WO2017036340A1 - 一种用于导航手术的光学跟踪工具 - Google Patents

一种用于导航手术的光学跟踪工具 Download PDF

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Publication number
WO2017036340A1
WO2017036340A1 PCT/CN2016/096661 CN2016096661W WO2017036340A1 WO 2017036340 A1 WO2017036340 A1 WO 2017036340A1 CN 2016096661 W CN2016096661 W CN 2016096661W WO 2017036340 A1 WO2017036340 A1 WO 2017036340A1
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Prior art keywords
reflective
ball
mounting base
tracking tool
positioning
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PCT/CN2016/096661
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English (en)
French (fr)
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徐进
冯云
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北京天智航医疗科技股份有限公司
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Priority to US15/756,355 priority Critical patent/US10925678B2/en
Priority to ES16840769T priority patent/ES2866942T3/es
Priority to EP16840769.0A priority patent/EP3345565B1/en
Publication of WO2017036340A1 publication Critical patent/WO2017036340A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems

Definitions

  • the invention relates to an optical tracking tool for navigation surgery, belonging to the technical field of computer assisted surgery.
  • the optical tracking device for clinical navigation is mainly an optical positioning and tracking system produced by NDI of Canada.
  • the positioning principle of this type of system is: the infrared light emitted by the binocular position sensor is irradiated on the surgical equipment or the instrument with the tracking tool, and the small ball (also called the reflective ball) on the tracking tool that reflects the infrared light will be the infrared light. Reflected back to the position sensor and calculated by the built-in software of the system to obtain the position coordinates of the tracking tool (including the position and angle of the tracking tool), so as to realize the positioning and tracking of the corresponding surgical equipment and instruments.
  • the tracking tool is a key component in the tracking of the surgical equipment and the instrument, and the accuracy of the position coordinates of the tracking tool calculated by the system determines the accuracy of the surgical navigation system.
  • Currently used tracking tools include 3 to 4 reflective spheres that are coplanar (the plane is called a positioning plane).
  • the optical tracking tool has only one positioning surface. The disadvantage of this design is that the system tracking range is small, usually less than ⁇ 90.
  • the accuracy of the position coordinate of the tracking tool obtained by the optical tracking system is related to the angle of the positioning surface of the tracking tool and the optical axis of the binocular position sensor, the greater the angle, the worse the accuracy, and the accuracy of the surgical navigation system using the tracking tool is difficult to ensure.
  • an object of the present invention is to provide an optical tracking tool for navigation surgery that has high positioning accuracy and a large tracking range.
  • an optical tracking tool for navigation surgery characterized in that it comprises a mounting base on which two to six supporting surfaces are arranged, Two or four reflective balls are mounted on each of the support surfaces, and four of the reflective balls on the same support surface or four of the reflective balls on two adjacent support surfaces are formed.
  • a positioning surface, the angle of the surface normal vector of two adjacent positioning surfaces is 90° to 140°.
  • the reflective ball and the support surface are connected by a reflective ball mounting base;
  • the reflective ball mounting base comprises a ball holder, a sealing rubber ring and an annular cover plate;
  • the ball holder is fixedly connected a support surface;
  • the reflective ball is composed of two hemispheres having unequal diameters, wherein the large-diameter hemisphere portion of the reflective ball is lifted by the ball holder and then passed through the ball holder
  • the annular cover plate is clamped, and a small diameter hemispherical portion of the reflective ball projects from the annular cover;
  • the sealing rubber ring is disposed between the ball holder and a large diameter hemispherical portion of the reflective ball.
  • An interface to the surgical tool and/or the surgical robot is provided on the mounting base.
