WO2022227778A1

WO2022227778A1 - Optical tracking structure for navigation surgical power system

Info

Publication number: WO2022227778A1
Application number: PCT/CN2022/075519
Authority: WO
Inventors: 张逸凌; 刘星宇
Original assignee: 北京长木谷医疗科技有限公司; 张逸凌
Priority date: 2021-04-28
Filing date: 2022-02-08
Publication date: 2022-11-03
Also published as: CN113116525A; CN113116525B

Abstract

The present application relates to the technical field of medical instruments, and in particular, to an optical tracking structure for a navigation surgical power system, comprising a connector for connecting and driving a surgical power instrument. The connector is provided with a navigation support; the navigation support is followed by a plurality of reflecting balls used for forming a positioning surface for an optical tracking system; an annular supporting surface is formed on the navigation support; the plurality of reflecting balls are distributed on the surface of the annular supporting surface in a surrounding manner; the optical tracking system performs optical tracking in an angular range of 360 degrees on the spatial position of the surgical power instrument by means of the plurality of reflecting balls. According to the optical tracking structure for a navigation surgical power system of the present application, a tracking range of the optical tracking system on a surgical power instrument can be effectively improved, the navigation precision in an operation process is ensured, and the navigation operation is smooth.

Description

Optical Tracking Architecture for Navigating Surgical Dynamical Systems

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority of the Chinese Patent Application No. 202110469946.2, filed on April 28, 2021, entitled "Optical Tracking Structure for Navigating Surgical Power Systems", which is incorporated herein by reference in its entirety.

technical field

The present application relates to the technical field of medical devices, and in particular, to an optical tracking structure for navigating a surgical power system.

Background technique

At present, the optical tracking device used in clinical operation for navigation is mainly the optical positioning tracking system produced by Canadian NDI Company. The positioning principle of this type of system is as follows: the infrared light emitted by the binocular position sensor is irradiated on the surgical equipment or instruments installed with the tracking tool, and the small ball (also called the reflective ball) that can reflect infrared light on the tracking tool will reflect the infrared light. It is 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.

According to the positioning principle of the aforementioned system, the tracking tool plays a key role in the tracking of surgical equipment and instruments, and the accuracy of the position coordinates of the tracking tool calculated by the system determines the accuracy of the surgical navigation system. At present, the commonly used tracking tools include 3 to 4 reflective spheres that are coplanar (the plane is called the positioning surface). For example, in the tracking tool disclosed in Patent 200720012127.0, the optical tracking tool has only one positioning surface, and the positioning surface is a 180° plane, resulting in a very small tracking range. Surgical power instruments, so the optical tracking system has a small tracking range for surgical power instruments during the operation, so that the surgical power instruments cannot be tracked stably and effectively, and the accuracy of navigation is also affected, which is not conducive to the smooth operation of navigation. conduct.

SUMMARY OF THE INVENTION

The present application provides an optical tracking structure for navigating a surgical power system, which can effectively improve the tracking range of the optical tracking system to the surgical power instrument, ensure the navigation accuracy during the operation, and make the navigation operation smoother.

The present application provides an optical tracking structure for navigating a surgical power system, including a connector for connecting and driving a surgical power instrument, the connector is provided with a navigation bracket, and the navigation bracket is followed by a number of A reflective sphere for the positioning surface is constructed for the optical tracking system, a ring-shaped support surface is formed on the navigation bracket, a plurality of the reflective spheres are distributed around the surface of the ring-shaped support surface, and the optical tracking system passes through a number of all the reflective spheres. The reflective ball performs optical tracking of the spatial position of the surgical power instrument in an angular range of 360°.

According to an optical tracking structure for navigating a surgical power system provided by the present application, the three-dimensional coordinate information of several reflective balls is obtained, and the three-dimensional coordinate information is read and analyzed to obtain the optical tracking system. pose information.

According to an optical tracking structure for navigating a surgical power system provided by the present application, the drive motor in the connector is provided with any one, two or three of a strain-type torque sensor, a rotational speed sensor, and a pressure sensor, An embedded intelligent measurement and control module is also arranged on the drive motor to receive any one, two or three kinds of sensing signals collected from the strain-type torque sensor, rotational speed sensor, and pressure sensor and make judgments, and according to the judgment results Controls the drive motor for signal conditioning.

