CN217938395U - Body surface dynamic positioning device and surgical navigation positioning robot system - Google Patents
Body surface dynamic positioning device and surgical navigation positioning robot system Download PDFInfo
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- CN217938395U CN217938395U CN202222894876.8U CN202222894876U CN217938395U CN 217938395 U CN217938395 U CN 217938395U CN 202222894876 U CN202222894876 U CN 202222894876U CN 217938395 U CN217938395 U CN 217938395U
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Abstract
The utility model discloses a body surface dynamic positioning device and a surgical navigation positioning robot system, wherein the body surface dynamic positioning device comprises a plurality of reflecting ball structures and a plurality of flexible belts; the reflecting ball structures are arranged at intervals, the distances between every two reflecting ball structures are different, and the bottom surfaces of the reflecting ball structures are provided with sticking structures; the lengths of the flexible belts are different, and the reflective ball structures are connected in sequence through the flexible belts; the bottom surfaces of the multiple reflecting ball structures can be adhered to the skin surface of a patient through the adhering structures, and the bottom surfaces of the multiple adhering structures protrude out of the bottom surfaces of the multiple flexible belts, so that the multiple flexible belts are not connected with the skin surface of the patient. When human body surface produces the vibration, only can exert an influence to the reflection of light ball structure to reduce the influence between a plurality of reflection of light ball structures when guaranteeing the motion that can the dynamic tracking body surface skin between each reflection of light ball structure, and then reduced because of the positioning accuracy error that the body surface deformation produced, reduced the operation degree of difficulty.
Description
Technical Field
The utility model relates to the technical field of medical equipment, especially, relate to a body surface dynamic positioning device and operation navigation positioning robot system.
Background
In the navigation of the lung puncture operation, the positioning accuracy is an important index of the system. When the lung puncture surgery navigation is used for spatial registration and positioning, an optical tracking mode is usually adopted, an optical tracking device and a matched small reflecting ball are arranged in the system, and the optical system is used for carrying out real-time spatial positioning by tracking the small reflecting ball so as to realize positioning on the change state of a lesion part.
In current surgical navigation and positioning systems used clinically, the tracking device is usually a rigid structure. In the orthopedic and neurosurgical fields, nailing methods, clamping devices or reference frame fixing methods are often used. However, these methods not only bring extra trauma to the patient and prolong the operation time, but also have the disadvantages of inaccurate positioning, poor stability, insufficient reliability and the like. In the operation process, when the surgical instrument contacts the skin of the human body, a certain acting force is applied to the positioning device, and the artificial marker is extruded to the skin of the human body in the process, so that the artificial marker generates small-range displacement. And patient's respiratory motion is autonomic and uncontrollable among the conventional operation, even if flexible connection structure has appeared for solving the problem of tracking means rigid connection among the prior art, but the flexible connection structure who adopts among the prior art can wholly laminate with the body surface, can lead to positioner wholly to produce certain deformation and displacement when the atress on the one hand, and then exert an influence to the holistic registration precision of operation navigation, bring the registration error, increase the operation degree of difficulty, on the other hand laminating area leads to the patient to wear the comfort level for a long time badly greatly, patient experience is not good.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a body surface developments positioner can the motion range of dynamic tracking body surface skin, reduces the positioning accuracy error that produces because of the body surface deformation, reduces the operation degree of difficulty and can promote patient experience.
To achieve the purpose, the utility model adopts the following technical proposal:
a body surface dynamic positioning device, comprising:
the device comprises a plurality of reflecting ball structures, a navigation positioning system and a plurality of reflecting ball structures, wherein the reflecting ball structures are matched with the navigation positioning system for positioning, the reflecting ball structures are arranged at intervals, the distances between every two reflecting ball structures are different, and the bottom surfaces of the reflecting ball structures are provided with sticking structures;
the lengths of the flexible belts are different, and the reflective ball structures are connected sequentially through the flexible belts; when the reflecting ball structure is used, the bottom surfaces of the reflecting ball structures can be adhered to the skin surface of a patient through the adhering structures, and the flexible belts are not connected with the skin surface of the patient.
Optionally, the bottom surfaces of the plurality of sticking structures protrude from the bottom surfaces of the plurality of flexible strips.
Optionally, the flexible band is made of an elastic material;
and/or the flexible belt is a silica gel belt or an elastic belt.
Optionally, the body surface dynamic positioning device further comprises a plurality of connection bases, two adjacent flexible belts are connected through one connection base, and the light-reflecting ball structure is connected with the connection base.
Optionally, the bottom surface of the connection base is flush with the bottom surface of the flexible band.
