CN218979234U

CN218979234U - Probe calibration device

Info

Publication number: CN218979234U
Application number: CN202222792247.4U
Authority: CN
Inventors: 王刚; 赵海霞; 谢永召
Original assignee: Beijing Baihui Weikang Technology Co Ltd
Current assignee: Beijing Baihui Weikang Technology Co Ltd
Priority date: 2022-10-21
Filing date: 2022-10-21
Publication date: 2023-05-09
Anticipated expiration: 2032-10-21

Abstract

The utility model provides a probe calibration device. The probe calibration device comprises: the device comprises a base, a calibration plate, a limiting mechanism and a probe assembly; the calibration plate is detachably fixed on the base, and the upper surface of the calibration plate is provided with identification points; the first end of the limiting mechanism is detachably and fixedly arranged on the upper surface of the calibration plate, a probe hole is formed in the middle of the second end of the limiting mechanism, and the identification point corresponds to the axis of the probe hole; the first end of the probe assembly is inserted into the probe hole of the limiting mechanism. So that the limiting mechanism limits the probe assembly, and the first end part of the probe assembly is contacted with the identification point through the probe hole, so that the end part of the first end of the probe assembly is aligned with the identification point. The utility model solves the technical problem that the coordinate of the identification mark point of the camera is inaccurate due to the position deviation generated between the tip of the probe and the mark point, improves the positioning and calibrating precision in the operation process, reduces the error and improves the working efficiency in the operation process.

Description

Probe calibration device

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a probe calibrating device.

Background

The rapid development of society has promoted the popularization of robot trade, and with this, surgical robots have also been developed rapidly. The surgical robot mainly adopts a mode of combining a host machine (also called an industrial personal computer) with the mechanical arm, controls the motion pose of the mechanical arm through the host machine and the mechanical arm controller, operates surgical tools at the tail end of the mechanical arm, reduces the fatigue of doctors, and also reduces errors caused by manual treatment of patients. The surgical robot host can be controlled by the system, and how to accurately operate the focus part of the patient can involve the navigation and positioning function. Positioning navigation can be performed by combining the positioning mark points with the camera through conversion relations among different coordinate systems.

The surgical robot operator needs to position the marking point before surgery, and positioning is generally achieved through cooperation of the probe, the marking point and the camera, but the probe calibrating device in the prior art needs to hold the probe to enable the probe tip of the probe to be in contact with the marking point to achieve positioning, and the camera is used for detecting the coordinate system of the probe tip and the marking point, but when the probe is held by the hand, deviation of positions between the probe tip of the probe and the marking point can occur, and therefore the coordinate of the marking point identified by the camera is inaccurate, and the problem of errors in the surgical process is caused.

In summary, when the existing probe calibration clamping device is used for holding a probe, the position deviation between the tip of the probe and the marking point exists, so that the coordinate of the camera identification marking point is inaccurate, and the technical problem of errors in the operation process is caused.

Disclosure of Invention

In order to solve the problems, the utility model provides a probe calibration device to solve the technical problems that the probe calibration device generates position deviation between a probe tip and a marking point of a probe, so that the coordinates of a camera identification marking point are inaccurate, and errors occur in the operation process.

According to a first aspect of the present utility model, there is provided a probe calibration device comprising: a base; the calibration plate is detachably fixed on the base, and the upper surface of the calibration plate is provided with identification points; the first end of the limiting mechanism is detachably and fixedly arranged on the upper surface of the calibration plate, the middle part of the second end of the limiting mechanism is provided with a probe hole, and the identification point corresponds to the axis of the probe hole; the first end of the probe assembly is inserted into the probe hole of the limiting mechanism so that the limiting mechanism limits the probe assembly, and the first end of the probe assembly is contacted with the identification point through the probe hole so that the end of the first end of the probe assembly is aligned with the identification point.

Optionally, the base has inclined plane, bottom surface and supporting surface shape structure, bottom surface and supporting surface fixed connection, inclined plane and bottom surface fixed connection, and set up with preset angle between inclined plane and the bottom surface.