  • the present invention has the following advantages due to the above technical solution: 1. Compared with the prior art tracking tool that forms a single positioning surface by four reflective balls, the invention can significantly expand the effective tracking range of the system and improve the system. Precision. 2.
  • the invention proposes a connection structure between the reflective ball and the support surface, which can realize precise positioning connection between the reflective ball and the support surface. 3.
  • the invention has simple structure and reliable performance, and can be widely applied to tracking and positioning of clinical surgical robots.
  • Embodiment 1 is a schematic structural view of Embodiment 1;
  • Embodiment 2 is a schematic structural view of Embodiment 2.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the embodiment includes a mounting base 1 for connecting with a robot end or a robot front end device.
  • Two mounting surfaces 2 are disposed on the mounting base 1 , and each supporting surface 2 is mounted thereon.
  • the quadrilateral with the four reflective balls 3 on the same supporting surface 2 as an end point constitutes a positioning surface 5, and the angle of the surface normal vector of the adjacent two positioning surfaces 5 is 90° to 140°, and The shape or size of the positioning faces 5 are different.
  • the reflective ball mounting base 4 includes a ball holder 8, a sealing rubber ring 9, and an annular cover plate 10, wherein the ball holder 8 is fixedly coupled to the support surface 2.
  • the reflective ball 3 in this embodiment is composed of two hemispheres having unequal diameters, wherein the large-diameter hemisphere portion is supported by the ball holder 8 and then buckled on the ball holder 8.
  • the annular cover 10 is secured, a small diameter hemispherical portion projects from the annular cover 10, and a sealing bead 9 is disposed between the ball rest 8 and the large diameter hemispherical portion.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the embodiment includes a mounting base 1 for connecting with a robot end or a robot front end.
  • the mounting base 1 is provided with six supporting surfaces 2, each of which is mounted on the supporting surface 2.
  • a quadrangular shape with four reflective balls 3 located on two adjacent supporting surfaces 2 as an end point constitutes a positioning surface 5, and the angle of the surface normal vector of the adjacent two positioning surfaces 5 is 90° to 140°. Also, the shape or size of any two positioning faces 5 is different.
  • the mounting base 1 of the above two embodiments is provided with an interface 7 connected to the surgical tool and/or the surgical robot.
  • the present invention further includes a modification based on the above embodiment, such as the number of support faces 2 may also be three, four or five, and two or four are mounted on each support face 2
  • the reflecting balls 3 constitute a positioning surface 5 by four reflecting balls 3 on the same supporting surface 2 or quadrangles having four reflecting balls 3 on the adjacent two supporting faces 2 as the top end.
  • the reflective balls 3 in the first embodiment and the second embodiment and their mounting manners are interchangeable.
  • the invention can also be applied to other devices or instruments in the surgical navigation system that require positioning by changing the shape or arrangement of the mounting base 1 .
  • the tool definition of the present invention is characterized by the fact that when the number of the reflective balls 3 mounted on the single support surface 2 is "4", the support surface 2 is defined as one in the tool definition. Independent positioning surface 5; when the number of the reflective balls 3 mounted on the single support surface 2 is "2", the adjacent two support surfaces 2 are collectively defined as one positioning surface 5 in the tool definition, and each support surface 2 It can be shared by different positioning faces 5.
  • the position and geometric size of the four reflective balls installed are generated by the programmed positioning surface generation algorithm, and finally the generated data is detected by the tool-specific detection software for the detection of the mutuality of the two positioning surfaces, thereby ensuring the design.
  • the tool meets the specific requirements of the optical positioning system.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)

