TWI715290B - Calibration device for surgical instruments - Google Patents

Abstract

A calibration device used for coordinate calibration of a surgical instrument includes a base, an instrument insertion base and at least one reference frame marker. The instrument insertion base is pivotally mounted on the base, and the reference frame marker is mounted on the base. The surgical instrument is able to be inserted into an insertion hole on the instrument insertion base to selectively rotate or swing on the base such that a signal processor of a surgical navigation system can receive coordinate signals from the reference frame marker and at least one coordinate marker on the surgical instrument to calibrate the surgical instrument.

Description

Correction device for surgical instruments

The invention relates to a correction device for a surgical instrument, in particular to a correction device for correcting the coordinates of a surgical instrument.

A conventional surgical navigation system (Surgical Navigation System) has been an indispensable auxiliary system for minimally invasive surgery such as surgery (such as brain and spine) or abdominal puncture. It is usually used in surgical instruments (such as surgical probes or probes). Before the Bone Access Needle, etc.), the navigation equipment and surgical instruments must be positioned to obtain the coordinates of the surgical instruments in the surgical navigation system.

Please refer to the People’s Republic of China Application No. 201410396220.0 (Publication No. CN 104146773 A) for the invention patent of "Calibration Block for Calibrating Surgical Instruments", which cannot perform six degrees of freedom and straightness of surgical instruments. Therefore, it is easy to cause correction errors and affect the accuracy of surgical navigation.

The main purpose of the present invention is to enable an instrument insertion seat to be movably pivoted to a base, so that a surgical instrument inserted in the instrument insertion seat can be selectively rotated or oscillated by the instrument insertion seat. In order to perform six degrees of freedom (Six degrees of freedom) and straightness coordinate correction for the surgical instrument.

A calibration device for surgical instruments of the present invention includes a base, an instrument insertion seat, and at least one reference coordinate marking element. The instrument insertion seat is movably pivoted on the base, and the instrument insertion seat has at least one surgical An instrument insertion hole, the surgical instrument insertion hole is used to insert a surgical instrument, so that the surgical instrument can be selectively rotated or oscillated on the base by the instrument insertion seat, and the reference coordinate marking element is provided On the base.

In the present invention, the instrument insertion seat is movably pivoted to the base, so that the surgical instrument inserted in the instrument insertion seat can selectively rotate or swing on the base to facilitate a signal processing unit Receive the coordinate signal of the reference coordinate marking element arranged on the base and the coordinate signal of at least one coordinate marking element arranged on the surgical instrument to perform coordinate correction on the surgical instrument.

Please refer to Figures 1 to 23. A surgical instrument calibration device 100 is used to calibrate the coordinates of a surgical instrument 200 (such as a surgical probe Probe or an osteoclast Bone Access Needle). The calibration device 100 includes at least one base. The base 110, an instrument insertion base 120, and at least one reference coordinate marking element 130, the reference coordinate marking element 130 is arranged on the base 110, the instrument insertion base 120 is movably pivoted on the base 110, and the instrument insertion The setting seat 120 can selectively rotate or swing in the base 110, the instrument insertion seat 120 has at least one surgical instrument insertion hole 122a, and the surgical instrument insertion hole 122a is used for inserting the surgical instrument 200, The surgical instrument 200 is provided with at least one coordinate marking element 210 that moves with the surgical instrument 200, The reference coordinate marking element 130 and the coordinate marking element 210 are selected from photosensitive parts or radio frequency elements, but not limited to this. The surgical instrument 200 inserted in the surgical instrument insertion hole 122a can be inserted by the instrument The seat 120 selectively rotates or swings on the base 110.

Please refer to Figures 1 to 4, which is a first embodiment of the present invention. The base 110 has a first accommodating slot 111, and the instrument insertion seat 120 is pivotally pivoted in the first accommodating slot 111 In this embodiment, the instrument insertion seat 120 has a pivot portion 121 and an insertion portion 122. The pivot portion 121 is movably pivoted in the first accommodating groove 111 to allow the instrument to be inserted The seat 120 can be selectively rotated or oscillated. The inserting portion 122 is disposed on the pivoting portion 121 so that the inserting portion 122 and the pivoting portion 121 are operated synchronously. The surgical instrument inserting hole 122a is arranged in the inserting The connecting portion 122, the first accommodating groove 111 exposes the surgical instrument insertion hole 122a.

