CN220898757U - Tool bit calibration system - Google Patents
Tool bit calibration system Download PDFInfo
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- CN220898757U CN220898757U CN202322194715.2U CN202322194715U CN220898757U CN 220898757 U CN220898757 U CN 220898757U CN 202322194715 U CN202322194715 U CN 202322194715U CN 220898757 U CN220898757 U CN 220898757U
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- 238000001514 detection method Methods 0.000 claims abstract description 34
- 238000012795 verification Methods 0.000 claims abstract description 33
- 238000003780 insertion Methods 0.000 claims abstract description 22
- 230000037431 insertion Effects 0.000 claims abstract description 22
- 210000000988 bone and bone Anatomy 0.000 description 23
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 2
- 241000283984 Rodentia Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 102000004169 proteins and genes Human genes 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- 210000004872 soft tissue Anatomy 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses a tool bit calibration system, which belongs to the technical field of medical appliances and comprises: the tool bit calibration device comprises a first bracket, a first positioning device arranged on the first bracket and an insertion groove axially arranged on the first bracket; the cutter head is inserted into the insertion groove and fixedly connected with the first bracket; the tool bit calibrating device calibrates the position relation between the tool bit and the mechanical arm for installing the tool bit through the first positioning device; the tool bit verification device comprises a second bracket and a verification part arranged on the second bracket, wherein the verification part comprises a detection groove, a calibration cone and a second positioning device, the calibration cone is arranged at two ends of the detection groove and corresponds to the notch of the detection groove; the calibration cone is perpendicular to the setting plane of the second positioning device; the tool bit verifying device verifies whether the calibration information of the tool bit calibrating device is accurate through the verifying part. The system marks the cutter head and verifies the marking information so as to improve the operation safety.
Description
Technical Field
The utility model belongs to the technical field of medical instruments, and particularly relates to a tool bit calibration system.
Background
The ultrasonic bone knife is a medical instrument for bone surgery by utilizing high-intensity focused ultrasound technology, and is used as novel bone surgery equipment, electric energy is converted into mechanical energy through a special conversion device, and required bone tissues are cut through high-frequency ultrasonic oscillation. The knife converts electric energy into mechanical energy by using a high-intensity focused ultrasonic technology through a transducer, and the contacted tissue cell inner water is vaporized and protein hydrogen bonds are broken by high-frequency ultrasonic oscillation, so that bone tissues needing to be cut in operation are thoroughly destroyed.
Clinical operation results show that compared with traditional spine surgical instruments such as a traditional bone knife, a high-speed grinding drill, a rongeur and the like, the ultrasonic bone knife can cut bones efficiently and accurately, simultaneously can reduce the risk of damage of soft tissues such as nerves and blood vessels better, improves the safety of the operation and the recovery speed of patients, and is widely applied to spine operations.
At present, in many operations, an ultrasonic bone knife is operated by a robot, the stability problem of operating the bone knife by a doctor in a handheld manner can be effectively solved by the mode, but the mode has higher requirements on the accuracy of the position relationship between the bone knife and the mechanical arm, for example, after the bone knife point and the mechanical arm are installed, the point position information is inaccurate, the robot cannot accurately operate the bone knife to operate a patient, and the operation safety cannot be ensured, so that the accuracy of the position relationship between the bone knife point and the mechanical arm is ensured.
Disclosure of utility model
The present utility model aims to solve at least one of the problems in the background art, and provides a tool bit calibration system.
To achieve the above object, a tool bit calibration system of the present utility model includes:
the tool bit calibration device and the tool bit verification device;
The tool bit calibration device comprises a first bracket, a first positioning device arranged on the first bracket and an insertion groove axially arranged on the first bracket; the cutter head is inserted into the insertion groove and fixedly connected with the first bracket; the tool bit calibration device is used for calibrating the position relationship between the tool bit and the mechanical arm for installing the tool bit through the first positioning device;
The tool bit verification device comprises a second bracket and a verification part arranged on the second bracket, wherein the verification part comprises a detection groove, a calibration cone and a second positioning device, and the calibration cone is arranged at two ends of the detection groove and corresponds to the notch of the detection groove;
The calibration cone is perpendicular to the setting plane of the second positioning device;
The tool bit verifying device is used for verifying whether the calibration information of the tool bit calibrating device is accurate or not through the verifying part.
