CN219207150U - Electric drill with tracer - Google Patents
Electric drill with tracer Download PDFInfo
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- CN219207150U CN219207150U CN202221671059.XU CN202221671059U CN219207150U CN 219207150 U CN219207150 U CN 219207150U CN 202221671059 U CN202221671059 U CN 202221671059U CN 219207150 U CN219207150 U CN 219207150U
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Abstract
The utility model proposes an electric drill with a tracer, comprising: electric drill; a mounting portion detachably mounted on the electric drill, the mounting portion including a direction adjustment device; and the tracer is arranged on the direction adjusting device. The electric drill can track the electric drill, the guide pin, the Kirschner wire and the like in the process of placing the screw in the operation, improves the operation nail placing efficiency and shortens the operation time. The direction adjusting device can adjust the direction of the tracer according to application requirements, so that the problem that the tracer cannot be tracked due to shielding is avoided, the operation power tool is rapidly and accurately recalibrated through the calibrating method, and the device is convenient to apply and simple to operate.
Description
Technical Field
The utility model relates to the technical field of medical instruments, relates to a surgical tool navigation technology, and in particular relates to an electric drill with a tracer.
Background
In the orthopedic operation, the screw implantation, the needle holding implantation and other operations are often needed, but at present, doctors mainly rely on experience and multiple X-ray fluoroscopy, the implantation precision is not high, the patient fluoroscopy radiation amount is large, and the operation time is long. In the prior art, a tracer is added to a surgical power tool, and a doctor is guided to perform an implantation operation by tracking the tracer by using an optical tracking system.
Currently, optical tracking devices used clinically for navigational surgery have multiple options for optical positioning tracking systems manufactured by NDI corporation, canada. The infrared light emitted by the binocular position sensor irradiates on surgical equipment or instruments provided with the tracers, the infrared light can be reflected back to the position sensor by the small balls capable of reflecting the infrared light on the tracers, and the position coordinates of the tracers, including positions and angles, are obtained through calculation by the built-in software of the system, so that the corresponding surgical equipment and instruments are positioned and tracked.
However, in the existing navigation device for the surgical power tool, the tracer is generally in a fixed orientation, and the problems that the tracer is shielded and exceeds the range of an optical tracking system in the operation process exist. For example, tracking loss may occur in certain directions or angles during use, or the surgical power tool may need to be moved frequently, rotated, or repositioned to ensure that the surgical power tool is tracked by the optical tracking system.
Therefore, it is desirable to provide a device that facilitates the adjustment of the orientation of the tracer, assists the surgeon in manipulating, improves the accuracy of the procedure, reduces the radiation of the perspective, and shortens the duration of the procedure.
Disclosure of Invention
In order to solve the technical problem, the utility model provides an electric drill with a tracer, which comprises:
electric drill;
a mounting portion detachably mounted on the electric drill, the mounting portion including a direction adjustment device;
and the tracer is arranged on the direction adjusting device.
Further, the direction adjustment device includes a base and a rotating ring rotatably provided on the base, and the tracer is provided on the rotating ring.
Further, the direction adjusting device further comprises a locking device for locking the rotating ring on the base.
Further, the locking device comprises a screw and an adjusting knob, one end of the screw is rotatably arranged on the base, the rotating ring is sleeved on the screw, the other end of the screw is connected to the adjusting knob, and the rotating ring can be locked on the base by rotating the adjusting knob.
Further, the contact surface between the rotating ring and the base has an end face tooth structure.
Further, the base also comprises a spring arranged in the hole of the base, and the end face tooth structure is partially exposed.
Further, the swivel can swivel about the base such that the tracer is located on the top, left or right of the drill.
Further, the tracer comprises a bracket and more than three optical indication points arranged on the bracket, wherein the optical indication points meet the condition that the distance between the two points is not less than 30mm, and the difference of the distances is not less than 5mm.
Further, the drill is powered by a battery that is removably mounted within the handle of the drill.
Further, the electric drill is made of a metal material and can bear high-temperature sterilization.
The utility model provides an electric drill with a tracer, which can track the electric drill, a guide pin, a Kirschner wire and the like in the process of placing a screw in an operation, improve the operation nail placing efficiency and shorten the operation time. The direction adjusting device can adjust the direction of the tracer according to application requirements, so that the problem that the tracer cannot be tracked due to shielding is avoided, the operation power tool is rapidly and accurately recalibrated through the calibrating method, and the device is convenient to apply and simple to operate.