Please refer to Figures 1 to 4. In this embodiment, the base 110 includes a grip portion 110a, a pivot portion 110b, and a marking element setting portion 110c. Please refer to Figures 2 and 3, the pivot portion 110b is combined with the grip portion 110a, and there is an included angle A between the pivot portion 110b and the grip portion 110a, the first receiving groove 111 is recessed in the pivot portion 110b, and the reference coordinate marking element 130 is provided In the marking element setting portion 110c, the grip portion 110a is used for the user to hold. Please refer to Figure 3. In this embodiment, the instrument insertion seat 120 is a spherical body, and an axis X passes through the A center O1 of the surgical instrument insertion hole 122a and a center of gravity O2 of the instrument insertion seat 120, and the center of gravity O2 is located on the bottom surface F of a groove of the surgical instrument insertion hole 122a. Preferably, the insertion portion 122 has A plurality of surgical instrument insertion holes 122a, each of the surgical instrument insertion holes 122a has a hole diameter, the hole diameter of each surgical instrument insertion hole 122a is different, and the surgical instrument insertion holes 122a of different diameters are used for different external When the insertion portion 122 has a plurality of surgical instrument insertion holes 122a, each axis X passes through the center O1 of the surgical instrument insertion hole 122a and the instrument insertion seat 120. The center of gravity O2 is located at the bottom surface F of the groove of the surgical instrument insertion hole 122a, so that the surgical instrument 200 inserted in a different surgical instrument insertion hole 122a Both ends can be aligned with the center of gravity O2.

Please refer to FIG. 4, after the surgical instrument 200 is inserted into the surgical instrument insertion hole 122a, a signal processing unit 300 receives a first coordinate signal of the reference coordinate marking element 130 disposed on the base 110 And a second coordinate signal of the coordinate marking element 210 provided on the surgical instrument 200 to correct a straightness of the surgical instrument 200. When the surgical instrument 200 is swung or rotated, the signal processing unit 300 receives the displacement after the The second coordinate signal is used to correct the degree of freedom of the surgical instrument 200 in the three-dimensional space.

Referring to FIGS. 1 to 3, preferably, the calibration device 100 further includes a limit cover 140. The limit cover 140 has a perforation 141 that communicates with the first accommodating groove 111. The limit cover 140 covers the pivoting portion 121 so that the pivoting portion 121 is limited between the first accommodating groove 111 and the limiting cover 140, and the through hole 141 reveals the surgical instrument insertion hole 122a. In an embodiment, the perforation 141 contacts the pivoting portion 121 to avoid improper rotation of the instrument insertion seat 120.

Please refer to Figures 5 to 10, which are a second embodiment of the present invention. The difference between the second embodiment and the first embodiment lies in the insertion portion 122 and the pivot portion 121. In this embodiment, Please refer to Figures 6-9. The plug-in portion 122 includes a plurality of clamping jaws 122b and a sleeve 122c. The sleeve 122c has an opening 122d, an accommodating space 122e and a tapered inner ring wall 122f. 122d communicates with the accommodating space 122e, the tapered inner ring wall 122f surrounds the accommodating space 122e, the pivot portion 121 includes a body 121a and a stud 121b, the body 121a has a second accommodating groove 121c, the The stud 121b is located in the second accommodating groove 121c, the sleeve 122c is screwed to the stud 121b, the clamping jaws 122b are disposed in the accommodating space 122e, and the clamping jaws 122b are inserted around the surgical instrument A hole 122a is provided, and the tapered inner ring wall 122f of the sleeve 122c abuts each of the clamping jaws 122b. Preferably, an elastic member 123 is provided on each of the adjacent clamping jaws 122b. Please refer to Figures 7 and 9, When rotating the sleeve 122c to change the mutual screw position of the sleeve 122c and the stud 121b, it can change The aperture of the surgical instrument insertion hole 122a is such that the surgical instrument insertion hole 122a can be inserted into the surgical instrument 200 with different outer diameters. Please refer to Figures 7 and 9. When the sleeve 122c is rotated, the sleeve 122c is screwed into the When the sleeve 122c of the stud 121b rises, the elastic member 123 pushes against each of the adjacent clamping jaws 122b, so that each of the clamping jaws 122b abuts against the tapered inner ring wall 122f to enlarge the surgical instrument insertion hole 122a Conversely, when the sleeve 122c is rotated to lower the sleeve 122c screwed on the stud 121b, the tapered inner ring wall 122f is in contact with each of the clamping jaws 122b to reduce the insertion of the surgical instrument Set the aperture of the hole 122a. In this embodiment, by rotating the sleeve 122c, the mutual screw position of the sleeve 122c and the stud 121b is changed to change the aperture of the surgical instrument insertion hole 122a, so that each The clamping jaw 122b can clamp the surgical instrument 200 with different outer diameters.