Preferably, a radial positioning groove is formed in the first bracket, and penetrates through the first bracket;
And a locating pin is arranged in the locating groove and used for fixing the cutter head.
Preferably, a radial observation groove is arranged on the first bracket, and penetrates through the first bracket;
the observation groove is used for observing the position of the tool bit in the insertion groove.
Preferably, the shape of the insertion groove is the same as the shape of the cutter head.
Preferably, the verification part comprises two mutually orthogonal detection grooves, and the calibration cone is correspondingly arranged at four notch positions of the two detection grooves.
Preferably, the first positioning device and the second positioning device are provided as a plurality of positioning reflective spheres, and the positioning reflective spheres are used for establishing a basic coordinate system.
Preferably, the locating reflective ball is identifiable by a camera.
Preferably, the locating pin is in threaded connection with the locating groove.
Preferably, the positioning reflecting ball is fixedly connected with the first bracket and the second bracket respectively through threaded ball columns.
Preferably, the tip of the calibrating cone is arranged back to the second bracket.
Based on the above, the utility model has the beneficial effects that:
According to the technical scheme, the tool bit calibration device can calibrate the position relationship between the tool shank and the mechanical arm provided with the tool shank, so that the surgical robot can accurately know the position of the tool nose of the tool shank and further accurately control the ultrasonic bone knife to perform surgical cutting, and meanwhile, the tool bit verification device is also arranged and can detect the position information calibrated by the tool bit calibration device so as to ensure that the tool nose information of the tool shank acquired by the surgical robot is accurate and further ensure the safety and accuracy of surgery.
Drawings
FIG. 1 schematically shows a schematic structure of a tool bit calibration device according to an embodiment of the present utility model;
FIG. 2 schematically shows a schematic structure of a tool bit verification device according to an embodiment of the present utility model;
FIG. 3 schematically shows a schematic structural view of a first bracket according to an embodiment of the present utility model;
FIG. 4 schematically illustrates a perspective view of a first bracket according to one embodiment of the present utility model;
Description of the drawings: the tool bit calibration device 10, the first bracket 101, the first positioning device 102, the insertion groove 103, the positioning groove 104, the observation groove 105, the tool bit verification device 20, the second bracket 201, the verification part 202, the detection groove 20,1, the calibration cone 2022 and the second positioning device 2023.
Detailed Description
The present disclosure will now be discussed with reference to exemplary embodiments. It should be understood that the embodiments discussed are merely to enable those of ordinary skill in the art to better understand and thus practice the teachings of the present utility model and do not imply any limitation on the scope of the utility model.
As used herein, the term "comprising" and variants thereof are to be interpreted as meaning "including but not limited to" open-ended terms. The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment.
Fig. 1 schematically illustrates a structure of a tool bit calibration device according to an embodiment of the present utility model, fig. 2 schematically illustrates a structure of a tool bit verification device according to an embodiment of the present utility model, and fig. 3 schematically illustrates a structure of a first bracket according to an embodiment of the present utility model, as shown in fig. 1 to 3, a tool bit calibration system according to the present utility model includes:
a bit calibration device 10 and a bit verification device 20;
The tool bit calibration device 10 comprises a first bracket 101, a first positioning device 102 arranged on the first bracket 101 and an insertion groove 103 axially arranged on the first bracket; the cutter head is inserted into the insertion groove 103 and fixedly connected with the first bracket 101; the tool bit calibration device 10 is used for calibrating the position relationship between the tool bit and the mechanical arm for installing the tool bit through the first positioning device 102;
The tool bit verification device 20 comprises a second bracket 201 and a verification part 202 arranged on the second bracket 201, wherein the verification part 202 comprises a detection groove 2021, a calibration cone 2022 and a second positioning device 2023, and the calibration cone is arranged at two ends of the detection groove 2021 and corresponds to a notch of the detection groove 2021;
The setting planes of the calibration cone 2022 and the second positioning device 2023 are mutually perpendicular;
The tool bit verification device 20 is used for verifying whether the calibration information of the tool bit calibration device 10 is accurate through the verification part.
