CN218870470U - Pose information correcting device for surgical tool - Google Patents
Pose information correcting device for surgical tool Download PDFInfo
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- CN218870470U CN218870470U CN202222130380.3U CN202222130380U CN218870470U CN 218870470 U CN218870470 U CN 218870470U CN 202222130380 U CN202222130380 U CN 202222130380U CN 218870470 U CN218870470 U CN 218870470U
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Abstract
The utility model provides a position appearance information correction device of surgical tool, include: base, standard 6D probe and the fixed body of rod, be provided with V-arrangement mounting groove strip, installation mound, standard 6D probe erection column and standard 6D probe mounting groove on the base respectively, V-arrangement mounting groove strip is used for placing by the correction surgical tool, the installation mound is located between V-arrangement mounting groove strip and the standard 6D mounting groove, standard 6D erection column sets up in standard 6D mounting groove, standard 6D probe installation is in standard 6D mounting groove, and inlays the location mutually with standard 6D erection column, it is equipped with the through-hole to open in the installation mound, the fixed body of rod is worn to establish respectively in the through-hole of installation mound and by the correction surgical tool, be provided with the mounting screw on the installation mound, the mounting screw thread runs through in the through-hole and with the fixed body of rod butt. This correcting unit has the installation simply, and is stable firm advantage.
Description
Technical Field
The utility model relates to a medical equipment's technical field specifically, relates to a position appearance information correcting unit of operation instrument.
Background
With the rapid development of medical equipment, surgical positioning and navigation are also slowly popularized to various fields of major operations, including interventional diagnosis and treatment puncture operations, clinicians basically puncture the approximate position according to preoperative surgical planning by means of clinical experience when using different puncture needles for operations, doctors cannot confirm the specific condition of the needles in the human body in real time, the operation difficulty of the doctors is increased, the operation risk is increased, and the operation has higher requirements on the puncture operation experience of the clinicians.
To the above problems, a surgical tool with a positioning function may be used, so as to obtain a real-time position of the surgical tool during surgery, thereby improving surgery safety. However, the surgical tool with positioning function has high requirement on positioning accuracy, and the positioning device of the surgical tool needs to be regularly corrected during use, so as to meet the surgical requirement.
The calibration can be performed by using standard sensors to calibrate the sensors in the surgical tool, but the position between the calibration device and the surgical tool to be calibrated needs to be kept stable during the calibration process, so a device for installing the surgical tool to be calibrated is needed.
SUMMERY OF THE UTILITY MODEL
To the defects in the prior art, the utility model aims to provide a position appearance information correcting unit of operation instrument.
According to the utility model provides a pair of position appearance information correction device of surgical tool, include: base, standard 6D probe and the fixed body of rod, be provided with V-arrangement mounting groove strip, installation mound, standard 6D probe erection column and standard 6D probe mounting groove on the base respectively, V-arrangement mounting groove strip is used for placing by the correction surgical tool, the installation mound is located between V-arrangement mounting groove strip and the standard 6D mounting groove, standard 6D erection column sets up in standard 6D mounting groove, standard 6D probe installation is in standard 6D mounting groove, and inlays the location mutually with standard 6D erection column, it is equipped with the through-hole to open in the installation mound, the fixed body of rod is worn to establish respectively in the through-hole of installation mound and by the correction surgical tool, be provided with the mounting screw on the installation mound, the mounting screw thread runs through in the through-hole and with the fixed body of rod butt.
Preferably, the center of the upper surface of the standard 6D probe is preset pose information, an X axis of the center point is consistent with the direction of the V-shaped mounting groove strip, a Z axis is perpendicular to the upper surface of the standard 6D probe and the upper surface of the base, and a Y axis is perpendicular to the X axis and consistent with the transverse direction of the base.
Preferably, the fixing rod body part is positioned at the installation position of the puncture needle in the corrected surgical tool, and the installation direction of the fixing rod body is consistent with the installation direction of the puncture needle.
Preferably, the fixed shaft body is parallel to the X-axis direction of a standard 6D probe.
Preferably, the centre line of the upper surface of the V-shaped mounting channel bar passes through the centre point of a standard 6D probe.
