CN218528879U

CN218528879U - Tracking device of orthopedic surgery robot

Info

Publication number: CN218528879U
Application number: CN202221645568.5U
Authority: CN
Inventors: 李劲生
Original assignee: Nanjing Perlove Medical Equipment Co Ltd
Current assignee: Nanjing Perlove Medical Equipment Co Ltd
Priority date: 2022-06-28
Filing date: 2022-06-28
Publication date: 2023-02-28
Anticipated expiration: 2032-06-28

Abstract

The utility model discloses a tracer of an orthopedic surgery robot, which comprises a rigid body support body, and a tracer is arranged on the rigid body support body. The rigid body support body comprises a movable joint and a connecting rod, and the position and the posture of the tracer are adjusted and fixed through the joint. The tracer comprises a registration point support frame and a registration point; the periphery of the registration point support frame is provided with registration points in a coplanar and non-collinear mode. The number of the registration points is not less than three. The tracer also comprises a connecting component used for being connected with the outside. The rigid body support includes: the first joint, the second joint, the third joint, the fourth joint, the fifth joint, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting rod.

Description

Tracking device of orthopedic surgery robot

Technical Field

The utility model relates to a tracer, especially an orthopedic surgery robot tracer.

Background

In recent years, the navigation positioning system technology becomes the mainstream of innovation in the medical field, and particularly, the innovative application of the robot technology improves the safety and effectiveness of orthopedic surgery. The basic function of the orthopedic surgery robot system is to utilize a computer to process and display images provided by medical imaging equipment, combine an optical tracker and finally control the robot to safely and effectively perform surgery positioning. In the actual clinical process, because the operation space is limited, the pose of the robot or the optical tracker in the system needs to be changed continuously due to clinical requirements, the relative transformation relation between the previous systems is changed, and the final movement position deviation of the robot is caused.

SUMMERY OF THE UTILITY MODEL

The purpose of the invention is as follows: the utility model aims to solve the technical problem that the prior art is not enough, a tracking device of an orthopedic surgery robot is provided.

In order to solve the technical problem, the utility model discloses an orthopedic surgery robot tracer, including the rigid body supporter, be equipped with the tracer on the rigid body supporter.

The rigid body support body comprises a movable joint and a connecting rod, and the position and the posture of the tracer are adjusted and fixed through the joint.

The tracer comprises a registration point support frame and a registration point; the periphery of the registration point support frame is provided with registration points in a coplanar and non-collinear mode.

The number of the registration points is not less than three.

The tracer also comprises a connecting component used for being connected with the outside.

The rigid body support includes: the first joint, the second joint, the third joint, the fourth joint, the fifth joint, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting rod;

the first joint is connected with the first connecting rod and the connecting component and is a 360-degree rotary joint;

the second joint is connected with the first connecting rod and the second connecting rod and is a turnover joint;

the third joint is connected with the second connecting rod and the third connecting rod and is a turnover joint;

the fourth joint is connected with the third connecting rod and the fourth connecting rod and is a 360-degree rotary joint;

the fifth joint is connected with the fourth connecting rod and the fifth connecting rod and is a turnover joint;

and the fifth connecting rod is connected with the mounting interface and used for mounting the tracer.

The utility model also discloses an orthopedic surgery robot, including host computer and orthopedic surgery arm, be equipped with the spike ware on the orthopedic surgery arm, be equipped with the rigid body supporter on host computer or the orthopedic surgery arm, be equipped with the spike ware on the rigid body supporter.

The utility model discloses be applied to actual clinical in-process, provide a tracer that is exclusively used in bone surgery robot at the hardware aspect to the tracer of being convenient for carries out the target tracking.

The utility model discloses a tracer can realize the tracer location to the bone surgery robot on prior art's basis, has high using value in the application of bone surgery robot.

The utility model discloses in concrete to the location of bone surgery robot, trail etc. to relate to the part of computer software can adopt current location, the method of trail to realize, the utility model discloses do not relate to location, the method of trail.