Optionally, the lower surface of the calibration plate is detachably disposed on the inclined surface.

Optionally, the limiting mechanism comprises a support column and an inner core; the first end detachable of support column sets up in the upper surface of demarcating the board, and the second end of support column is equipped with the supporting mouth, and the first end of inner core is inserted in the supporting mouth, and the middle part of inner core second end is equipped with the probe hole.

Optionally, the support column comprises a support claw and a support cylinder; the first end detachable of support claw sets up the upper surface at the demarcation board, and the first terminal surface of support section of thick bamboo is fixed to be set up the second end at the support claw, has the interval between support section of thick bamboo and the demarcation board, and the middle part of support section of thick bamboo second end is equipped with the supporting mouth, and the axle center of supporting mouth correspondence probe hole.

Alternatively, the probe holes have a diameter of 4mm, 5mm, 6mm or 7mm.

Optionally, the probe assembly includes a probe and a handle; the first end of the probe is fixedly connected with the first end of the handle, the end part of the second end of the probe is inserted into the probe hole of the inner core so that the inner core fixes the probe, and the end part of the second end of the probe is contacted with the identification point through the probe hole so that the end part of the second end of the probe is aligned with the identification point.

Optionally, a first identifier and a second identifier are arranged on the handle, and the first identifier and the second identifier are arranged on the same plane at preset intervals.

Optionally, the first marker is disposed at an end of the second end of the handle.

Optionally, the upper surface of the calibration plate is provided with a third marker.

According to the probe calibration device, the calibration plate is detachably fixed on the base, the marking points are arranged on the upper surface of the calibration plate, the first end of the limiting mechanism is detachably and fixedly arranged on the upper surface of the calibration plate, the middle part of the second end of the limiting mechanism is provided with the probe holes, the first end of the probe assembly is inserted into the probe holes of the limiting mechanism, so that the limiting mechanism limits the probe assembly, the position of the probe assembly is further prevented from shifting, the marking points correspond to the axes of the probe holes, the first end of the probe assembly is contacted with the marking points through the probe holes, the end parts of the first end of the probe assembly are aligned with the marking points, and the coordinate precision of the camera for identifying the marking points is improved. The probe calibration device solves the technical problems of large positioning calibration error and large error in the operation process caused by inaccurate coordinates of the identification mark points of the camera due to the position deviation generated between the tip of the probe and the mark points, and simultaneously improves the working efficiency in the operation process.

Drawings

FIG. 1 is a schematic view of a first view of a probe calibration device according to the present utility model;

FIG. 2 is a schematic view of a structure of a second view angle of a probe calibration device according to the present utility model;

FIG. 3 is a schematic view of a combination of a base and a calibration plate in a probe calibration device according to the present utility model;

FIG. 4 is a schematic diagram of a combination of a base, a calibration plate and a limiting mechanism in a probe calibration device according to the present utility model;

FIG. 5 is a schematic view of a combination of a base, a calibration plate and a support column in a probe calibration device according to the present utility model;

FIG. 6 is a schematic diagram of a support column in a probe calibration device according to the present utility model;

FIG. 7 is a schematic view of the structure of an inner core of a probe calibration device according to the present utility model;

FIG. 8 is a schematic view of the combination of the core and the probe assembly in a probe calibration device according to the present utility model;

FIG. 9 is a schematic diagram of a probe assembly in a probe calibration device according to the present utility model.

List of reference numerals:

10. a base; 11. an inclined surface; 12. a bottom surface; 20. a calibration plate; 22. identifying points; 22. a third identifier; 30. a limiting mechanism; 31. a probe hole; 32. a support column; 321. a support opening; 322. a supporting claw; 323. a support cylinder; 33. an inner core; 40. a probe assembly; 41. a probe; 42. a handle; 422. a first identifier; 422. a second identifier.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the embodiments of the present utility model will be described in further detail with reference to the accompanying drawings.