Preferably, a V-shaped guide groove for fixing the fixing rod body is arranged in the through hole on the mounting pier, and the mounting screw is positioned right above the V-shaped guide groove.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the utility model discloses a V-arrangement mounting groove strip and the fixed body of rod carry out position location to being rectified operation instrument, make by rectifying operation instrument and standard 6D probe holding position fixing to be convenient for rectify.
2. The utility model discloses a correcting unit has the installation simply, stabilizes firm advantage.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of a configuration of a surgical tool being calibrated;
fig. 2 is a schematic structural view of the pose information correction device of the surgical tool of the present invention;
FIG. 3 is a schematic diagram of coordinate dimensions of the pose information correction device of the surgical tool and the corrected surgical tool after installation;
FIG. 4 is a diagram of the pose information correction device of the surgical tool and the corrected installation mode of the surgical tool;
FIG. 5 is a partial installation schematic of a calibrated surgical tool;
fig. 6 is a structural dimension diagram of a standard 6D probe.
Description of reference numerals:
clamp 1V shaped mounting groove bar 7
V-groove 101 mounting pier 8
Locking screw 3 mounting screw 11
Sensor mounting box 4 fixed rod body 12
6D sensor 5 base 13
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. All of which belong to the protection scope of the present invention.
The utility model discloses a position appearance information correcting unit of operation instrument for rectify operation navigation assistance-localization real-time instrument, as shown in fig. 1, operation navigation assistance-localization real-time instrument includes: the puncture needle detection device comprises a clamp 1, wherein a locking screw 3 used for fixing a puncture needle 2 to be detected is arranged on the clamp 1, a sensor mounting box 4 is installed on the side face of the clamp 1, a 6D sensor 5 is arranged in the sensor mounting box 4, and a sensor mounting cover 6 is arranged on one side, away from the clamp 1, of the sensor mounting box 4. A groove with a U-shaped section is formed in the clamp 1, a V-shaped groove 101 is formed in one side face of the groove in the clamp 1, the extending direction of the V-shaped groove 101 is consistent with the Z-axis direction of the 6D sensor 5, and the circumferential side face of the puncture needle 2 to be tested is in close contact with the two side faces of the V-shaped groove 101 through the locking screw 3. The position of the needle point of the puncture needle needs to be acquired in real time during the operation, so the position information of the 6D sensor needs to be corrected to the lowest point part of the V-shaped groove 101 close to the needle point side of the puncture needle, and the position information of the needle point can be converted according to the length of the needle point.
As shown in fig. 2 to 5, the utility model discloses a correcting unit includes: the device comprises a base 13, a standard 6D probe 14 and a fixed rod body 12, wherein the base 13 is respectively provided with a V-shaped mounting groove strip 7, a mounting pier 8, a standard 6D probe mounting column 9 and a standard 6D probe mounting groove 10;
the V-shaped mounting groove strip 7 is used for placing a corrected surgical tool, the parallelism between the bottom of a mounting puncture needle in the corrected surgical tool and the upper surface of the base 13 is consistent, the height of a calibration point of the corrected surgical tool and the lowest point of the V-shaped structure of the mounting pier 8 is consistent, and the central line of the upper surface of the V-shaped mounting groove strip 7 passes through the center of the standard 6D probe 14.
The standard 6D mounting column is arranged in a standard 6D mounting groove 10, and the standard 6D probe is arranged in the standard 6D mounting groove 10 and is embedded and positioned with the standard 6D mounting column. The center of the upper surface of the standard 6D probe 14 is preset pose information, and the center point T1 (Tx 1, ty1, tz 1) is provided, wherein the X axis is consistent with the direction of the V-shaped mounting groove strip 7, the Z axis is perpendicular to the upper surface of the standard 6D probe 14 and the upper surface of the base 13, the Y axis is perpendicular to the X axis and consistent with the transverse direction of the base 13, and the standard 6D probe 14 is used as a reference point to calibrate the 6D sensor in the corrected surgical tool.
The fixing rod body 12 is partially positioned at the installation position of the puncture needle in the corrected surgical tool, and the installation direction of the fixing rod body 12 is consistent with the installation direction of the puncture needle. The fixed shaft body 12 is parallel to the X-axis direction of a standard 6D probe 14. The fixing rod body 12 is used for ensuring that the corrected operation tool cannot slide on the V-shaped mounting groove strip 7, and ensuring that the lowest point of the tail end of the V-shaped structure in the corrected operation tool is at a height H from the upper plane of the tool. The centre line of the upper surface of the V-shaped mounting channel bar 7 passes through the centre point T1 of the standard 6D probe 14.