Abstract

一种用于导航手术的光学跟踪工具，包括一安装基座（1）。在安装基座（1）上设置有两至六个支撑面（2），每一支撑面（2）上安装有两个或四个反光球（3）。位于同一支撑面（2）上的四个反光球（3）或位于相邻两个支撑面（2）上的四个反光球（3）组成一个定位面（5），相邻两个定位面（5）的面法向量夹角为90°～140°。相比于现有技术中由四个反光球形成单一定位面的跟踪工具而言，这种光学跟踪工具可以显著扩大系统的有效跟踪范围，提高系统精度。

Description

一种用于导航手术的光学跟踪工具 技术领域
本发明涉及一种用于导航手术的光学跟踪工具，属于计算机辅助手术技术领域。
现有技术
目前，临床上用于导航手术的光学跟踪装置主要是由加拿大NDI公司生产的光学定位跟踪系统。该类系统的定位原理为：双目位置传感器发射的红外光照射在安装有跟踪工具的手术设备或器械上，跟踪工具上的可反射红外光的小球(也称反光球)会将红外光反射回位置传感器并由系统内置软件进行计算得到跟踪工具的位置坐标(包括跟踪工具的位置和角度)，从而实现对相应的手术设备和器械进行定位跟踪。
根据前述系统的定位原理可知，在手术设备和器械的跟踪方面，跟踪工具是起关键性作用的部件，系统计算得到的跟踪工具位置坐标的精度决定了手术导航系统的精度。目前常用的跟踪工具包含3～4个共面(该平面称为定位面)的反光球。如中国专利CN200720012127.0所公开的跟踪工具，该光学跟踪工具只有一个定位面。该设计的缺点主要是系统跟踪范围较小，通常小于±90。而且由于光学跟踪系统得到的跟踪工具的位置坐标的精度与跟踪工具的定位面与双目位置传感器光轴的角度有关，角度越大精度越差，利用此跟踪工具的手术导航系统精度难以保证。
发明内容
针对上述问题，本发明的目的是提供一种定位精度高且跟踪范围大的用于导航手术的光学跟踪工具。
为实现上述目的，本发明采用以下技术方案：一种用于导航手术的光学跟踪工具，其特征在于：它包括一安装基座，在所述安装基座上设置有两至六个支撑面，每一所述支撑面上安装有两个或四个反光球，位于同一所述支撑面上的四个所述反光球或位于相邻两个所述支撑面上的四个所述反光球组成一个定位面，相邻两个所述定位面的面法向量夹角为90°～140°。
所述反光球与所述支撑面之间通过一反光球安装基座连接；所述反光球安装基座包括一球托、一密封胶圈和一环形盖板；所述球托固定连接在所述支撑面上；所述反光球由直径不等的两个半球构成，其中，所述反光球的大直径半球部分由所述球托托起后通过扣设在所述球托上的所述环形盖板卡固，所述反光球的小直径半球部分从所述环形盖板中伸出；在所述球托与所述反光球的大直径半球部分之间设置所述密封胶圈。
所述安装基座上设置有与手术工具和/或手术机器人连接的接口。
本发明由于采取以上技术方案，其具有以下优点：1、本发明相比于现有技术中由四个反光球形成单一定位面的跟踪工具而言，可以显著扩大系统的有效跟踪范围，提高系统精度。2、本发明提出了一种反光球与支撑面的连接结构，其可以实现反光球与支撑面的精确定位连接。3、本发明结构简单，性能可靠，可广泛应用于临床手术机器人的跟踪定位。
附图说明
以下结合附图来对本发明进行详细的描绘。然而应当理解，附图的提供仅为了更好地理解本发明，它们不应该理解成对本发明的限制。
图1是实施例一的结构示意图；
图2是实施例二的结构示意图。
具体实施方式
下面结合附图和实施例对本发明进行详细的描述。
实施例一：
如图1所示，本实施例包括一安装基座1，其用于与机器人末端或机器人前端器械连接，在安装基座1上设置有两个支撑面2，每一个支撑面2上安装有四个反光球3，每一反光球3通过一反光球安装基座4固定于支撑面2上。在本实施例中，以同一支撑面2上的四个反光球3为端点的四边形构成一个定位面5，相邻两定位面5的面法向量夹角为90°～140°，并且，两个定位面5的形状或尺寸不相同。
如图2所示，反光球安装基座4包括一球托8、一密封胶圈9和一环形盖板10，其中，球托8固定连接在支撑面2上。本实施例中的反光球3由直径不等的两个半球构成，其中，大直径半球部分由球托8托起后通过扣设在球托8上 的环形盖板10卡固，小直径半球部分从环形盖板10中伸出，并且在球托8与大直径半球部分之间设置密封胶圈9。
实施例二：
如图3所示，本实施例包括一安装基座1，其用于与机器人末端或机器人前端器械连接，在安装基座1上设置有六个支撑面2，每一个支撑面2上安装有两个反光球3，每一反光球3通过一安装立柱6与支撑面2连接。在本实施例中，以位于相邻两支撑面2上的四个反光球3为端点的四边形构成一个定位面5，相邻两定位面5的面法向量夹角为90°～140°，并且，任意两个定位面5的形状或尺寸不相同。
以上两种实施例的安装基座1上均设置有与手术工具和/或手术机器人连接的接口7。
在上述实施例的基础上，本发明还包括基于上述实施例的变形形式，如支撑面2的数目也可以是三个、四个或者五个，每个支撑面2上安装有两个或四个反光球3，以位于同一支撑面2上的四个反光球3或以位于相邻两个支撑面2上的四个反光球3为顶端的四边形构成一个定位面5。并且，实施例一和实施例二中的反光球3及其安装方式可以互换。此外，本发明还可以通过改变安装基座1的形状或设置的连接接口7应用于手术导航系统中其他需要定位的设备或器械上。
结合本发明的结构，利用配套的控制程序，本发明工具定义的特点是：当单一支撑面2上安装的反光球3数目为“4”时，在工具定义中将该支撑面2定义为一个独立的定位面5；当单一支撑面2上安装的反光球3数目为“2”时，在工具定义中将相邻两个支撑面2合并定义为一个定位面5，并且每个支撑面2可以被不同的定位面5共用。本发明在工作时，用编制好的定位面生成算法生成所安装四个反光球的位置和几何尺寸，最后将生成的数据利用工具特异性检测软件进行两个定位面互异性检测，从而保证设计的工具符合光学定位系统的特异性要求。
上述各实施例仅用于对本发明的目的、技术方案和有益效果进行了进一步详细说明，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (3)