In addition, the electric drill is made of metal materials and can bear high-temperature sterilization. The battery is used for supplying power, so that the operation is convenient. When the electric drill needs to be sterilized at high temperature, the mounting part can be detached, and the mounting part and the tracer are sterilized independently.
Drawings
The foregoing and other objects, features and advantages of the disclosure will be apparent from the following more particular descriptions of exemplary embodiments of the disclosure as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout exemplary embodiments of the disclosure.
Fig. 1 is a schematic view of a mounting portion and a tracer according to an embodiment of the utility model.
Fig. 2 is a partial cross-sectional view of the mounting portion and tracer of an embodiment of the utility model.
Fig. 3 is a schematic diagram of the assembly of the tracer and drill of an embodiment of the utility model.
FIG. 4 is a schematic diagram of a calibration device according to an embodiment of the present utility model.
FIG. 5 is an assembled schematic view of a calibration device according to an embodiment of the present utility model.
Fig. 6 is a schematic illustration of an application of an electric drill with a tracer according to an embodiment of the utility model.
In the figure:
the device comprises a mounting part 1, a direction adjusting device 2, an adjusting knob 3, a tracer 4, a reflecting ball 5, an electric drill 6, a calibrating device 7, a rotating ring 8, a base 9, a screw rod 10, a spring 11, a bearing 12, threads 13 and a stop block 14.
Detailed Description
Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The utility model designs an electric drill with a tracer, which is used for tracking the placement of a screw guide pin, a holding pin and the like in the operation process, and improves the operation accuracy. In addition, a calibration device and a quick calibration method are also provided, and when the needle placement position is changed or the orientation of the tracer is adjusted, the tracer can be recalibrated by the quick calibration method.
The utility model provides an electric drill with a tracer, comprising: electric drill; a mounting portion detachably mounted on the electric drill, the mounting portion including a direction adjustment device; and the tracer is arranged on the direction adjusting device.
The electric drill is preferably a hand-held electric drill, is a medical electric drill, and can meet medical disinfection standards. Preferably battery powered, a rechargeable battery is removably mounted within the drill handle.
Optionally, the direction adjustment device includes a base and a rotating ring rotatably disposed on the base, and the tracer is disposed on the rotating ring. The tracer can rotate along with the rotation ring, can be located the upper portion of electric drill, left side or right side to satisfy more service scenario, can avoid it to be sheltered from through rotating the tracer, influence location tracking.
Further, the direction adjusting device further comprises a locking device for locking the rotating ring on the base. The tracer can be locked after being adjusted to a proper position by arranging the locking device, so that accurate positioning and tracking are realized.
Preferably, the locking device comprises a screw and an adjusting knob, one end of the screw is rotatably arranged on the base, the rotating ring is sleeved on the screw, the other end of the screw is connected to the adjusting knob, and the rotating ring can be locked on the base by rotating the adjusting knob. Alternatively, other locking means may be employed.
Preferably, the contact surface between the rotating ring and the base is provided with an end face tooth structure, so that the tracer can be fixed more stably, and rotation is avoided in use.
Specifically, one end of the screw rod is fixedly connected with the adjusting knob, and the other end of the screw rod is arranged in the base and is in threaded connection with the base. Preferably, a stop block is arranged at the other end of the screw rod and is rotatably clamped at the bottom of the base. The distance between the two end face tooth structures is adjusted by rotating the adjusting knob, and the two end face tooth structures can be locked and unlocked. When the position of the tracer needs to be adjusted, the two end face tooth structures are loosened through the adjusting knob, the rotating ring with the tracer can be freely rotated and adjusted to a proper angle, and after the adjustment is finished, the end face teeth are meshed by rotating the adjusting knob, so that the tracer can be fixed at the proper angle.
Preferably, a spring can be arranged between the two end face tooth structures, the spring is arranged in a hole of the base, sleeved outside the screw rod and positioned at the inner ring of the end face tooth to play a role in supporting and damping. The spring in the middle of the end face tooth structure enables the two ends of the end face tooth to have a certain tensioning force, so that one side of the tracer can hover at any angle, and adjustment is convenient.
Preferably, the optical indication points of the tracer can be luminous bodies or reflecting bodies, the shapes of the optical indication points can be small balls, thin plates with various shapes, prisms with a plurality of reflecting surfaces, cones, tables and the like, and different optical indication points can be selected according to the use scene, so that the optical navigation system can track the optical indication points, and the position of the tracer can be determined. The optical indicator dots are preferably infrared reflective beads, more preferably three or more infrared reflective beads.
