CN219126683U - Plate-shaped positioning device - Google Patents
Plate-shaped positioning device Download PDFInfo
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- CN219126683U CN219126683U CN202320138762.2U CN202320138762U CN219126683U CN 219126683 U CN219126683 U CN 219126683U CN 202320138762 U CN202320138762 U CN 202320138762U CN 219126683 U CN219126683 U CN 219126683U
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Abstract
The utility model discloses a plate-shaped positioning device, and relates to the field of surgical robot systems. The technical scheme is characterized by comprising a positioning plate, wherein the front surface of the positioning plate is provided with visual identification patterns, and the back surface of the positioning plate is used as a supporting surface; the positioning plate is provided with a plurality of positioning beads capable of imaging in X-rays. The utility model adopts a very simplified design on the basis of realizing the positioning function, and the positioning plate not only serves as a carrier for positioning beads and visual identification patterns, but also can form a support per se; when in use, the positioning plate can be placed according to the needs, can be placed on a patient, can also be placed on a bracket, is flexible and convenient to use, has a simple structure, is light in weight and is convenient to store; when the positioning device is used, any form of adjustment is not needed, and only a proper placement position is selected, so that the positioning precision is guaranteed.
Description
Technical Field
The present utility model relates to the field of surgical robotic systems, and more particularly to a plate-like positioning device.
Background
In the orthopedic robotic surgery, a positioning scale (may also be referred to as a tracer, a marker, a positioning plate, etc.) is an important positioning device for spatial positioning, and directly affects the positioning accuracy of the mechanical arm. The existing positioning scale design basically has two forms, one is arranged on the skeleton of a human body, so that real-time tracking and positioning in operation are facilitated; the other is to be arranged on a frame outside the human body, and the operation area is withdrawn after the operation area is used up. In addition, there are now also positioning scales that are placed directly on the human body without the need for additional shelves for support.
For example, the prior Chinese patent with the publication number of CN114587594B discloses a placement type operation positioning device, which comprises a positioning panel and a positioning bracket connected with the positioning panel, wherein the positioning bracket and the positioning panel cooperate to form a support for the device; the positioning panel and the positioning bracket are respectively provided with a metal piece, and the metal pieces on the positioning panel and the positioning bracket are matched in an X-ray image to form three-dimensional coordinates; the front surface of the positioning panel is provided with a visual mark; the positioning support or the positioning panel is provided with an auxiliary positioning connection structure.
The positioning device in the above patent aims to achieve two effects simultaneously, namely, three-dimensional information is directly acquired, and the positioning device is directly placed on the body surface of a patient. That is, the technical direction is biased toward multifunction, and such technical direction limits the room for improvement of the positioning device.
Disclosure of Invention
Aiming at the defects existing in the prior art, the utility model aims to provide a plate-shaped positioning device which is basically in a flat plate shape, namely has a very thin thickness and a larger plane, adopts extremely simplified design on the basis of realizing the positioning function, does not have any mechanical connection structure, and can be used as a carrier for positioning beads and visual identification patterns and also can form a support; when in use, the positioning plate can be placed according to the needs, can be placed on a patient, can also be placed on a bracket, is flexible and convenient to use, has a simple structure, is light in weight and is convenient to store; when the positioning device is used, any form of adjustment is not needed, and only a proper placement position is selected, so that convenience and positioning accuracy are guaranteed.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
a plate-shaped positioning device comprises a positioning plate and a positioning piece arranged on the positioning plate; the locating piece comprises a visual identification pattern arranged on the front face of the locating plate, and the back face of the locating plate is used as a supporting face.
Further, the positioning member further comprises a plurality of positioning beads capable of imaging in X-rays.
Further, the positioning device further comprises a fixed bushing, the positioning beads are fixed in the fixed bushing, and the positioning plate is provided with a positioning groove matched with the fixed bushing.
Further, the fixed bushing is in interference fit with the positioning groove, or is in threaded connection with the positioning groove.
Further, the fixing bushing is injection molded on the positioning bead.
Further, the positioning device further comprises a compression column; the positioning plate is provided with a first groove matched with the compression column and a second groove which is arranged on the inner bottom wall of the first groove and matched with the positioning bead; the compression column is matched with the second groove to limit the positioning beads, so that the positioning beads are fixed relative to the positioning plate.
Further, the compression column is in interference fit with the first groove, or is in threaded connection with the first groove.