The standard 6D probe mounting column 9 is used for mounting and fixing a standard 6D probe 14, and the position of a sensor of the standard 6D probe 14 is ensured to be unchanged relative to the tail end of the V-shaped mounting groove strip 7.
The pose information of the standard 6D probe 14 is calibrated by a standard, the sensing pose information is located at the center of the front surface of the probe, and an xyz rectangular coordinate system is established here, as shown in fig. 6, the X axis is the direction of the V-shaped mounting groove 7, the Y axis is the same as the connecting line direction of two columns of the standard 6D probe mounting column 9, the Z axis is perpendicular to the upper surface of the calibration tool, and the coordinate system is the same as the sensing pose direction in the standard probe.
When all the structure fixing is completed, the attitude information T1 (Tx 1, ty1, tz1, rx1, ry1, rz 1) of the standard 6D probe 14 and the 6D sensor attitude information T2 (Tx 2, ty2, tz2, rx2, ry2, rz 2) of the surgical tool to be corrected are read, and the deviation (dx, dy, dz, dRx, dRy, dRz) of the attitudes of the T1 and T2 positions is calculated and stored in the memory chip.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the essential spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (6)
1. A posture information correcting apparatus of a surgical tool, characterized by comprising: base, standard 6D probe and the fixed body of rod, be provided with V-arrangement mounting groove strip, installation mound, standard 6D probe erection column and standard 6D probe mounting groove on the base respectively, V-arrangement mounting groove strip is used for placing by the correction surgical tool, the installation mound is located between V-arrangement mounting groove strip and the standard 6D mounting groove, standard 6D erection column sets up in standard 6D mounting groove, standard 6D probe installation is in standard 6D mounting groove, and inlays the location mutually with standard 6D erection column, it is equipped with the through-hole to open in the installation mound, the fixed body of rod is worn to establish respectively in the through-hole of installation mound and by the correction surgical tool, be provided with the mounting screw on the installation mound, the mounting screw thread runs through in the through-hole and with the fixed body of rod butt.
2. The pose information correction apparatus of a surgical tool according to claim 1, characterized in that: the standard 6D probe is characterized in that the center of the upper surface of the standard 6D probe is preset pose information, the X axis of the center point is consistent with the direction of the V-shaped mounting groove strip, the Z axis is perpendicular to the upper surface of the standard 6D probe and the upper surface of the base, and the Y axis is perpendicular to the X axis and consistent with the transverse direction of the base.
3. The pose information correction apparatus of a surgical tool according to claim 1, characterized in that: the fixing rod body is partially positioned at the installation position of the puncture needle in the corrected surgical tool, and the installation direction of the fixing rod body is consistent with that of the puncture needle.
4. The pose information correction apparatus of a surgical tool according to claim 2, characterized in that: the fixed rod body is parallel to the X-axis direction of the standard 6D probe.
5. The pose information correction apparatus of a surgical tool according to claim 2, characterized in that: the center line of the upper surface of the V-shaped mounting groove strip passes through the center point of the standard 6D probe.
6. The pose information correction apparatus of a surgical tool according to claim 1, characterized in that: the mounting pier is provided with a V-shaped guide groove used for fixing the fixing rod body in the through hole, and the mounting screw is positioned right above the V-shaped guide groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222130380.3U CN218870470U (en) | 2022-08-12 | 2022-08-12 | Pose information correcting device for surgical tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222130380.3U CN218870470U (en) | 2022-08-12 | 2022-08-12 | Pose information correcting device for surgical tool |
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| Publication Number | Publication Date |
|---|---|
| CN218870470U true CN218870470U (en) | 2023-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222130380.3U Active CN218870470U (en) | 2022-08-12 | 2022-08-12 | Pose information correcting device for surgical tool |
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| CN (1) | CN218870470U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115252131A (en) * | 2022-08-12 | 2022-11-01 | 上海精劢医疗科技有限公司 | Pose information correction method for surgical tool |
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2022
- 2022-08-12 CN CN202222130380.3U patent/CN218870470U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115252131A (en) * | 2022-08-12 | 2022-11-01 | 上海精劢医疗科技有限公司 | Pose information correction method for surgical tool |
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