Optionally, the plurality of flexible bands and the plurality of connection bases are molded into a single structure.
Optionally, the light-reflecting ball structure includes a light-reflecting ball and a mounting base connected to the light-reflecting ball, the mounting base is connected to the connection base, and the light-reflecting ball and the mounting base are located on two sides of the connection base.
Optionally, the pasting structure is a fixing base, the fixing base is connected with one side of the mounting base far away from the reflective ball, and the fixing base is far away from the bottom surface of the mounting base and pasted with the skin surface of the patient.
Optionally, the connection base is provided with a through hole, the mounting base is provided with a connection column towards one side of the reflective ball, the connection column penetrates through the through hole, and the reflective ball is connected with the top end of the connection column.
Optionally, the top of spliced pole is provided with the card protruding, reflection of light ball is provided with the draw-in groove, the card protruding with the draw-in groove joint.
An object of the utility model is to provide a surgery navigation positioning robot system can the motion range of dynamic tracking body surface skin when carrying out the operation location, reduces the positioning accuracy error that produces because of the body surface deformation, reduces the operation degree of difficulty.
To achieve the purpose, the utility model adopts the following technical proposal:
the surgical navigation positioning robot system comprises a navigation positioning system, wherein the navigation positioning system is matched and positioned with the reflecting ball structure of the body surface dynamic positioning device.
The utility model has the advantages that:
the utility model discloses a body surface dynamic positioning device passes through reflection of light ball structure and navigation positioning system cooperation location, connects into a whole structure through the flexible band with reflection of light ball structure, because the setting of flexible band compares rigid connection structure among the prior art, the utility model discloses a flexible band can guarantee can not receive the influence of lead between each reflection of light ball structure again when connecting into overall structure a plurality of reflection of light ball structures. Meanwhile, the bottom surfaces of the reflecting ball structures can be adhered to the skin surface of a patient through the adhering structures, the bottom surfaces of the adhering structures protrude out of the bottom surfaces of the flexible belts so that the flexible belts are not connected with the skin surface of the patient, and when the body surface of a human body vibrates due to the movement of the body position of the patient or respiratory motion, the reflecting ball structures are only affected, so that the motion of the body surface skin can be dynamically tracked among the reflecting ball structures, the influence among the reflecting ball structures is reduced, the positioning precision error caused by the deformation of the body surface is reduced, and the operation difficulty is reduced; in addition, the bottom surface of the light reflecting ball structure is pasted on the skin surface of a patient, so that the light reflecting ball structure can be conveniently assembled and disassembled, and the skin surface can be prevented from being damaged.
In addition, before the operation, the patient need wear body surface positioner scanning CT and be used for the real-time navigation location in the art with the CT image of scanning, because hospital CT resource is limited, the patient often need wear body surface positioner and wait for longer time, and prior art's body surface positioner is whole laminating mode with patient skin surface, and it is big to paste the area, leads to wearing the comfort level poor, the utility model discloses a body surface dynamic positioning device, only reflection of light ball structure paste on patient skin through pasting the structure, and a plurality of flexible bands all with patient's skin surface not-tie, greatly reduced positioner and patient skin surface paste the area, promoted the patient and worn experience.
Drawings
Fig. 1 is a schematic structural diagram of a body surface dynamic positioning device provided by an embodiment of the present invention;
fig. 2 is an exploded view of a body surface dynamic positioning device provided by the embodiment of the present invention;
fig. 3 is a side view of a body surface dynamic positioning device provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a reflective ball structure of a body surface dynamic positioning device provided by the embodiment of the present invention.
In the figure:
1-a light-reflecting ball; 2-a flexible band; 3-mounting a base; 4-fixing the base; 5-connecting the base.
Detailed Description
In order to make the technical problem solved by the present invention, the technical solutions adopted by the present invention and the technical effects achieved by the present invention clearer, the following will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The technical solution of the present invention will be further explained by the following embodiments with reference to the accompanying drawings.