Further, the positioning plate is injection molded on the positioning beads, so that the positioning beads are fixed in the positioning plate;
or, the locating plate comprises a first locating plate and a second locating plate which are fixedly connected, and the locating bead is clamped between the first locating plate and the second locating plate.
Further, the front of the locating plate is provided with a sinking groove, and the visual identification patterns are arranged on the bottom wall in the sinking groove.
Further, the positioning beads are embedded in the front face of the positioning plate and are blocked by the visual identification patterns attached to the front face of the positioning plate.
In summary, the utility model has the following beneficial effects:
1. the positioning plate is designed in an integral molding way with extremely simplified structure, no mechanical connection exists, and the problem of inaccurate positioning caused by mechanical assembly tolerance does not exist; compared with the complicated technical directions of the multi-degree-of-freedom mechanical adjustable structure and the like in the prior art, the utility model adopts the opposite extremely simplified technical directions; the positioning device with extremely simplified design has the advantages of simple structure, convenient use, light weight, convenient preservation and portability; when the positioning device is used, any form of adjustment is not needed, and only a proper placement position is selected, so that the design is simplified greatly, and the positioning precision is guaranteed;
2. the positioning beads and the visual identification patterns are matched to realize the positioning function, and the positioning plate not only serves as a carrier of the positioning beads and the visual identification patterns, but also can form a support, namely the back surface of the positioning plate serves as a supporting surface; when in use, the positioning plate can be placed according to the needs, can be placed on a patient, and can also be placed on a bracket, so that the use is flexible and convenient;
3. the positioning beads are mounted in an auxiliary mode through the fixing bushing or the pressing column, deformation of the positioning beads during mounting is avoided, accuracy of a three-dimensional coordinate system is guaranteed, and mounting accuracy of the positioning beads is improved.
Drawings
FIG. 1 is a schematic diagram of a plate positioning device in embodiment 1;
FIG. 2 is a schematic diagram of a plate positioning device in embodiment 1;
FIG. 3 is a schematic diagram of a plate positioning device in the third embodiment 1;
FIG. 4 is a schematic diagram of a plate positioning device in embodiment 1;
fig. 5 is a schematic structural diagram of a plate positioning device in embodiment 2.
In the figure: 1. a positioning plate; 11. sinking grooves; 12. a positioning groove; 121. a first groove; 122. a second groove; 2. a visual identification pattern; 3. positioning beads; 4. fixing the bushing; 5. and (5) compacting the column.
Description of the embodiments
The present utility model will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present utility model and is not to be construed as limiting the present utility model, and modifications to the present embodiment, which may not creatively contribute to the present utility model as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present utility model.
Example 1:
a plate-shaped positioning device, referring to fig. 1 to 4, comprises a positioning plate 1, wherein the front surface of the positioning plate 1 is provided with a visual identification pattern 2, and the back surface of the positioning plate 1 is used as a supporting surface; a plurality of positioning beads 3 capable of imaging in X-rays are arranged on the positioning plate 1; the plurality of positioning beads 3 on the positioning plate 1 are used for imaging in X-rays, and then the imaging of the plurality of positioning beads 3 is used for determining the position of the orthopedic operation, namely the positioning beads play a role in positioning the position of the operation; the visual identification pattern 2 on the front surface of the positioning plate 1 is used for visual identification by a binocular camera on the surgical robot so as to establish a mapping relation between a robot coordinate system and a positioning device coordinate system, determine the tail end coordinates of a mechanical arm of the robot for the surgical robot and track the tail end coordinates in real time, and navigate and position the tail end coordinates to an operation area of a patient to lay a foundation; that is, the positioning beads 3 are matched with the visual identification patterns 2 to realize the navigation and positioning functions; the positioning plate 1 not only serves as a carrier for the positioning beads 3 and the visual identification patterns 2, but also can form a support by itself, namely the back surface of the positioning plate 1 serves as a supporting surface; when in use, the positioning plate 1 can be placed according to the needs, can be placed on a patient, can also be placed on a bracket, and is flexible and convenient to use; that is, in contrast to the multifunctional, complicated technical direction of the prior art, the present embodiment employs a greatly simplified technical direction opposite thereto; the positioning device with extremely simplified design can only consist of the positioning plate 1, the visual identification pattern 2 and a plurality of positioning beads 3, and has the advantages of simple structure, convenient use, light weight and convenient preservation; the visual identification patterns and the positioning beads 3 are fixed relative to the positioning plate 1, and any form of adjustment is not needed when the positioning plate is used, and only proper placement positions are selected, so that the positioning accuracy is guaranteed.