According to an optical tracking structure for navigating a surgical power system provided by the present application, the connector is connected to the surgical power instrument through a quick connection device.

According to an optical tracking structure for navigating a surgical power system provided by the present application, the outer peripheral surface of the annular support surface is radially twisted to form a twisted surface extending in the axial direction, and each of the reflective balls is distributed around the The surface of the twisted face.

According to an optical tracking structure for a navigation surgery power system provided by the present application, an anterior support ring and a posterior support ring are provided on the navigation bracket, and the twisted surfaces are respectively formed on the anterior support ring and the posterior support the surface of the ring, the twisted trajectories of the twisted surface on the front support ring and the back support ring are different from each other;

The outer diameter of the front support ring is smaller than the outer diameter of the rear support ring.

According to an optical tracking structure for navigating a surgical power system provided by the present application, four reflective balls are distributed around the twisted surfaces of the anterior support ring and the posterior support ring respectively.

According to an optical tracking structure for a navigation surgical power system provided by the present application, an installation interface for mutual positioning and cooperation is provided between the connector and the navigation support.

According to an optical tracking structure for navigating a surgical power system provided by the present application, a plurality of fixing brackets are provided on the annular support surface, and each of the reflective balls is respectively connected to each fixing bracket.

According to an optical tracking structure for navigating a surgical power system provided by the present application, the bottom of the connector is provided with a handle, and the handle is provided with a power interface for supplying power to a drive motor of the connector.

The present application provides an optical tracking structure for a navigation surgery power system. By installing a navigation bracket on a connector and forming a ring-shaped support surface on the navigation bracket, the track of the support surface on the navigation bracket can be circled around Finally, the reflective spheres used to be recognized by the optical tracking system are distributed around the surface of the annular support surface, and the optical tracking system uses several reflective spheres to perform a 360° angle range on the spatial position of the surgical power instrument. Optical tracking makes it easy for each reflective ball to construct a laterally inclined positioning surface corresponding to the lateral direction, so that the optical tracking system can smoothly track the spatial position of the surgical power instrument from the lateral direction, and can pass the annular support surface surface Each of the reflective balls constructs a plurality of circumferentially arranged positioning surfaces, which is convenient for the navigation bracket to be tracked by the optical system in a wider range, so it can effectively increase the tracking range of the optical tracking system for the surgical power instruments, which is beneficial to the surgical power instruments in the During the operation, it can be tracked stably and effectively, so as to ensure the navigation accuracy during the operation and make the navigation operation smoother.

Description of drawings

In order to illustrate the technical solutions in the present application or the prior art more clearly, the following briefly introduces the accompanying drawings that are needed in the description of the embodiments or the prior art. Obviously, the drawings in the following description are of the present application. For some embodiments of the present invention, for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is an exploded view of the overall structure of the present application;

Figure 2 is a side view of the application;

Fig. 3 is the front front schematic diagram of the present application;

Fig. 4 is a schematic diagram of Fig. 3;

Fig. 5 is the schematic diagram of Fig. 2;

Fig. 6 is the front schematic diagram of the present application;

Fig. 7 is a partial structure diagram of the present application;

Fig. 8 is a partial structure diagram of the present application;

Figure 9 is a side view of the application;

Fig. 10 is the front schematic diagram of the present application;

Figure 11 is a partial structure diagram of the present application;

FIG. 12 is an exploded view of the overall structure of the present application.

Description of reference numbers:

1 Connector, 2 Reflective Ball, 3 Navigation Bracket, 4 Ring Support Surface, 5 Twisted Surface, 6 Front Support Ring, 7 Back Support Ring, 8 Mounting Interface, 9 Fixing Bracket, 10 Handle, 11 Power Interface, 100 Mounting mouth.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the accompanying drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application. , not all examples. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The following describes an optical tracking structure for navigating a surgical power system according to the present application with reference to FIGS. 1 to 3, including a connector 1, which is used to connect and drive a surgical power instrument (not shown in the figure), When in use, the surgical power instrument is installed on the installation port 100 at the front end of the connector 1, the connector 1 is detachably installed with a navigation bracket 3, and the navigation bracket 3 is followed by a number of reflective balls for constructing a positioning surface for the optical tracking system. 2. An annular support surface 4 is formed on the navigation bracket 3, and several reflective balls 2 are distributed around the surface of the annular support surface 4. The optical tracking system conducts 360° of the spatial position of the surgical power instrument through several reflective balls 2. Optical tracking of angular range.