Specifically, the tool bit calibration device 10 can be fixed on a workbench, can also be operated in a handheld manner, and when the tool bit calibration device is used, the tool bit end of the ultrasonic bone knife handle is inserted into the insertion groove 103, meanwhile, the other end of the ultrasonic bone knife handle is installed with the mechanical arm of the surgical robot, a basic coordinate system is established by recognizing the position of the first positioning device 102 through the external navigation positioning system, the tool handle and the mechanical arm are calibrated according to the basic coordinate system, the surgical robot is enabled to know the position of the tool bit end of the tool handle and the distance between the tool bit end of the tool bit and the mechanical arm, and then the robot can accurately control the ultrasonic bone knife to perform surgical cutting.
However, for the operation, the operation is a high-difficulty operation, and for the cutting, the error testing performance is not provided, if the information calibrated by the tool bit calibration device 10 is wrong, the operation robot controls the ultrasonic bone knife to cut according to the wrong positioning information, then the moving direction of the ultrasonic bone knife is wrong, and the cutting position of the ultrasonic bone knife is deviated, so that the safety of the operation cannot be ensured, therefore, the position information calibrated by the tool bit calibration device 10 needs to be checked, the calibration information is accurate, and the safety of the operation is improved.
The tool bit calibration system is provided with a tool bit verification device 20, which comprises a second bracket 201 and a verification part 202, wherein the verification part 202 comprises a detection groove 2021, a calibration cone 2022 and a second positioning device 2023, and the calibration cone 2022 is positioned at two ends of the detection groove 2021;
The second support 201 may be fixed on a workbench, and includes two support bodies disposed perpendicular to each other, where the detection groove 2021 and the calibration cone 2022 are disposed on one of the support bodies, and the second positioning device 2023 is disposed on the other support body.
The external navigation positioning system can establish a basic coordinate system according to the second positioning device 2023, when the inspection operation is performed, the robot controls the mechanical arm to move the tool shank to the position right above the calibration cone 2022, so that the tool tip of the tool shank is correspondingly arranged with the cone tip of the calibration cone 2022, then, based on the basic coordinate system established by the second positioning device 2023, the tool shank is controlled to move towards a position close to the detection groove 2021 and is controlled to move downwards, so that the tool shank is inserted into the detection groove 2021, at the moment, the tool tip of the tool shank still corresponds to the cone tip of the calibration cone 2022, namely, the tool tip of the tool shank is positioned on a connecting line of the cone tips of the calibration cones 2022 at two ends of the detection groove 2021, and then, the tool shank is controlled to move along the tool tip direction according to the calibration information;
If the calibration information is correct, the tool handle moves linearly along the direction of the connecting line of the conical tips of the two calibration cones 2022, if the calibration information is incorrect, the tool handle moves obliquely and linearly in the detection groove 2021 towards the left side or the right side of the connecting line, so that the tool handle touches the side wall of the detection groove 2021 after moving, or is not positioned on the connecting line of the two calibration cones 2022 when moving to the other calibration cone 2022, and the positional relationship between the tool handle and the mechanical arm needs to be recalibrated.
Further, fig. 4 schematically shows a perspective view of a first bracket according to an embodiment of the present utility model, as shown in fig. 3 and 4:
A radial positioning groove 104 is arranged on the first bracket 101, and the positioning groove 104 penetrates through the first bracket 101;
A positioning pin is provided in the positioning groove 104, and the positioning pin restricts movement of the tool shank inserted into the groove 103.
Specifically, the positioning grooves 104 are radially disposed, and the positioning grooves 104 penetrate through the first bracket 101, and the positioning grooves 104 are disposed intersecting the insertion groove 103, so that the positioning grooves 104 exist on both sides of the insertion groove 103.