Preferably, the plurality of optical pointing devices are located on the same plane, but not on the same straight line. Preferably, more than three optical indication points are arranged, so that the plane where the optical indication points are located can be determined, more preferably, four optical indication points are arranged, and the spatial position where the tracer is located can be calculated and calibrated more accurately.
Preferably, the plurality of optical pointing points satisfy a distance between two points of not less than 30mm and a difference in distance of not less than 5mm.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
As shown in fig. 1 and 2, the mounting portion 1 includes a direction adjustment device 2. The direction adjusting device 2 comprises a base 9 and a rotating ring 8, wherein an end face tooth structure is arranged between the rotating ring 8 and the base 9, and the two end face tooth structures are meshed relatively. The tracer 4 is mounted on a rotating ring 8.
One end of the screw rod 10 is provided with a stop block 14 which is rotatably clamped at the bottom of the base 8, and the screw rod 10 is in threaded connection with the base 8. The other end of the screw rod 10 is fixedly connected with the adjusting knob 3. The screw 10 can be rotated relative to the base by rotating the adjusting knob 3, so that the distance between the end face tooth structure of the rotating ring 8 and the base 9 can be adjusted.
In this embodiment, a spring 11 is provided in the end face tooth structure of the base 9, the spring 11 partially exposing the end face, thereby providing a certain tension between the two end face tooth structures. A bearing 12 is arranged in the rotating ring 8, and the screw 10 is arranged in the bearing 12 in a penetrating way, so that the screw 10 can rotate smoothly.
The tracer 4 comprises 4 reflective spheres 5, the 4 reflective spheres 5 being located on the same plane but not on the same line. The 4 reflecting balls 5 are positioned in the same plane, so that the distance between the two reflecting balls 5 is not less than 30mm, and the difference of the distances is not less than 5mm.
As shown in fig. 3, the tracer 4 is mounted on the electric drill 6 by the mounting portion 1. The orientation of the tracer 4 can be adjusted by means of the adjustment knob 3. The direction of the tracer 4 can be adjusted by the adjusting knob 3 at multiple angles. The tracer 4 can be scanned by an optical tracking system in operation, so that the real-time tracking navigation of the position of the electric drill 6 is realized, and the positions of the electric drill 6 and a needle or screw arranged at the front end can be displayed in real time by combining a visualization technology.
As shown in fig. 4, the calibration device 7 comprises a tracer and a section of cylinder connected to the tracer. The tracer includes 4 reflective spheres, and the requirements for the arrangement are as described above. Two points are selected on the cylinder, preferably the front end point P1 of the cylinder and another point P2 on the cylinder. When the needle position is changed or the orientation of the tracer is adjusted, the coordinates of the drill and the needle (or nail) can be recalibrated by the calibration means 7.
As shown in fig. 5, the cylinder of the calibration device 7 is inserted into the needle placement position at the front end of the electric drill 6. Setting the coordinate system of the optical tracking system as the world coordinate system, knowing that the coordinates of P1 and P2 in the coordinate system of the calibration device are P t 1(X t1 ,Y t1 ,Z t1 ) And P t 2(X t2 ,Y t2 ,Z t2 )。
The optical tracking system (not shown, the existing equipment such as NDI can be selected) is used for obtaining the space pose of the calibration device 7 and the tracer 4 on the electric drill 6, and the coordinate system C of the first point P1 and the second point P2 on the tracer 4 is calculated through coordinate transformation d The coordinates P of (3) d 1 and P d 2. P-based d 1 and P d 2 calculating the coordinate system C of the rotating shaft of the electric drill 6 on the tracer 4 d Normal vector v (vx, vy, vz).
The calibration device 7 is removed, the Kirschner wire is installed (as shown in FIG. 6), and the calibration device is assembled according to P d 1, determining the tail position Ne of the Kirschner wire according to normal vectors v and P d 1. Calculation of Kirschner wire length the needle tip point is in tracer 4 coordinate System C d And thus the calibration is completed.
After the calibration is finished, the spatial pose of the tracer 4 of the electric drill 6 in the world coordinate system is obtained in real time through the optical tracking system, so that the spatial pose of the Kirschner wire can be calculated, and can be displayed through a visualization method, thereby realizing real-time tracking navigation.