As shown in fig. 1-4, the body surface dynamic positioning device comprises a plurality of light reflecting ball structures and a plurality of flexible belts 2, wherein the plurality of light reflecting ball structures are used for being matched and positioned with a navigation positioning system, the plurality of light reflecting ball structures are arranged at intervals, the distances between every two light reflecting ball structures are different, and the bottom surfaces of the plurality of light reflecting ball structures are provided with adhesive structures; the lengths of the flexible belts 2 are different, and the reflective ball structures are connected through the flexible belts 2 in sequence; during the use, the bottom surface of a plurality of reflection of light ball structures all can paste in patient's skin surface through pasting the structure, and a plurality of flexible bands 2 all do not connect with patient's skin surface. It can be understood that, link into an organic whole structure with reflection of light ball structure through flexible area 2, simultaneously because the setting of flexible area 2 can guarantee to link into overall structure a plurality of reflection of light ball structures and simultaneously can make and can not receive between each reflection of light ball structure again and lead the influence. Meanwhile, the plurality of flexible belts 2 are not connected with the skin surface of the patient, namely, the flexible belts 2 are not directly fixed with the skin, namely, when the positioning device is connected with the skin of the patient, when the body surface of the human body vibrates, the positioning device only influences the reflective ball structures, so that the influence among the plurality of reflective ball structures is reduced while the motion of the body surface skin can be dynamically tracked among the reflective ball structures, the positioning precision error caused by the deformation of the body surface is reduced, and the operation difficulty is reduced; in addition, the bottom surface of reflection of light ball structure is pasted in patient's skin surface, can guarantee the easy dismounting of reflection of light ball structure, and can avoid causing the damage to skin surface. In addition, before the operation, the patient need wear body surface positioner scanning CT and be used for the real-time navigation location in the art with the CT image of scanning, because hospital CT resource is limited, the patient often need wear body surface positioner and wait for longer time, and prior art's body surface positioner is whole laminating mode with patient skin surface, and it is big to paste the area, leads to wearing the comfort level poor, the utility model discloses a body surface dynamic positioning device, only reflection of light ball structure paste on patient skin through pasting the structure, and a plurality of flexible bands 2 all are not connected with patient's skin surface, greatly reduced positioner and patient skin surface's the area of pasting, promoted the patient and worn experience.
In this embodiment, the distances between two pairs of reflective ball structures are different, and the lengths of the flexible belts 2 are also different, so that the distances between any pair of reflective ball structures are different, and thus the navigation and positioning system can match the reflective ball structures by tracking the distances between points in a different manner, and can determine the corresponding matched points. The method for determining corresponding matching points by using the difference between the distances between any pair of reflective ball structures is known in the prior art, and is not described herein again. Meanwhile, the specific length of the flexible belt 2 is not limited here and can be selected adaptively.
Specifically, the reflective ball structures correspond to the number of the flexible strips 2 one to one. In this embodiment, the reflective ball structures and the flexible bands 2 are all five, and the five reflective ball structures are connected into an annular structure through the five flexible bands 2. It can be understood that the five reflective ball structures can meet the requirements of structure and efficiency, the structure is simplified, and in other embodiments, the number of the reflective ball structures and the number of the flexible belts 2 can be adaptively increased or decreased.
Optionally, the flexible belt 2 is made of an elastic material, and preferably, the flexible belt 2 is a silicone belt or an elastic belt. It can be understood that the flexible strip 2 is made of elastic material, which can further reduce the influence of the involvement between the reflective ball structures, thereby reducing the positioning accuracy error. The elasticity of the silica gel belt and the elastic band is good, the cost is low, and in other embodiments, the flexible belt 2 can be of other elastic structures.
Alternatively, as shown in fig. 1, the bottom surfaces of the plurality of pasting structures are all protruded from the bottom surfaces of the plurality of flexible tapes 2. It can be understood that, the above arrangement can make the flexible belt 2 have a certain distance with the skin surface when the light reflecting ball structure is connected on the skin surface, and can reduce the influence of the vibration of the skin surface on the flexible belt 2, thereby reducing the dragging of the flexible belt 2 on the light reflecting ball structure and improving the positioning accuracy.
Optionally, the body surface dynamic positioning device further comprises a plurality of connection bases 5, two adjacent flexible belts 2 are connected through one connection base 5, and the reflective ball structure is connected with the connection base 5. Specifically, the number of the connection bases 5 is also five, and the five flexible bands 2 are connected into a ring structure by the five connection bases 5. The specific connection method between the flexible band 2 and the connection base 5 is not limited, and the flexible band can be bonded, integrally formed, or connected by other methods. The flexible belt 2 is connected into an integral structure through the connecting base 5, so that the installation time between the flexible belt 2 and the reflective ball structure can be shortened, and the positioning efficiency is improved. In other embodiments, the connecting base 5 may not be provided, and five flexible bands 2 may be directly connected together.
Preferably, the bottom surface of the connection base 5 is flush with the bottom surface of the flexible band 2. In this embodiment, the bottom surfaces of the five connection bases 5 and the five flexible strips 2 are flush with each other, and the arrangement can ensure that the bottom surfaces of the flexible strips 2 and the connection bases 5 after connection are a plane, so that the connection with the reflective ball structure is facilitated.