Please refer to Figures 5 to 10, in this embodiment, the calibration device 100 further includes a release mechanism 150, the release mechanism 150 is used to prevent the limit cover 140 from contacting the instrument insertion seat 120, so that the instrument The socket 120 can rotate or swing freely. Please refer to Figures 6 and 7. The release mechanism 150 includes a beam 151, at least one transmission rod 152 and a pressing rod 153. Please refer to Figures 5, 7 and 9, which The base 110 has a first chamber 110d and a second chamber 110e communicating with each other. The beam 151 is disposed in the first chamber 110d, and the pressing rod 153 is disposed in the second chamber 110e. Please refer to page 7 As shown in Figures 8 and 8, the transmission rod 152 is movably disposed in a through hole 110h of the pivoting portion 110b (please refer to Figures 7 and 8). The two ends of the transmission rod 152 are respectively combined with the beam 151 and the limit cover 140, The pressing rod 153 is pivoted to the second chamber 110e by a shaft 154, the pressing rod 153 has a push end 153a and a pressure end 153b, the push end 153a is located in the first chamber 110d, and Located below the beam 151, the pressure end 153b protrudes out of the second cavity 110e.

Please refer to Figure 10, when the pressure receiving end 153b is compressed, the pushing end 153a pushes the beam 151 so that the beam 151, the transmission rod 152 and the limit cover 140 move in a first direction synchronously , And make the limit cover 140 release the pivoting portion 121, the instrument insertion seat 120 can rotate or swing freely without restricting the limit cover 140.

Please refer to Figures 5-10. Preferably, the release mechanism 150 further includes at least one elastic member 155. Two ends of the elastic member 155 are respectively fixed to the base 110 and the beam 151. Please refer to Figures 9 and 10 When the pressed end 153b of the pressing rod 153 is not compressed by the external force, the beam 151 is pulled by the elastic member 155, so that the beam 151, the transmission rod 152 and the limit cover 140 can synchronously reverse the direction. The first direction is moved in a second direction, and the limit cover 140 is abutted against the pivoting portion 121. In this embodiment, the release mechanism 150 further includes a positioning member 156 which is disposed on the base 110, the elastic member 155 is fixed to the base 110 by the positioning member 156.

Please refer to Figures 11 and 12, which are a third embodiment of the present invention. The difference between the third embodiment and the second embodiment is that the instrument socket 120 is a sphere. Similarly, in this embodiment In this case, the limiting cover 140 can be used to abut the pivoting portion 121 by the release mechanism 150, or the limiting cover 140 can be released from the pivoting portion 121 by the pressing rod 153.