In the description of the present utility model, it should be understood that the directions or positional relationships indicated by the terms "center", "upper", "lower", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the term "connected" should be interpreted broadly, and for example, it may be a fixed connection, a removable connection, or an integral connection; may be a mechanical connection; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1 to 3, the utility model provides a probe calibration device, which can solve the problem that the probe calibration device has the deviation of the position between the tip of a probe and a mark point, thereby causing inaccurate coordinates of a camera identification mark point and causing errors in the operation process, and improves the working efficiency in the operation process.

The probe calibration device provided by the utility model comprises a base 10, a calibration plate 20, a limiting mechanism 30 and a probe assembly 40, wherein the calibration plate 20 is detachably fixed on the base 10, and the upper surface of the calibration plate 20 is provided with a marking point 21; the first end of the limiting mechanism 30 is detachably and fixedly arranged on the upper surface of the calibration plate 20, the middle part of the second end of the limiting mechanism 30 is provided with a probe hole 31, and the identification point 21 corresponds to the axis of the probe hole 31; and a probe assembly 40, a first end of the probe assembly 40 is inserted into the probe hole 31 of the limiting mechanism 30 such that the limiting mechanism 30 limits the probe assembly 40, and a first end portion of the probe assembly 40 contacts the marking point 21 through the probe hole 31 such that the first end portion of the probe assembly 40 is aligned with the marking point 21.

The probe calibration device provided by the utility model is detachably fixed on the base 10 through the calibration plate 20, the upper surface of the calibration plate 20 is provided with the identification point 21, the first end of the limiting mechanism 30 is detachably and fixedly arranged on the upper surface of the calibration plate 20, the middle part of the second end of the limiting mechanism 30 is provided with the probe hole 31, the first end of the probe assembly 40 is inserted into the probe hole 31 of the limiting mechanism 30, so that the limiting mechanism 30 limits the probe assembly 40, the position of the probe assembly 40 is further prevented from shifting, the identification point 21 corresponds to the axis of the probe hole 31, the first end of the probe assembly 40 is contacted with the identification point 21 through the probe hole 31, so that the end part of the first end of the probe assembly 40 is aligned with the identification point 21, and the coordinate precision of the identification point 21 of a camera is improved. The probe calibration device solves the technical problems of large positioning calibration error and large error in the operation process caused by inaccurate coordinates of the identification mark points of the camera due to the position deviation generated between the tip of the probe and the mark points, and improves the working efficiency in the operation process.

Wherein the probe aperture 31 is sized to fit the size of the first end of the probe assembly 40.

The lower surface of the calibration plate 20 is detachably disposed on the base 10 by bolts. The first end of the limiting mechanism 30 is detachably arranged on the upper surface of the calibration plate 20 through bolts. And are not limited herein.

Referring to fig. 1, alternatively, the base 10 has an inclined surface 11, a bottom surface 12 and a supporting surface shape structure, the bottom surface 12 and the supporting surface are fixedly connected, the inclined surface 11 and the supporting surface are fixedly connected, and the inclined surface 11 and the bottom surface 12 are fixedly connected and are disposed at a predetermined angle therebetween.

The angle between the inclined surface 11 and the bottom surface 12 is based on the coordinates of the mark point 21 on the calibration plate 20, which is not limited herein. The preset angle between the inclined surface 11 and the bottom surface 12 can be 30 degrees, 45 degrees, 60 degrees or other angles, and the optimal preset angle range is 30 degrees to 60 degrees

Referring to fig. 4, alternatively, the lower surface of the calibration plate 20 is detachably disposed on the inclined surface 11.

Wherein the inclined surface 11 is arranged so that the camera can better recognize the coordinates of the identification point 21 on the calibration plate 20.

The calibration plate 20 is disposed at a predetermined angle with respect to the bottom surface 12.