Referring to fig. 1 to 4, preferably, the positioning device further comprises a fixing bushing 4, the positioning beads 3 are fixed in the fixing bushing 4, and the positioning plate 1 is provided with a positioning groove 12 matched with the fixing bushing 4; the positioning beads 3 can be lead beads, steel beads or tungsten beads; wherein, lead beads are softer, if the lead beads are directly pressed into the grooves, the lead beads are easy to deform, the deformed lead beads are not in a regular circle shape in imaging, which affects the software to identify the imaging of the positioning beads 3 in an X-ray imaging device, for example, because the software is easy to generate larger errors in identifying the center of the image of the positioning beads 3 when the positioning beads 3 are in imaging, and because the positioning beads 3 are used for positioning the operation position, if the software is not identified accurately, the calculation of the operation position is inaccurate, thereby affecting the positioning accuracy of the operation navigation positioning system; of course, the steel beads or tungsten beads may also be slightly deformed; in the embodiment, the positioning bead 3 is fixed in the fixed bushing 4, the fixed bushing 4 is used for protecting the positioning bead 3, then the fixed bushing 4 is installed in the positioning groove 12, the fixed bushing 4 can reduce or even eliminate the installation stress transmitted to the positioning bead 3, and the deformation of the positioning bead 3 is avoided, so that the accuracy of operation navigation positioning is ensured, and the installation accuracy of the positioning bead 3 is improved; preferably, the fixing bush 4 is injection-molded on the positioning bead 3, so as to avoid deformation of the positioning bead 3 and ensure the stability of the positioning bead 3 in the fixing bush 4; that is, if the positioning bead 3 is directly pressed into the fixing bush 4, deformation of the positioning bead 3 may be caused, and injection molding of the fixing bush 4 on the positioning bead 3 can avoid deformation of the positioning bead 3; the fixed bushing 4 is in interference fit with the positioning groove 12, or the fixed bushing 4 is in threaded connection with the positioning groove 12; preferably, the fixed bushing 4 is in threaded connection with the positioning groove 12, namely, the outer side wall of the fixed bushing 4 is provided with external threads, and the inner side wall of the positioning groove 12 is provided with internal threads, so that the fixed bushing 4 is convenient to install, and radial pressure is hardly generated during installation; in the embodiment, the fixed bushing 4 is cylindrical, so that the processing is convenient, and the positioning beads 3 are observed; of course, in other alternative embodiments, the fixing bush 4 may also cover the positioning bead 3 therein, so that the positioning bead 3 is not visible, which is not limited herein; that is, after the fixing bush 4 is adopted, the positioning device is composed of the positioning plate 1, the visual identification pattern 2, the plurality of positioning beads 3 and the plurality of fixing bushes 4.
Referring to fig. 1 to 4, in other alternative embodiments, in order to avoid deformation of the positioning bead 3 during installation, the positioning plate 1 may be injection molded on the positioning bead 3, so that the positioning bead 3 is fixed inside the positioning plate 1, which not only can effectively avoid deformation of the positioning bead 3, but also is beneficial to improving the position accuracy of the positioning bead 3, and meanwhile, the assembly procedure of the positioning bead 3 can be omitted; in other alternative embodiments, in order to avoid deformation of the positioning bead 3 during installation, the positioning plate 1 may be further provided as a first positioning plate and a second positioning plate that are fixedly connected, and the positioning bead 3 is sandwiched between the first positioning plate and the second positioning plate.
Referring to fig. 1 to 4, the number of the positioning beads 3 is at least four, the centers of all the positioning beads 3 are located on the same plane, and the centers of any three positioning beads 3 are not on the same straight line; respectively irradiating the positioning plate 1 from two different angles by using imaging equipment, and obtaining a three-dimensional coordinate system after two imaging processes; the number of the positioning beads 3 and the installation positions of the positioning beads 3 on the positioning plate 1 can be adjusted according to the needs, and the positioning beads are not limited in the process; the visual identification pattern 2 can be directly formed on the positioning plate 1, for example, laser marking, or can be attached to the front surface of the positioning plate 1; specifically, in this embodiment, the positioning bead 3 is embedded in the front surface of the positioning plate 1 and is blocked by the visual identification pattern attached to the front surface of the positioning plate 1; that is, the visual identification pattern 2 closes the opening of the positioning groove 12, so that the disinfection liquid can be prevented from entering the positioning groove 12 to corrode the positioning beads 3; preferably, the front of the locating plate 1 is provided with a sinking groove 11, and the visual identification pattern 2 is arranged on the inner bottom wall of the sinking groove 11, so that the visual identification pattern 2 can be prevented from being scratched.
