is used for abutting against the actuator and forming a predetermined axial positioning relationship.
With reference to the above possible implementation manners, in an eighth possible implementation manner, the planar structure is perpendicular to the axial direction of the actuator shaft.
With reference to the foregoing possible implementation manner, in a ninth possible implementation manner, the frame body is provided with an extension section arranged along the first direction, and the extension section is fixedly or detachably provided with the terminal positioning structure.
With reference to the foregoing possible implementation manner, in a tenth possible implementation manner, the radial positioning structure is a compressing fixing structure, the compressing fixing structure includes a compressing surface and a compressing element, the compressing surface is fixed to the frame body, the compressing element is arranged relative to the compressing surface and can move in a direction relative to the compressing surface, and the compressing element is a marble and/or a jackscrew.
The utility model provides a pair of accurate tracer of maring executor position's beneficial effect lies in: compared with the prior art, the utility model relates to a tracer of accurate demarcation executor position through the radial position of radial positioning structure restriction executor, and end positioning structure is used for restricting the axial position of executor, and radial positioning structure, end positioning structure have predetermined positional relation with executor (operation instrument) respectively, then combine the positional information of location mark (reflection of light ball), and navigation can be accurate learn the actual position of executor (operation instrument). The utility model provides a pair of tracer of accurate calibration executor position has the simple swift of operation process, marks the characteristics that the precision is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a tracer for accurately calibrating a position of an actuator according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram ii of a tracer for accurately calibrating the position of an actuator according to an embodiment of the present invention;
fig. 3 is an exploded schematic view of a tracer for accurately calibrating the position of an actuator according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a frame body adopted by a tracer for accurately calibrating the position of an actuator according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a moving member used in a tracer for accurately calibrating a position of an actuator according to an embodiment of the present invention;
fig. 6 is a connection state diagram of the tracer and the actuator for accurately calibrating the position of the actuator according to the embodiment of the present invention.
In the figure: 1. a frame body; 2. positioning a mark; 3. a torsion spring; 4. a terminal positioning structure; 5. a first positioning portion; 6. a movable member; 7. a rotating shaft; 8. an extension section.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 6, a tracer for precisely calibrating the position of an actuator according to the present invention will be described. The tracer of accurate calibration executor position includes: the device comprises a frame body 1 and a positioning mark 2, wherein the frame body 1 is provided with a radial positioning structure and a tail end positioning structure 4, and the radial positioning structure is used for determining the radial position of an actuator; the end positioning structure 4 is used for abutting with the end of the actuator to determine the axial position of the actuator; the positioning mark 2 is arranged on the frame body 1 and used for prompting the position information of the tracer. The radial positioning structure and the tail end positioning structure 4 are in definite position relation with the positioning mark 2.
The utility model provides a pair of accurate spike ware of maring executor position compares with prior art, through the radial position of radial positioning structure restriction executor, end positioning structure 4 is used for restricting the axial position of executor, and radial positioning structure, end positioning structure 4 have predetermined positional relationship with the executor respectively, then combine the positional information of positioning mark 2 (like reflection of light ball), and navigation can be accurate learn the actual position of executor (operation instrument). The utility model provides a pair of tracer of accurate calibration executor position has the simple swift of operation process, marks the characteristics that the precision is high.
It should be noted that the surgical tools include, but are not limited to, acetabular rasps, intramedullary reamers, cup holders, and the like. The positioning marks are structures such as reflective balls.
In some embodiments, referring to fig. 1 to 6, the radial positioning structure is an opening-closing structure, and the opening-closing structure is used for clamping the actuator to form a predetermined radial positioning relationship with the actuator. The opening and closing structure is simple in structure and convenient to use. The end positioning structure 4 is a planar structure for abutting against the actuator and forming a predetermined axial positioning relationship. The planar structure is perpendicular to the axial direction of the actuator shaft.
In some embodiments, the opening and closing structure includes a first positioning portion 5 disposed on the frame body 1 and a movable member 6 movably connected to the frame body 1, the movable member 6 is provided with a second positioning portion corresponding to the first positioning portion 5, and the actuator is clamped by the first positioning portion 5 and the second positioning portion.
In some embodiments, the first positioning portion 5 and the second positioning portion are in one or more of a groove shape, a semicircular shape, and a "V" shape in a clamping state.