Referring to fig. 4 to 5, alternatively, the spacing mechanism 30 includes a support post 32 and an inner core 33; the first end of support column 32 is detachable to be set up in the upper surface of demarcation board 20, and the second end of support column 32 is equipped with supporting mouth 321, and the first end of inner core 33 inserts in supporting mouth 321, and the middle part of inner core 33 second end is equipped with probe hole 31, and the first end of probe subassembly 40 inserts in the probe hole 31 of inner core 33 to make inner core 33 fixed probe subassembly 40, and the first end tip of probe subassembly 40 passes through probe hole 31 and contacts with mark point 21, so that the tip of the first end of probe subassembly 40 aligns with mark point 21.

Wherein the support columns 32 are used to support and secure the core 33. The inner core 33 is used for fixing the probe assembly 40 and limiting the probe assembly 40, so as to prevent the probe assembly 40 from being shifted.

Referring to fig. 6 to 7, alternatively, the support column 32 includes a support claw 322 and a support cylinder 323; the first end detachable of support claw 322 sets up in the upper surface of demarcation board 20, and the first terminal surface of support section of thick bamboo 323 is fixed to be set up in the second end of support claw 322, has the interval between support section of thick bamboo 323 and the demarcation board 20, and the middle part of support section of thick bamboo 323 second end is equipped with the supporting mouth 31, and the axle center of supporting mouth 31 correspondence probe hole 31.

Wherein the support cylinder 323 is spaced from the calibration plate 20, the spacing being arranged to provide for better viewing of the alignment of the marker 21 and the end of the first end of the probe assembly 40 during operation.

Referring to fig. 7, alternatively, the probe holes 31 have a diameter of 4mm, 5mm, 6mm or 7mm.

The diameter of the probe aperture 31 is selected according to the size of the probe assembly 40. The diameter of probe aperture 31 is sized to match the size of probe assembly 40.

Referring to fig. 8 to 9, alternatively, the probe assembly 40 includes a probe 41 and a handle 42; the first end of the probe 41 is fixedly connected to the first end of the handle 42, the end of the second end of the probe 41 is inserted into the probe hole 31 of the core 33 so that the core 33 fixes the probe 41, and the second end of the probe 41 is brought into contact with the identification point 21 through the probe hole 31 so that the end of the second end of the probe 41 is aligned with the identification point 21. The second end of the probe 41 here is the tip of the probe 31. The tip of the probe 31 is in contact with the identification point 21.

The length of the probe 41 is set according to a standard.

Referring to fig. 9, alternatively, a first marker 421 and a second marker 422 are provided on the handle 42, and the first marker 421 and the second marker 422 are disposed on the same plane at a preset interval.

Wherein the first and

second markers

421 and 422 are each a pattern having a plurality of corner features. The spacing between the first and

second markers

421 and 422 is set according to a standard. The sizes of the first and

second markers

421 and 422 are determined according to the actual situation, and are not limited herein, and the pattern shapes of the first and

second markers

421 and 422 are set according to standards.

Referring to fig. 9, alternatively, a first marker 421 is provided at the end of the second end of the handle 42.

Referring to fig. 3, the upper surface of the calibration plate 20 is optionally provided with a third marker 22.

Wherein the third identifier 22 is a pattern having a plurality of corner features. The pattern shape of the third marker 22 is set according to the standard.

In summary, the probe calibration device provided in this embodiment is detachably mounted on the base 10 through the calibration plate 20, the upper surface of the calibration plate 20 is provided with the identification point 21, the first end of the limiting mechanism 30 is detachably and fixedly mounted on the upper surface of the calibration plate 20, the middle part of the second end of the limiting mechanism 30 is provided with the probe hole 31, the first end of the probe assembly 40 is inserted into the probe hole 31 of the limiting mechanism 30, so that the limiting mechanism 30 limits the probe assembly 40, the position of the probe assembly 40 is further prevented from shifting, the identification point 21 corresponds to the axis of the probe hole 31, the end part of the first end of the probe assembly 40 contacts with the identification point 21 through the probe hole 31, so that the end part of the first end of the probe assembly 40 is aligned with the identification point 21, and the coordinate precision of the camera identification point 21 is improved. The probe calibration device solves the technical problems of large positioning calibration error and large error in the operation process caused by inaccurate coordinates of the identification mark points of the camera due to the position deviation generated between the tip of the probe and the mark points, and simultaneously improves the working efficiency in the operation process.