Alternatively, as shown in fig. 1 to 4, the reflective ball structure includes a reflective ball 1 and a mounting base 3 connected to the reflective ball 1, the mounting base 3 is connected to a connection base 5, and the reflective ball 1 and the mounting base 3 are located on two sides of the connection base 5. It can be understood that the reflective ball 1 and the mounting base 3 are arranged on two sides of the connecting base 5, so that the mounting base 3 can protrude out of the surface of the flexible belt 2, and the reflective ball 1 cannot be shielded, thereby ensuring the positioning effect.
Specifically, the connecting base 5 is provided with a through hole, one side of the mounting base 3 facing the reflective ball is provided with a connecting column, the connecting column penetrates through the through hole, and the reflective ball 1 is connected with the top end of the connecting column. In this embodiment, the mounting base 3 is further provided with a mounting table, a connecting table is arranged between the mounting table and the connecting column, the connecting table is cylindrical and has a diameter larger than that of the connecting column, the through hole of the connecting base 5 is in a ladder-shaped design, the inner diameter of one side far away from the reflective ball 1 is larger than that of one side close to the reflective ball 1, the connecting table is arranged in the through hole with a larger inner diameter in a penetrating manner, the connecting column is arranged in the through hole with a smaller inner diameter in a penetrating manner, and the connecting base 5 can be abutted against one side, fixed with the mounting table, of the connecting table; meanwhile, the connecting column is provided with a limiting structure, and after the connecting column penetrates through the through hole, the limiting structure can be abutted against one side of the connecting base 5 facing the light reflecting ball 1, so that the connecting base 5 is fixed on the mounting base 3. The above arrangement can ensure that the mounting base 3 and the connecting base 5 are easy to assemble and stable in connection, and as for the limit structure, the limit structure can be specifically any structure conceivable in the prior art such as a limit snap ring or a clamping groove.
Optionally, a clamping protrusion is arranged at the top end of the connecting column, a clamping groove is formed in the light reflecting ball 1, and the clamping protrusion and the clamping groove are clamped. Specifically, one end of the connecting column, which is matched with the light reflecting ball 1, is set to be a pointed end, so that the connecting column can be conveniently inserted into a clamping groove of the light reflecting ball 1. When the installation is carried out, the clamping groove of the light reflecting ball 1 is aligned to the tip of the connecting column, the connecting column can be inserted into the light reflecting ball 1 by pressing forcibly, and when the 'click' sound is heard, the installation of the connecting column and the light reflecting ball 1 is finished. In other embodiments, the connecting column and the reflective ball 1 may also be connected by a screw thread, that is, an external thread is provided on the connecting column, and a threaded hole is provided in the reflective ball 1; the connecting column and the reflective ball 1 can be in interference fit, and other detachable connecting modes can be adopted.
Optionally, the pasting structure is a fixing base 4, the fixing base 4 is connected with one side of the mounting base 3 away from the light-reflecting ball 1, and the bottom surface of the fixing base 4 away from the mounting base 3 is pasted with the skin surface of the patient. In this embodiment, the fixing base 4 and the installation table are connected on the side away from the connection table, and can be fixed by means of pasting or clamping. Specifically, mount table and unable adjustment base 4 are cylindrical, and the size is the same, and the length of mount table and unable adjustment base 4 should not be too big simultaneously, avoids reflecting light ball 1 to be too far away from the skin surface, influences the location effect. In other embodiments, the mounting table and the fixing base 4 may have other shapes, and the shapes and the sizes of the two may be different.
In the body surface dynamic positioning device in the embodiment, when being installed, the fixed base 4 is firstly assembled and fixed on the installation table of the installation base 3, and then the assembled structure is adhered to the skin surface of a patient through the fixed base 4; meanwhile, the flexible belt 2 is connected into an integral structure through the connecting base 5, then the connected integral structure is connected with the connecting table and the connecting column of the mounting base 3, and finally the reflecting ball 1 is mounted on the connecting column. The body surface dynamic positioning device adopts the elastic flexible belt 2, so that the positioning stability and consistency are ensured; meanwhile, the reflecting ball structures are attached to the skin surface of the patient independently and can dynamically move along with the body surface, so that the motion amplitude of the body surface skin can be dynamically tracked, the positioning precision error caused by body surface deformation due to the respiration of the patient and other factors can be better solved, and the reflecting ball structures are not influenced by deformation displacement; in addition, only the reflection of light ball structure is pasted on patient's skin through pasting the structure, and a plurality of flexible belts 2 all are not connected with patient's skin surface, greatly reduced the pasting area of positioner and patient's skin surface, promoted the patient and worn the experience.