In any embodiment, the first positioning portion 5 is a semicircular groove, the diameter of the first positioning portion 5 is the same as the diameter of the optical axis portion of the actuator, the axis of the first positioning portion 5 coincides with the axis of the actuator, and the axis of the first positioning portion 5 is parallel to the positioning mark 2, that is, the axis of the first positioning portion 5 is parallel to the axis direction of the actuator, and the first positioning portion 5 can better embrace the optical axis portion and form a determined radial positioning relationship with the optical axis portion. The axial position of the actuator can be tracked by tracking the spatial position of the positioning mark 2.
In another embodiment, the shape of the first positioning portion 5 is a "V" shape, and the "V" shape is set to provide high positioning accuracy for the tracer with accurate calibration of the position of the actuator.
In another embodiment, the first positioning portion 5 is divided into a first portion and a second portion from top to bottom, the first portion is shaped as a semicircular groove, and the second portion is shaped as a "V" groove.
The first positioning portion 5 and the frame body 1 are of an integral structure. The positioning accuracy of the tracer is ensured.
The first positioning portion 5 may be assembled with the frame body 1.
In some embodiments, referring to fig. 1-6, the articulation is a hinge. Specifically, the movable piece 6 is connected with the frame body 1 through a connecting structure; the connecting structure comprises a torsion spring 3 and a rotating shaft 7 which are arranged on the frame body 1, and the torsion spring 3 is used for applying screwing force; the rotating shaft 7 is used for limiting at least one of the rotating direction of the movable part 6 and the deformation direction of the torsion spring 3. Specifically, the frame body 1 is provided with a rotating shaft 7, a torsion spring 3 and a movable piece 6.
The movable part 6 can rotate around the rotating shaft 7, the second positioning part is used for forming a radial positioning structure together with the first positioning part 5, the optical axis part of the actuator is tightly embraced, and the torsional spring 3 is used for applying enclasping force to enable the optical axis part of the actuator to be tightly leaned against the radial positioning structure on the frame body 1.
The manner of pinching the clip by hand opens and clamps the moveable member 6 onto the optical axis of the actuator while pushing the actuator axially so that the tip of the actuator contacts the end positioning structure 4. After the hand is loosened, the actuator stays at the calibration position under the action of the holding force exerted by the torsion spring 3. The operation process is simple and quick, and the calibration precision is high.
In some embodiments, the movable connection can also be a threaded connection by means of a nut and a screw. Specifically, a nut and screw structure is arranged on the frame body 1, and the movable piece 6 is close to the frame body 1 in a nut mode to clamp the optical axis.
In some embodiments, the radial positioning structure is a compression fixing structure, the compression fixing structure includes a compression surface and a compression member, the compression surface is fixed on the frame body 1, and the compression member is arranged relative to the compression surface and can move along the direction relative to the compression surface. The pressing piece is a marble and/or a jackscrew.
In some embodiments, referring to fig. 1 to 6, the frame body 1 is provided with an extension section 8 disposed along the horizontal direction, and the extension section 8 is provided with the end positioning structure 4.
The end positioning structure 4 is detachably arranged on the extension section 8. Specifically, the one end that extends section 8 and deviates from support body 1 is equipped with the screw, and screw and the nut that is used for set screw are installed to the screw position. The screw and the nut form a tail end positioning structure 4, and the upper end face of the screw is a plane, namely a tail end positioning face. The connecting position of the extension section 8 and the frame body 1 is in radian transition. The end positioning structure is used for forming a preset axial positioning relation with the surgical tool at the tail end of the actuator, and the position of the surgical tool can be determined according to the positioning relation, the position information of the positioning mark 2 and the position relation between the positioning mark 2 and the end positioning structure 4.
The extension section 8 and the frame body 1 are of an integral structure. The positioning accuracy of the tracer is ensured.
It should be noted that the extension section 8 may also be assembled with the frame body 1.
In some embodiments, referring to fig. 1 to 5, the axis of the first positioning portion 5 is parallel to the mounting surface of the positioning mark 2, and the end positioning structure 4 is perpendicular to the mounting surface of the positioning mark 2. The end positioning structure 4 may be used to limit the axial position of the actuator.
In some embodiments, the upper end of the frame body 1 is provided with a radial positioning structure, and the lower end of the frame body 1 is provided with a terminal positioning structure 4. The tracer is connected with the actuator through the matching of the movable piece 6, the torsion spring 3, the rotating shaft 7 and the first positioning part 5, and the radial position of the actuator can be limited.