Drawings

These and/or other advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings.

Fig. 1 is a schematic structural view of the tracking device of the orthopedic surgery robot of the present invention.

Fig. 2 is the installation diagram of the tracking device of the orthopedic surgery robot of the utility model.

Detailed Description

The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings.

The embodiment provides a tracing device for an orthopedic surgery robot, as shown in fig. 1, which is a schematic diagram of the tracing device for the orthopedic surgery robot in the embodiment, the tracing device for the orthopedic surgery robot includes a rigid support: a first joint 302, a second joint 304, a third joint 306, a fourth joint 308, a fifth joint 310, a first connecting rod 303, a second connecting rod 305, a third connecting rod 307, a fourth connecting rod 309, and a fifth connecting rod 314; a tracer: a registration point support frame 311, at least three coplanar and non-collinear registration points 312 and a mounting interface 313; a connection assembly 301.

As shown in fig. 2, the orthopedic surgery robot tracer is installed schematically, and the installation position does not affect the clinical surgery as a premise. The installation design skillfully integrates with the base of the robot 6 through the connecting component 301, is simple and stable, ensures no relative pose change, and ensures the precision of the system. The joint can be properly stretched or rotated according to the arrangement or operation space of the current system, so that the tracer is positioned at a proper position, the movement of the orthopaedic surgery robot 6 is not influenced, and a sufficient space is reserved for any action of the orthopaedic surgery robot 6.

The present embodiment provides an orthopedic surgery robot tracer, wherein the tracer: comprises a rigid body support body; a tracer; coupling assembling, convenient dismouting. The rigid body support body is provided with five self-balancing joints and connecting rods. Considering the stability of the structure and the functional usability, the joint 1 needs to be capable of infinitely rotating by 360 degrees, and the integral rotation of the support body is carried out to achieve the purpose of adjusting the direction; the joint 4 needs to be capable of infinitely rotating by 360 degrees, and the joint 5 and the tracer can be integrally rotated to achieve the purpose of adjusting the direction; the joint 5 can independently adjust the turning pose of the tracer; other joints are turned over by less than 360 degrees, and can be properly stretched and rotated according to the positioning requirement of the current system so as to achieve the purpose of adjusting the pose of the tracer; the tail end connecting rod is provided with an installation interface fixedly connected with the tracer.

The tracer comprises a registration point support frame, at least three coplanar and non-collinear registration points and an installation interface, and the geometric structure of the registration points must meet the identification requirement of an optical tracker in the orthopaedic surgery robot; the material selection of the tracer must be consistent with that of an optical tracer in the orthopaedic surgery robot, the optical tracer is an optical principle, a passive luminous tracer must be used, and the optical tracer is an electromagnetic identification principle, and an active luminous tracer must be used. The tracer is installed at rigid body support end connecting rod, and the fixed requirement must be firm, can not take place to become flexible or rotate, otherwise can influence orthopedic surgery robot system's navigation accuracy.

The orthopaedic surgical robot may work in the following way (other prior art implementations are of course possible):

(1) The tracing device 3 is installed on the base of the orthopaedic surgery robot 6, and the installation position and the robot 6 have a fixed structure to meet the installation requirement, as shown in fig. 2;

(2) Recording pose information of a specific tip end with a tracer at the tail end of the orthopaedic surgical robot on different planes according to the operation principle of the orthopaedic surgical robot and a corresponding geometric structure, namely at least five or more reference point clouds of the orthopaedic surgical robot;

(3) Starting the optical tracker and the orthopaedic surgery robot, ensuring that the tracer and the specific tip with the tracer at the tail end of the orthopaedic surgery robot are in the visual field range of the optical tracker, ensuring that the reference point cloud of the optical tracker is accurately obtained, and simultaneously storing the corresponding basic pose information of the tracer in the optical tracker;

(4) Starting the three-dimensional C arm, collecting and sending 3D image data, and receiving and displaying the 3D image data and related configuration information by the workstation; calculating a conversion relation between an optical tracker coordinate system and an image coordinate system by using the pose information of the integrated registration device according to the principle of an orthopedic surgery robot system;

(5) Calculating a pose transformation relation between an optical tracker coordinate system and an orthopedic surgery robot coordinate system when the reference point cloud is acquired by combining with the workstation (3); the optical tracker detects the position and pose information of the tracer in real time, and updates the position and pose conversion relation between the coordinate system of the optical tracker and the coordinate system of the orthopaedic surgery robot in real time under the current system.