After the tool bit end of the tool shank is inserted to the bottom of the insertion groove 103, the tool bit end passes through the position of the positioning groove 104, a user can install the positioning pin in the positioning groove 104, so that the positioning pin is abutted with the tool shank in the insertion groove 103, and then the tool shank is locked and fixed through the two positioning pins, and the tool shank is ensured not to move any more.
Further, a radial observation groove 105 is further provided on the first bracket 101, and the observation groove 105 penetrates through the first bracket 101;
The observation groove 105 shows the insertion position of the tool shank in the insertion groove 103.
Specifically, the observation groove 105 radially sets up, and the observation groove 105 intersects simultaneously with inserting groove 103, constant head tank 104 and set up for the user can see the inside condition of inserting groove 103 from the observation groove 105, when the handle of a knife inserts inserting groove 103, can follow the position of inserting of accuse handle of a knife in observation groove 105, avoids the handle of a knife not to insert to the position that constant head tank 104 corresponds, can't fix the handle of a knife through the locating pin, makes the handle of a knife rock, influences the calibration accuracy.
Further, the shape of the insertion groove 103 is the same as the shape of the tool shank, so that the tool shank can be limited by the groove shape after being inserted into the insertion groove 103, and cannot shake, thereby ensuring the calibration effect.
Further, the verification section 202 includes two detection grooves 2021 orthogonal to each other, and the calibration taper 2022 is correspondingly provided at four notch positions of the two detection grooves 2021.
The detection groove 2021 forms a cross-shaped groove, so that the tool bit verification device 20 is provided with two intersecting detection channels, the robot control tool handle can be made to do linear motion, the robot control tool handle can be made to bend, and the accuracy of calibration information obtained by the robot can be further detected.
Further, the first positioning device 102 and the second positioning device 2023 are configured as a plurality of positioning reflective spheres, and the positioning reflective spheres are used for establishing a basic coordinate system.
The locating reflective ball can be identified by the camera.
By the arrangement, the peripheral navigation positioning system can recognize and position the positions of the reflective balls through the binocular camera, so that a basic coordinate system is established, and a coordinate basis is provided for calibration and verification.
Further, the locating pin is in threaded connection with the locating slot 104, so that the locating pin is convenient to detach.
Further, the positioning reflective ball is fixedly connected with the first bracket 101 and the second bracket 201 through threaded ball columns respectively.
Further, the conical tip of the calibration cone 2022 is arranged back to the second support 201, so that the conical tip faces upwards, positioning is convenient, and meanwhile, whether calibration information is accurate or not can be detected more conveniently.
When the tool bit calibration system is used, a user installs the ultrasonic bone knife handle and the mechanical arm of the surgical robot, inserts the tool bit end of the knife handle into the insertion groove 103 and locks and fixes the tool bit end, and at the moment, the external navigation positioning system establishes a basic coordinate system through the first positioning device 102 and calibrates the position relation between the knife handle and the mechanical arm, so that the surgical robot knows the direction and the position of the knife tip of the surgical robot after the knife handle and the mechanical arm are installed, and further accurate control is realized;
Then controlling the mechanical arm to move, taking out the cutter handle, moving the cutter handle to the position of the cutter head verification device 20 and being right above the calibrating cone 2022, and correspondingly placing the cutter tip of the cutter handle and the cone tip of the calibrating cone 2022, at the moment, controlling the cutter handle to move towards the direction of the detection groove 2021 by the mechanical arm, controlling the cutter handle to vertically move downwards and be inserted into the detection groove 2021, and continuously controlling the cutter handle to move along the cutter tip direction by the mechanical arm according to the calibrating information to perform linear motion in the detection groove 2021;
If the calibration information is accurate, the cutter handle is always positioned at the symmetrical center of the detection groove 2021, when the cutter handle moves to the calibration cone 2022 at the other end of the detection groove 2021, the cutter handle is still positioned on the connecting line of the cone tips of the two calibration cones 2022 and still corresponds to the cone tips, the calibration information is accurate, and the surgical robot can perform surgical operation according to the calibration information;
If the calibration information is wrong, the handle will touch the side wall of the detection groove 2021 during the movement of the detection groove 2021, or when the handle moves to the calibration cone 2022 at the other end, the handle is not located on the connecting line of the two conical tips of the two calibration cones 2022, at this time, the calibration information is wrong, and the position calibration needs to be performed again at the cutter head calibration device 10, and then verification is performed until the calibration information is accurate, so that the operation can be performed.