Specifically, the first point P1 and the second point P2 are calculated in the tracer coordinate system C d The coordinates P of (3) d 1 and P d 2 comprises: obtaining the coordinates P of the first point P1 and the second point P2 in the calibration device coordinate system t 1 and P t 2; according to P t 1 and P t 2, calculating the coordinates P of the first point P1 and the second point P2 in the optical tracking system coordinate system n 1 and P n 2; according to P n 1 and P n 2, calculating the first point P1 and the second point P2 in the tracer coordinate system C d The coordinates P of (3) d 1 and P d 2。
Further, based on the coordinates P of the first point P1 and the second point P2 in the calibration device coordinate system t 1(X t1 ,Y t1 ,Z t1 ) And P t 2(X t2 ,Y t2 ,Z t2 ) Calculating a pose matrix Mt according to the space pose parameters of the calibration device 7 to obtain coordinates P of P1 and P2 in an optical tracking system coordinate system n 1(X n1 ,Y n1 ,Z n1 ) And P n 2(X n2 ,Y n2 ,Z n2 ) The method comprises the following steps:
the pose matrix Mt can be calculated from the spatial pose parameters of the calibration device 7, the spatial pose parameters of the calibration device 7 can be provided by an optical tracking system, the pose matrix Mt represents the pose relationship of the origins of the two coordinate systems, and the specific calculation process is the prior art and is not repeated.
Further, according to the coordinates P of the first point P1 and the second point P2 in the optical tracking system coordinate system n 1(X n1 ,Y n1 ,Z n1 ) And P n 2(X n2 ,Y n2 ,Z n2 ) Calculating pose matrix Md from the spatial pose parameters of the tracer 4 0 Obtaining P1 and P2 in a tracer coordinate system C d The coordinates P of (3) d 1(X d1 ,Y d1 ,Z d1 ) And P d 2(X d2 ,Y d2 ,Z d2 ) The method comprises the following steps:
pose matrix Md can be calculated from the spatial pose parameters of the tracer 4 0 The spatial pose parameters of the tracer 4 may be provided by an optical tracking system, pose matrix Md 0 The relation of the positions of the origins of the two coordinate systems is shown, and the specific calculation process is the prior art and is not repeated.
When the needle placement position is changed or the tracer 4 is shielded, the orientation of the tracer 4 needs to be adjusted, and the drilling axis of the electric drill 6 can be calibrated again by using the calibration method after the direction is adjusted, so that the navigation precision is ensured.
It will be appreciated by persons skilled in the art that the above description of embodiments of the utility model has been given for the purpose of illustrating the benefits of embodiments of the utility model only and is not intended to limit embodiments of the utility model to any examples given.
The foregoing description of embodiments of the utility model has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described.
Claims (10)
1. An electric drill having a tracer, comprising:
electric drill;
a mounting portion detachably mounted on the electric drill, the mounting portion including a direction adjustment device;
and the tracer is arranged on the direction adjusting device.
2. An electric drill with a tracer as defined in claim 1 wherein said direction adjustment means includes a base and a rotatable ring, said rotatable ring being rotatably disposed on the base, said tracer being disposed on said rotatable ring.
3. An electric drill with a tracer as defined in claim 2 wherein said direction adjustment means further includes locking means for locking said rotatable ring to said base.
4. A drill having a tracer according to claim 3 wherein the locking means comprises a screw and an adjustment knob, one end of the screw being rotatably provided on the base, the rotatable ring being provided on the screw, the other end of the screw being connected to the adjustment knob, the rotatable ring being lockable on the base by rotation of the adjustment knob.
5. An electric drill with a tracer as defined in claim 2 wherein the interface between the rotatable ring and the base has a face tooth arrangement.
6. An electric drill with a tracer as defined in claim 5 wherein the base further comprises a spring disposed in the bore of the base partially exposing the face tooth structure.
7. A drill with a tracer according to claim 2 wherein the swivel is rotatable about the base such that the tracer is located on the top, left or right of the drill.
8. An electric drill with a tracer according to claim 1 wherein the tracer comprises a holder and more than three optical indicating points provided on the holder, the optical indicating points satisfying a distance between the two points of not less than 30mm and a difference in distance of not less than 5mm.
9. A drill with a tracer according to claim 8 wherein the drill is powered by a battery which is removably mounted inside the handle of the drill.
10. An electric drill with a tracer according to claim 1 wherein the electric drill is made of a metallic material capable of withstanding high temperature sterilization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221671059.XU CN219207150U (en) | 2022-07-01 | 2022-07-01 | Electric drill with tracer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221671059.XU CN219207150U (en) | 2022-07-01 | 2022-07-01 | Electric drill with tracer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219207150U true CN219207150U (en) | 2023-06-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221671059.XU Active CN219207150U (en) | 2022-07-01 | 2022-07-01 | Electric drill with tracer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219207150U (en) |
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2022
- 2022-07-01 CN CN202221671059.XU patent/CN219207150U/en active Active
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