The axis of the first positioning part 5 and the center of the circle of the end positioning structure 4 have determined positions in the coordinate system determined by the three marking points. The position of the axis of the actuator and the position of the tip in the coordinate system can be obtained by means of the positioning marks 2. The positioning mark 2 can be taken down quickly after calibration to avoid interference of a moving process and a milling process, and is close to the actuator and high in positioning precision.
In some embodiments, the number of the positioning marks 2 may be 1 or more, specifically, 3, and 3 positioning marks 2 determine a plane, so that the positions of the actuator and the end-effector can be determined more accurately through the reference plane, and the positioning effect of the tracer is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of the present invention.
Claims (10)
1. A tracer for accurately calibrating the position of an actuator, comprising:
the frame body (1) is provided with a radial positioning structure and an end positioning structure (4), and the radial positioning structure is detachably connected with the actuator to determine the radial position of the actuator; the end positioning structure (4) is used for abutting with the end of the actuator to determine the axial position of the actuator;
and the positioning mark (2) is arranged on the frame body (1) and used for prompting the position information of the tracer.
2. A tracer for accurately calibrating the position of an actuator according to claim 1, wherein: the radial positioning structure is an opening and closing structure, and the opening and closing structure is used for clamping the actuator so as to form a preset radial positioning relation with the actuator.
3. A tracer for accurately calibrating the position of an actuator according to claim 2, wherein: the opening and closing structure comprises a first positioning part (5) arranged on the frame body (1) and a moving part (6) movably connected with the frame body (1), wherein the moving part (6) is provided with a second positioning part corresponding to the first positioning part (5), and the actuator is clamped through the matching of the first positioning part (5) and the second positioning part.
4. A tracer for accurately calibrating the position of an actuator according to claim 3, wherein: the first positioning part (5) and the second positioning part are groove-shaped, semicircular or V-shaped in a clamping state.
5. A tracer for accurately calibrating the position of an actuator according to claim 3, wherein: the axis of the first positioning part (5) is parallel to the axial direction of the actuator.
6. A tracer for accurately calibrating the position of an actuator according to claim 3, wherein: the movable connection is a hinge.
7. A tracer for accurately calibrating the position of an actuator according to claim 1, wherein: the tail end positioning structure (4) is a plane structure and is used for being abutted with the actuator and forming a preset axial positioning relation.
8. A tracer for accurately calibrating the position of an actuator according to claim 7, wherein: the planar structure is perpendicular to an axial direction of the actuator shaft.
9. A tracer for accurately calibrating the position of an actuator according to claim 1, wherein: support body (1) is equipped with along extension section (8) that the first direction set up, extension section (8) are gone up fixedly or detachably and are provided with terminal location structure (4).
10. A tracer for accurately calibrating the position of an actuator according to claim 9, wherein: the radial positioning structure is a pressing fixing structure, the pressing fixing structure comprises a pressing surface and a pressing piece, the pressing surface is fixed on the frame body (1), and the pressing piece is arranged relative to the pressing surface and can move along the direction relative to the pressing surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221032206.9U CN217566301U (en) | 2022-04-29 | 2022-04-29 | Tracer for accurately calibrating position of actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221032206.9U CN217566301U (en) | 2022-04-29 | 2022-04-29 | Tracer for accurately calibrating position of actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217566301U true CN217566301U (en) | 2022-10-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221032206.9U Active CN217566301U (en) | 2022-04-29 | 2022-04-29 | Tracer for accurately calibrating position of actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217566301U (en) |
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2022
- 2022-04-29 CN CN202221032206.9U patent/CN217566301U/en active Active
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Address after: 100176 room 1301, 13th floor, building 5, yard 18, Kechuang 13th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: Beijing and Huaruibo Medical Technology Co.,Ltd. Patentee after: Beijing Horibo Technology Co.,Ltd. Address before: 100176 room 1301, 13th floor, building 5, yard 18, Kechuang 13th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee before: Beijing and Huaruibo Medical Technology Co.,Ltd. Patentee before: BEIJING HEHUA RUIBO TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221214 Address after: 100176 room 1301, 13th floor, building 5, yard 18, Kechuang 13th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: Beijing and Huaruibo Medical Technology Co.,Ltd. Address before: 100176 room 1301, 13th floor, building 5, yard 18, Kechuang 13th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee before: Beijing and Huaruibo Medical Technology Co.,Ltd. Patentee before: Beijing Horibo Technology Co.,Ltd. |