Please refer to Figures 13 to 18, which are a fourth embodiment of the present invention. The difference between the fourth embodiment and the second embodiment lies in the release mechanism 150 and the base 110. Please refer to Figures 15 and 17. In this embodiment, the base 110 has a limiting hole 110f, and the release mechanism 150 includes a linkage rod 157 and an elastic member 158. Please refer to FIG. 15. The limiting hole 110f communicates with the first chamber 110d. , Please refer to Figure 17, the limiting hole 110f is provided with a limiting flange 110g, the linkage rod 157 of the release mechanism 150 is movably disposed in the limiting hole 110f, and a first end 157a of the linkage rod 157 Combined with the beam 151, a second end 157b of the linkage rod 157 is restricted in the limiting hole 110f, and the two ends of the elastic member 158 respectively abut against the second end 157b and the limiting flange of the linkage rod 157 110g.

Please refer to Figure 18, when the pressure end 153b is compressed, the pushing end 153a pushes the beam 151, so that the beam 151, the transmission rod 152, the limit cover 140 and the linkage rod 157 move toward Actuate in a first direction, and make the limit cover 140 release the pivot portion 121, the instrument insertion seat 120 can rotate freely Or swing without restricting the limit cover 140, and when the pressured end 153b is pressed, the second end 157b of the linkage rod 157 presses the elastic member 158 so that the elastic member 158 has a reset elastic force, Please refer to Figure 17, when the pressed end 153b of the pressing rod 153 is not compressed by external force, the second end 157b of the linkage rod 157 is pushed by the elastic member 158, so that the beam 151 and the transmission rod 152 , The limit cover 140 and the linkage rod 157 can synchronously move in a second direction opposite to the first direction, and make the limit cover 140 abut the pivot part 121 to avoid improper insertion of the instrument socket 120 Rotate.

Please refer to Figures 19 and 20, which are a fifth embodiment of the present invention. The difference between the fifth embodiment and the fourth embodiment is that the instrument socket 120 is a spherical body. Similarly, in this embodiment In this case, the limiting cover 140 can be used to abut the pivoting portion 121 by the release mechanism 150, or the limiting cover 140 can be released from the pivoting portion 121 by the pressing rod 153.

Please refer to Figures 21 to 22, which is a sixth embodiment of the present invention. The difference between the sixth embodiment and the second embodiment lies in the release mechanism 150. In this embodiment, the release mechanism 150 has a conflict The abutting member 159 is a bolt, the abutting member 159 is movably disposed on the base 110, and one end 159a of the abutting member 159 is used to abut the instrument insertion seat 120 to avoid the instrument insertion seat 120 Improper rotation.

Please refer to Fig. 22. When the abutting member 159 is rotated to the instrument insertion seat 120 and the end 159a abuts the instrument insertion seat 120, the abutment member 159 can prevent the instrument insertion seat 120 from rotating improperly. When the abutting member 159 is rotated away from the instrument insertion seat 120 and the end 159a does not interfere with the instrument insertion seat 120, the instrument insertion seat 120 does not restrict the abutment member 159 and can rotate or swing freely .

Please refer to Figure 23, which is a seventh embodiment of the present invention. The difference between the seventh embodiment and the sixth embodiment is that the instrument insertion seat 120 is a spherical body. Similarly, in this embodiment, The abutment member 159 can be used to abut the instrument insertion seat 120 to avoid improper rotation of the instrument insertion seat 120, or the abutment member 159 can leave the instrument insertion seat 120 so that the instrument insertion seat 120 can rotate freely Or swing.

The scope of protection of the present invention shall be subject to the scope of the attached patent application. Anyone who is familiar with the art and makes any changes and modifications without departing from the spirit and scope of the present invention shall fall within the scope of protection of the present invention. .