(6) The workstation carries out pre-planning through images, and the final pose information of the movement of the designated orthopaedic surgery robot is obtained. And (5) combining the steps (4) and (5), calculating to obtain the conversion relation between the image coordinate system and the orthopedic surgery robot coordinate system, and further controlling the orthopedic surgery robot to move to the target position.

(7) The workstation calculates the error between the pose of the current orthopaedic surgery robot and the actual planning point in real time, and ensures that the motion pose of the orthopaedic surgery robot meets the precision requirement of the system in real time.

The above method in this embodiment is only an example, and is not the only method for implementing the tracing device of the present invention.

The utility model provides a thinking and method of bone surgery robot tracer, the method and the way that specifically realize this technical scheme are many, above only the utility model discloses an preferred embodiment should point out, to this technical field's ordinary technical personnel, is not deviating from the utility model discloses under the prerequisite of principle, can also make a plurality of improvements and moist decorations, these improve and moist decorations should also be regarded as the utility model discloses a scope of protection. All the components not specified in the present embodiment can be realized by the prior art.

Claims

1. A robot tracer device for orthopedic surgery is characterized by comprising a rigid body support body, wherein a tracer used for positioning compensation is arranged on the rigid body support body;

the rigid body support body comprises a movable joint and a connecting rod, and the position and the posture of the tracer are adjusted and fixed through the movable joint and the connecting rod.

2. A robotic tracer device for orthopedic surgery according to claim 1, wherein the tracer includes a registration point support frame (311) and registration points (312).

3. The tracking device of an orthopedic surgery robot as claimed in claim 2, wherein the registration points (312) are arranged around the registration point support frame (311) in a coplanar and non-collinear manner; the number of registration points (312) is not less than three.

4. An orthopaedic robotic tracer according to claim 3, further comprising a connection assembly (301) for connection with an external source.

5. A robotic tracer device for orthopedic surgery according to claim 4, wherein the rigid body support includes: a first joint (302), a second joint (304), a third joint (306), a fourth joint (308), a fifth joint (310), a first connecting rod (303), a second connecting rod (305), a third connecting rod (307), a fourth connecting rod (309), and a fifth connecting rod (314);

wherein the first joint (302) is connected with the first connecting rod (303) and the connecting component (301);

the second joint (304) is connected with the first connecting rod (303) and the second connecting rod (305);

the third joint (306) is connected with the second connecting rod (305) and the third connecting rod (307);

the fourth joint (308) is connected with the third connecting rod (307) and the fourth connecting rod (309);

the fifth joint (310) is connected with the fourth connecting rod (309) and the fifth connecting rod (314).

6. An orthopaedic surgical robotic tracing apparatus according to claim 5, wherein the first joint (302) and fourth joint (308) are 360 ° rotary joints.

7. An orthopaedic surgical robotic tracing apparatus according to claim 6, wherein the second joint (304), third joint (306) and fifth joint (310) are everted joints.

8. An orthopaedic surgical robotic tracing apparatus according to claim 7, wherein said fifth connecting rod (314) is connected with a mounting interface (313) for mounting a tracer.

9. An orthopedic surgery robot containing a tracer device according to any one of claims 1-8, comprising a main machine and an orthopedic surgery mechanical arm, wherein the orthopedic surgery mechanical arm is provided with a tracer, characterized in that the main machine or the orthopedic surgery mechanical arm is provided with a rigid body support, and the rigid body support is provided with a tracer for positioning compensation.