In summary, through the scheme of the utility model, the tool bit calibration device 10 can calibrate the position relationship between the tool shank and the mechanical arm for installing the tool shank, so that the surgical robot can accurately know the position of the tool nose of the tool shank, and further accurately control the ultrasonic bone knife to perform surgical cutting, and meanwhile, the tool bit verification device 20 is also arranged, so that the position information calibrated by the tool bit calibration device 10 can be detected, and the tool nose information of the tool shank acquired by the surgical robot is ensured to be accurate, and further the safety and the accuracy of the operation are ensured.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
It should be understood that, the invention content of the present solution and the sequence number of each step in the embodiment do not necessarily mean the sequence of execution sequence, and the execution sequence of each process should be determined by the function and the internal logic of each process, and should not constitute any limitation on the implementation process of the embodiment of the present solution.
Claims (10)
1. A tool bit indexing system, comprising:
the tool bit calibration device and the tool bit verification device;
The tool bit calibration device comprises a first bracket, a first positioning device arranged on the first bracket and an insertion groove axially arranged on the first bracket; the cutter head is inserted into the insertion groove and fixedly connected with the first bracket; the tool bit calibration device is used for calibrating the position relationship between the tool bit and the mechanical arm provided with the tool bit through the first positioning device;
The tool bit verification device comprises a second bracket and a verification part arranged on the second bracket, wherein the verification part comprises a detection groove, a calibration cone and a second positioning device, and the calibration cone is arranged at two ends of the detection groove and corresponds to the notch of the detection groove;
The calibration cone is perpendicular to the setting plane of the second positioning device;
The tool bit verifying device is used for verifying whether the calibration information of the tool bit calibrating device is accurate or not through the verifying part.
2. The tool bit indexing system of claim 1, wherein a radial detent is provided on said first bracket, said detent extending through said first bracket;
And a locating pin is arranged in the locating groove and used for fixing the cutter head.
3. The tool bit indexing system of claim 1, wherein a radial viewing slot is provided in said first bracket, said viewing slot extending through said first bracket;
the observation groove is used for observing the position of the tool bit in the insertion groove.
4. The bit indexing system of claim 1, wherein the insert slot has a shape that is identical to a shape of the bit.
5. The tool bit indexing system of claim 1, wherein the verification portion comprises two test slots orthogonal to each other, and the indexing taper is disposed at four notch positions of the two test slots.
6. The tool bit indexing system of claim 1, wherein the first positioning device and the second positioning device are configured as a plurality of positioning reflective spheres, the positioning reflective spheres being configured to establish a base coordinate system.
7. The tool bit indexing system of claim 6, wherein the locating light reflecting ball is identifiable by a camera.
8. The bit indexing system of claim 2, wherein said dowel pin is threadably coupled to said dowel groove.
9. The tool bit calibration system of claim 6, wherein the locating light reflecting ball is fixedly connected with the first bracket and the second bracket respectively through threaded ball posts.
10. The tool bit indexing system of claim 1, wherein the tip of the indexing cone is disposed away from the second support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322194715.2U CN220898757U (en) | 2023-08-16 | 2023-08-16 | Tool bit calibration system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322194715.2U CN220898757U (en) | 2023-08-16 | 2023-08-16 | Tool bit calibration system |
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| Publication Number | Publication Date |
|---|---|
| CN220898757U true CN220898757U (en) | 2024-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322194715.2U Active CN220898757U (en) | 2023-08-16 | 2023-08-16 | Tool bit calibration system |
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| Country | Link |
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| CN (1) | CN220898757U (en) |
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2023
- 2023-08-16 CN CN202322194715.2U patent/CN220898757U/en active Active
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