100: Calibration device

110: Pedestal

110a: Grip

110b: pivot

110c: Marking component setting section

110d: first chamber

110e: second chamber

110f: limit hole

110g: limit flange

110h: perforation

111: first housing tank

120: Instrument socket

121: Pivot

121a: body

121b: Stud

121c: the second containing tank

122: Socket

122a: Surgical instrument insertion hole

122b: Gripper

122c: sleeve

122d: opening

122e: accommodation space

122f: Cone-shaped inner ring wall

123: Elastic part

130: Reference coordinate marking component

140: limit cover

141: Piercing

150: release mechanism

151: beam

152: Transmission rod

153: Press lever

153a: Push end

153b: Compressed end

154: Shaft

155: Elastic

156: locator

157: Link Rod

157a: first end

157b: second end

158: Elastic part

159: conflict

159a: end

200: surgical instruments

210: Coordinate marking component

300: signal processing unit

A: included angle

F: bottom of groove

X: axis

O1: Center

O2: Center of gravity

Figure 1: A perspective view of the correction device of the surgical instrument of the present invention and the surgical instrument. Figure 2: An exploded perspective view of the first embodiment of the calibration device for surgical instruments of the present invention. Figure 3: A cross-sectional view of the first embodiment of the correction device for surgical instruments of the present invention. Figure 4: A perspective view of the surgical instrument inserted in the correction device of the surgical instrument of the present invention. Figure 5: A perspective view of the second embodiment of the correction device for surgical instruments of the present invention. Figure 6: A partial perspective view of the second embodiment of the calibration device for surgical instruments of the present invention. Figure 7: An exploded perspective view of the second embodiment of the calibration device for surgical instruments of the present invention. Figure 8: A cross-sectional view of the second embodiment of the correction device for surgical instruments of the present invention. Figure 9: A cross-sectional view of the second embodiment of the correction device for surgical instruments of the present invention. Figure 10: A cross-sectional view of the second embodiment of the correction device for surgical instruments of the present invention.

Figure 11: an exploded perspective view of the third embodiment of the calibration device for surgical instruments of the present invention.

Figure 12: A cross-sectional view of the third embodiment of the correction device for surgical instruments of the present invention.

Figure 13: A perspective view of the fourth embodiment of the calibration device for surgical instruments of the present invention.

Figure 14: A partial perspective view of the fourth embodiment of the calibration device for surgical instruments of the present invention.

Figure 15: An exploded perspective view of the fourth embodiment of the calibration device for surgical instruments of the present invention.

Figure 16: A cross-sectional view of the fourth embodiment of the calibration device for surgical instruments of the present invention.

Figure 17: A cross-sectional view of the fourth embodiment of the calibration device for surgical instruments of the present invention.

Figure 18: A cross-sectional view of the fourth embodiment of the correction device for surgical instruments of the present invention.

Figure 19: An exploded perspective view of the fifth embodiment of the calibration device for surgical instruments of the present invention.

Figure 20: A cross-sectional view of the fifth embodiment of the calibration device for surgical instruments of the present invention.

Figure 21: An exploded perspective view of the sixth embodiment of the correction device for surgical instruments of the present invention.

Figure 22: A cross-sectional view of the sixth embodiment of the correction device for surgical instruments of the present invention.

Figure 23: A cross-sectional view of the seventh embodiment of the calibration device for surgical instruments of the present invention.

100: Calibration device

110: Pedestal

110a: Grip

110b: pivot

110c: Marking component setting section

110d: first chamber

110e: second chamber

110h: perforation

111: first housing tank

120: Instrument socket

121: Pivot

121a: body

121b: Stud

121c: the second containing tank

122: Socket

122a: Surgical instrument insertion hole

122b: Gripper

122c: sleeve

122d: opening

122e: accommodation space

122f: Cone-shaped inner ring wall

123: Elastic part

130: Reference coordinate marking component

140: limit cover

141: Piercing

150: release mechanism

151: beam

152: Transmission rod

153: Press lever

153a: Push end

153b: Compressed end

154: Shaft

155: Elastic

156: locator

Claims (12)