The embodiment also provides a surgical navigation positioning robot system which comprises a navigation positioning system, wherein the navigation positioning system is matched with the reflective ball structure of the body surface dynamic positioning device for positioning. The surgical navigation and positioning robot system can perform real-time navigation on a surgery according to the dynamic change of the spatial position data of the light reflecting ball 1, and avoids secondary injury to a patient by adopting flexible noninvasive positioning; meanwhile, the reflecting ball structures are mutually independent, the deformation of the body surface part of a patient caused by factors such as respiration is avoided, and then the whole displacement error is generated, the purpose of noninvasive positioning and navigation of the robot operation is achieved, the efficiency and the puncture precision of the puncture operation navigation are improved, the operation time is shortened, and the operation risk is reduced. The specific components and operation principles of the navigation positioning system are already the prior art, and are not described herein again.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A body surface dynamic positioning device, comprising:
the system comprises a plurality of reflecting ball structures, a navigation positioning system and a plurality of reflecting ball structures, wherein the reflecting ball structures are used for being matched and positioned with the navigation positioning system, the reflecting ball structures are arranged at intervals, the distance between any two reflecting ball structures is different, and the bottom surfaces of the reflecting ball structures are provided with sticking structures;
the lengths of the flexible belts are different, and the reflective ball structures are connected sequentially through the flexible belts; when the novel reflecting light ball is used, the bottom surfaces of the reflecting light ball structures can be adhered to the skin surface of a patient through the adhering structures, the bottom surfaces of the adhering structures protrude out of the flexible belts, so that the flexible belts are not connected with the skin surface of the patient.
2. A body surface dynamic positioning device according to claim 1, wherein the flexible band is made of an elastic material;
and/or the flexible belt is a silica gel belt or an elastic belt.
3. A body surface dynamic positioning device according to claim 1, further comprising a plurality of connection bases, two adjacent flexible belts are connected through one of the connection bases, and the light reflecting ball structure is connected with the connection base.
4. A body surface dynamic positioning device according to claim 3, wherein the bottom surface of the connection base is flush with the bottom surface of the flexible band.
5. A body surface dynamic positioning device of claim 3, wherein a plurality of the flexible strips are integrally formed with a plurality of the connection bases.
6. A body surface dynamic positioning device according to claim 3, wherein the light reflecting ball structure comprises a light reflecting ball and a mounting base connected with the light reflecting ball, the mounting base is connected with the connecting base, and the light reflecting ball and the mounting base are located on two sides of the connecting base.
7. A body surface dynamic positioning device according to claim 6, wherein the adhesive structure is a fixing base, the fixing base is connected with one side of the mounting base far away from the light-reflecting ball, and the bottom surface of the fixing base far away from the mounting base is adhered to the skin surface of the patient.
8. A body surface dynamic positioning device according to claim 6, characterized in that the connection base is provided with a through hole therethrough, a connection column is provided on a side of the mounting base facing the light reflecting ball, the connection column is disposed through the through hole, and the light reflecting ball is connected with a top end of the connection column.
9. A body surface dynamic positioning device according to claim 8, wherein the top end of the connecting column is provided with a clamping protrusion, the light reflecting ball is provided with a clamping groove, and the clamping protrusion is clamped with the clamping groove.
10. A surgical navigation and positioning robot system, comprising a navigation and positioning system, wherein the navigation and positioning system is positioned in cooperation with the light reflecting ball structure of the body surface dynamic positioning device according to any one of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222894876.8U CN217938395U (en) | 2022-11-01 | 2022-11-01 | Body surface dynamic positioning device and surgical navigation positioning robot system |
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| CN202222894876.8U CN217938395U (en) | 2022-11-01 | 2022-11-01 | Body surface dynamic positioning device and surgical navigation positioning robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116538382A (en) * | 2023-07-03 | 2023-08-04 | 山东水发黄水东调工程有限公司 | Inspection robot in water pipeline and control method thereof |
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2022
- 2022-11-01 CN CN202222894876.8U patent/CN217938395U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116538382A (en) * | 2023-07-03 | 2023-08-04 | 山东水发黄水东调工程有限公司 | Inspection robot in water pipeline and control method thereof |
| CN116538382B (en) * | 2023-07-03 | 2023-11-07 | 山东水发黄水东调工程有限公司 | Inspection robot in water pipeline and control method thereof |
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