  1. 一种用于导航手术的光学跟踪工具，其特征在于：它包括一安装基座，在所述安装基座上设置有两至六个支撑面，每一所述支撑面上安装有两个或四个反光球，位于同一所述支撑面上的四个所述反光球或位于相邻两个所述支撑面上的四个所述反光球组成一个定位面，相邻两个所述定位面的面法向量夹角为90°～140°。
  2. 如权利要求1所述的一种用于导航手术的光学跟踪工具，其特征在于：所述反光球与所述支撑面之间通过一反光球安装基座连接；所述反光球安装基座包括一球托、一密封胶圈和一环形盖板；所述球托固定连接在所述支撑面上；所述反光球由直径不等的两个半球构成，其中，所述反光球的大直径半球部分由所述球托托起后通过扣设在所述球托上的所述环形盖板卡固，所述反光球的小直径半球部分从所述环形盖板中伸出；在所述球托与所述反光球的大直径半球部分之间设置所述密封胶圈。
  3. 如权利要求1或2所述的一种用于导航手术的光学跟踪工具，其特征在于：所述安装基座上设置有与手术工具和/或手术机器人连接的接口。
PCT/CN2016/096661 2015-08-31 2016-08-25 一种用于导航手术的光学跟踪工具 WO2017036340A1 (zh)

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US15/756,355 US10925678B2 (en) 2015-08-31 2016-08-25 Optical tracking tool for navigating surgery
ES16840769T ES2866942T3 (es) 2015-08-31 2016-08-25 Herramienta de seguimiento óptico para la navegación de una intervención quirúrgica
EP16840769.0A EP3345565B1 (en) 2015-08-31 2016-08-25 Optical tracking tool for navigating surgery

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CN201510547376.9 2015-08-31
CN201510547376.9A CN105147395B (zh) 2015-08-31 2015-08-31 一种用于导航手术的光学跟踪工具

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US10828112B2 (en) 2016-10-21 2020-11-10 Mobius Imaging Llc Methods and systems for setting trajectories and target locations for image guided surgery
US10959783B2 (en) 2015-04-15 2021-03-30 Mobius Imaging, Llc Integrated medical imaging and surgical robotic system
US11033341B2 (en) 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods
US11065069B2 (en) 2017-05-10 2021-07-20 Mako Surgical Corp. Robotic spine surgery system and methods
US11103990B2 (en) 2016-09-16 2021-08-31 Mobius Imaging Llc System and method for mounting a robotic arm in a surgical robotic system
US11534211B2 (en) 2017-10-04 2022-12-27 Mobius Imaging Llc Systems and methods for performing lateral-access spine surgery
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