A correction device for surgical instruments, comprising: a base; an instrument insertion seat movably pivoted on the base; the instrument insertion seat has at least one surgical instrument insertion hole, and the surgical instrument insertion hole is used for A surgical instrument is inserted so that the surgical instrument can be selectively rotated or swayed on the base through the instrument insertion seat; and at least one reference coordinate marking element is arranged on the base. For the correction device for surgical instruments described in item 1 of the scope of patent application, wherein the base has a first accommodating slot, the instrument insertion seat has a pivot part and an insertion part, and the pivot part is movable Pivotly disposed in the first accommodating groove, the insertion part is disposed on the pivot part, the surgical instrument insertion hole is disposed in the insertion part, and the first accommodating groove reveals the surgical instrument insertion hole . For example, the correction device for surgical instruments described in item 1 of the scope of patent application, wherein the instrument insertion seat is a spherical body, and an axis passes through a center of the surgical instrument insertion hole and a center of gravity of the instrument insertion seat, And the center of gravity is located on the bottom surface of a groove of the surgical instrument insertion hole. For example, the correction device for surgical instruments described in item 1 of the scope of patent application further includes a limit cover, the limit cover has a perforation, the perforation communicates with the first accommodating groove, the limit cover covers the pivot The connecting portion enables the pivotal connecting portion to be limited between the first accommodating groove and the limiting cover, and the perforation reveals the surgical instrument insertion hole. As for the correction device for surgical instruments described in the first item of the patent application, the base includes a grip portion, a pivot portion and a marking element setting portion, the pivot portion is combined with the grip portion, and the pivot An included angle is formed between the connecting portion and the grip portion, the first accommodating groove is recessed in the pivotal connecting portion, and the reference coordinate marking element is arranged on the marking element setting portion. For example, the correction device for surgical instruments described in item 1 of the scope of patent application, wherein the insertion portion has a plurality of surgical instrument insertion holes, each of the surgical instrument insertion holes has an aperture, and each of the surgical instrument insertion holes The aperture is different. As for the correction device for surgical instruments described in item 1 of the scope of patent application, the insertion part includes a plurality of clamping jaws and a sleeve, and the sleeve has an opening, an accommodating space and a cone-shaped inner ring wall, The opening communicates with the accommodating space, the cone-shaped inner ring wall surrounds the accommodating space, the pivot portion includes a body and a stud, the body has a second accommodating groove, and the stud is located in the second accommodating space. In the slot, the sleeve is screwed to the stud, the clamping jaws are arranged in the accommodating space, and the clamping jaws surround the surgical instrument insertion hole, and the tapered inner ring wall of the sleeve abuts Each of the clamping jaws can change the aperture of the surgical instrument insertion hole when the sleeve is rotated to change the mutual screw position of the sleeve and the stud. The correction device for surgical instruments described in item 4 of the scope of patent application further includes a release mechanism including a beam, at least one transmission rod and a pressing rod, and the base has a first cavity communicating with each other Chamber and a second chamber, the beam is arranged in the first chamber, two ends of the transmission rod are respectively combined with the beam and the limit cover, the pressing rod is pivoted in the second chamber with a shaft, the The pressing rod has a push end and a pressure end. When the pressure end is pressed, the push end pushes the beam, so that the beam, the transmission rod and the limit cover move in a first direction synchronously Actuate, and make the limit cover release the pivot part. For the correction device for surgical instruments described in item 8 of the scope of patent application, the release mechanism further includes at least one elastic member, and two ends of the elastic member are respectively fixed to the base and the beam, so that the beam and the transmission rod And the limit cover can synchronously move in a second direction opposite to the first direction, and make the limit cover abut the pivotal part. As for the correction device for surgical instruments described in claim 9, wherein the release mechanism further includes a positioning member, the positioning member is disposed on the base, and the elastic member is fixed to the base by the positioning member seat. For the correction device for surgical instruments described in item 8 of the scope of patent application, the release mechanism further includes a linkage rod and an elastic member, the base has a limiting hole, and the limiting hole communicates with the first chamber, The limiting hole is provided with a limiting flange, the linkage rod is movably arranged in the limiting hole, a first end of the linkage rod is combined with the beam, and a second end of the linkage rod is limited in the limiting position In the hole, the two ends of the elastic member respectively abut against the second end of the linkage rod and the limiting flange, so that the beam, the transmission rod, the limiting cover and the linkage rod can synchronously reverse the first Moves in a second direction of the direction, and makes the limit cover abut the pivot part. For example, the correction device for surgical instruments described in item 1 of the scope of patent application further includes a release mechanism having an abutting member, the abutting member is movably arranged on the base, and one end of the abutting member is used for Conflict with the device socket.

Images