While the utility model has been illustrated and described in detail in the drawings and in the preferred embodiments, the utility model is not limited to the disclosed embodiments, and it will be appreciated by those skilled in the art that many more embodiments of the utility model can be obtained by combining the technical features of the above embodiments, which are also within the scope of the utility model.

Claims

1. A probe calibration device, comprising:

a base (10);

the calibration plate (20), the detachable fixing of the said calibration plate (20) is on the said base (10), the upper surface of the said calibration plate (20) has identification points (21);

the device comprises a calibration plate (20), a limiting mechanism (30), a marking point (21) and a positioning mechanism, wherein the first end of the limiting mechanism (30) is detachably and fixedly arranged on the upper surface of the calibration plate (20), a probe hole (31) is formed in the middle of the second end of the limiting mechanism (30), and the marking point (21) corresponds to the axis of the probe hole (31);

the probe assembly (40), the first end of probe assembly (40) cartridge is in stop gear (30) probe hole (31), so that stop gear (30) is spacing to probe assembly (40), and the first end tip of probe assembly (40) passes through probe hole (31) and contact with identification point (21), so that the tip of the first end of probe assembly (40) is aligned with identification point (21).

2. The probe calibration device according to claim 1, wherein the base (10) has an inclined surface (11), a bottom surface (12) and a supporting surface shape structure, the bottom surface (12) and the supporting surface are fixedly connected, the inclined surface (11) and the bottom surface (12) are fixedly connected, and a preset angle is formed between the inclined surface (11) and the bottom surface (12).

3. Probe calibration device according to claim 2, characterized in that the lower surface of the calibration plate (20) is detachably arranged on the inclined surface (11).

4. The probe calibration device according to claim 1, characterized in that the limit mechanism (30) comprises a support column (32) and an inner core (33);

the first end detachable of support column (32) sets up the upper surface of demarcating board (20), the second end of support column (32) is equipped with supporting mouth (321), the first end cartridge of inner core (33) in supporting mouth (321), the middle part of inner core (33) second end is equipped with probe hole (31).

5. The probe calibration device according to claim 4, characterized in that the support column (32) comprises a support claw (322) and a support cylinder (323);

the first end detachable of supporting claw (322) sets up the upper surface of demarcation board (20), the first terminal surface of supporting section of thick bamboo (323) is fixed to be set up the second end of supporting claw (322), supporting section of thick bamboo (323) with there is the interval between demarcation board (20), the middle part of supporting section of thick bamboo (323) second end is equipped with supporting mouth (321), supporting mouth (321) correspond the axle center of probe hole (31).

6. Probe calibration device according to claim 1, characterized in that the probe holes (31) have a diameter of 4mm, 5mm, 6mm or 7mm.

7. The probe calibration device according to claim 5, characterized in that the probe assembly (40) comprises a probe (41) and a handle (42);

the first end of the probe (41) is fixedly connected with the first end of the handle (42), the end of the second end of the probe (41) is inserted into the probe hole (31) of the inner core (33) so that the inner core (33) fixes the probe (41), and the second end of the probe (41) is contacted with the identification point (21) through the probe hole (31) so that the end of the second end of the probe (41) is aligned with the identification point (21).

8. The probe calibration device according to claim 7, wherein the handle (42) is provided with a first marker (421) and a second marker (422), and the first marker (421) and the second marker (422) are arranged on the same plane at a preset interval.

9. The probe calibration device according to claim 8, characterized in that the first marker (421) is arranged at the end of the second end of the handle (42).

10. Probe calibration device according to claim 1, characterized in that the upper surface of the calibration plate (20) is provided with a third marker (22).