Example 2:
referring to fig. 1 to 5, a plate-shaped positioning device is based on embodiment 1, and the difference between this embodiment and embodiment 1 is that: the positioning device in the embodiment also comprises a compression column 5; the positioning plate 1 is provided with a first groove 121 matched with the compression column 5 and a second groove 122 which is arranged on the inner bottom wall of the first groove 121 and matched with the positioning bead 3; the compression column 5 cooperates with the second groove 122 to limit the positioning bead 3, so that the positioning bead 3 is fixed relative to the positioning plate 1; in the embodiment, the positioning beads 3 are limited by the compression columns 5, so that compared with the case that the positioning beads 3 are directly pressed into the grooves, the deformation of the positioning beads 3 can be reduced or even eliminated, the precision of a three-dimensional coordinate system is ensured, and the installation precision of the positioning beads 3 is improved; the compression column 5 is in interference fit with the first groove 121, or the compression column 5 is in threaded connection with the first groove 121; preferably, the compression column 5 is in threaded connection with the first groove 121, so that the installation position of the compression column 5 is conveniently controlled, and the compression column 5 is prevented from extruding the positioning beads 3; preferably, the compression column 5 is made of plastic material, so that the compression column 5 does not image in X-rays; that is, after the compression column 5 is adopted, the positioning device is composed of the positioning plate 1, the visual identification pattern 2, the plurality of positioning beads 3 and the plurality of compression columns 5.
Claims (9)
1. A plate-like positioning device, characterized in that: comprises a positioning plate and a positioning piece arranged on the positioning plate; the positioning piece comprises a visual identification pattern arranged on the front surface of the positioning plate, and the back surface of the positioning plate is used as a supporting surface;
the positioning piece further comprises positioning beads capable of imaging in X-rays, and the number of the positioning beads is a plurality.
2. Plate-like positioning device according to claim 1, characterized in that: the positioning device further comprises a fixed bushing, the positioning beads are fixed in the fixed bushing, and the positioning plate is provided with a positioning groove matched with the fixed bushing.
3. Plate-like positioning device according to claim 2, characterized in that: the fixed bushing is in interference fit with the positioning groove, or is in threaded connection with the positioning groove.
4. Plate-like positioning device according to claim 2, characterized in that: the fixed bushing is injection molded on the positioning bead.
5. Plate-like positioning device according to claim 1, characterized in that: the positioning device further comprises a compression column; the positioning plate is provided with a first groove matched with the compression column and a second groove which is arranged on the inner bottom wall of the first groove and matched with the positioning bead; the compression column is matched with the second groove to limit the positioning beads, so that the positioning beads are fixed relative to the positioning plate.
6. The plate-like positioning device according to claim 5, wherein: the compression column is in interference fit with the first groove, or is in threaded connection with the first groove.
7. Plate-like positioning device according to claim 1, characterized in that: the positioning plate is injection molded on the positioning beads, so that the positioning beads are fixed in the positioning plate;
or, the locating plate comprises a first locating plate and a second locating plate which are fixedly connected, and the locating bead is clamped between the first locating plate and the second locating plate.
8. Plate-like positioning device according to claim 1, characterized in that: the front of the locating plate is provided with a sinking groove, and the visual identification patterns are arranged on the bottom wall in the sinking groove.
9. Plate-like positioning device according to claim 1, characterized in that: the positioning beads are embedded in the front face of the positioning plate and are blocked by visual identification patterns attached to the front face of the positioning plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320138762.2U CN219126683U (en) | 2023-01-28 | 2023-01-28 | Plate-shaped positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320138762.2U CN219126683U (en) | 2023-01-28 | 2023-01-28 | Plate-shaped positioning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219126683U true CN219126683U (en) | 2023-06-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320138762.2U Active CN219126683U (en) | 2023-01-28 | 2023-01-28 | Plate-shaped positioning device |
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|---|---|
| CN (1) | CN219126683U (en) |
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2023
- 2023-01-28 CN CN202320138762.2U patent/CN219126683U/en active Active
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