In the optical tracking structure of this embodiment, by installing the navigation bracket 3 on the connector 1 and forming the annular support surface 4 on the navigation bracket 3, the annular support surface 4 on the navigation bracket 3 can be tracked in the circumferential direction. Extend, and finally distribute each reflective ball 2 used to be recognized by the optical tracking system on the surface of the annular support surface 4, and the optical tracking system uses several reflective balls 2 to perform a 360° angle range on the spatial position of the surgical power instrument. Optical tracking, as shown in FIG. 3 and FIG. 4 , can facilitate each reflective ball 2 to construct a laterally inclined positioning surface corresponding to the lateral direction (in this embodiment, four reflective balls 2 constitute a positioning surface, 5), so that the optical tracking system can smoothly track the spatial position of the surgical power instrument from the lateral direction, and can construct a plurality of circumferential directions through each reflective ball 2 on the surface of the annular support surface 4 Arranged positioning surfaces (for example, as shown in Figure 4, three circumferentially arranged positioning surfaces are constructed), so that the navigation bracket 3 can be tracked by the optical system in a wider range, so it can effectively increase the optical tracking system to the surgical power instrument. The tracking range is conducive to the stable and effective tracking of the surgical powered instruments during the operation, thereby ensuring the navigation accuracy during the operation and making the navigation operation smoother.

Optionally, in some embodiments, the connector 1 is connected to the surgical power instrument through a quick connection device, which can quickly disassemble and install the surgical power instrument.

Optionally, by acquiring the three-dimensional coordinate information of several reflective balls 2, and reading and analyzing the three-dimensional coordinate information, the pose information of the optical tracking system is obtained, and multi-pose recognition can be realized.

This embodiment can be used for hip replacement grinding operation by combining the surgical power instrument and the optical tracking system.

Specifically, as shown in FIG. 3 , each reflective ball 2 is distributed around the surface of the annular support surface 4 , so that the optical tracking system can track the surgical power instrument in an ultra-large 360° range, which is further beneficial for the surgical power instrument in the surgical process. can be tracked stably and efficiently.

However, in the prior art, before the navigation operation is performed, each reflective sphere that moves with the surgical power instrument will be virtually generated in the computer software in advance, and the navigation bracket will be automatically generated according to the position of each reflective sphere in the virtual coordinate space of the software, Then use the 3D printing technology to quickly manufacture the virtual navigation bracket into the physical navigation bracket, and install the reflective ball corresponding to the virtual space on the physical navigation bracket. Before the operation starts, the navigation bracket in the virtual coordinate space and the physical navigation bracket The bracket needs to be registered with each other through the positioning surfaces constructed by each reflective ball. In short, the positioning surface constructed by the solid light-emitting ball needs to be registered with the positioning surface constructed by the virtual light-emitting ball in the computer. , after the optical tracking system recognizes and tracks each solid reflective sphere on the solid navigation bracket, it will construct a positioning surface according to the spatial position of each solid reflective sphere, and then map the positioning surface constructed by the solid reflective sphere to the computer virtual space. The positioning surface enables the physical navigation bracket in the surgical space and the virtual navigation bracket in the computer virtual space to complete the mutual mapping and registration, so that the physical navigation bracket can be accurately tracked in the virtual coordinate space of the computer. When the surgical power instrument is connected to the navigation bracket After that, the movement of the surgical power instrument can be accurately tracked and controlled in the virtual coordinate space of the computer, so that high-precision surgical work can be realized. However, after each reflective ball on the navigation bracket constructs multiple positioning surfaces, although the tracking range of the optical tracking system to the navigation bracket can theoretically be increased, the distance between the positioning surface and the optical axis of the binocular position sensor will also be increased. Therefore, it will affect the tracking accuracy of the surgical navigation system. To solve this problem, there needs to be mutual differences between each positioning surface. By adding detection and comparison software in the computer system, the optical tracking system can accurately distinguish each positioning surface. The multiple positioning surfaces on the navigation support can be accurately registered with the virtual positioning surfaces in the computer, so that the tracking accuracy of the surgical navigation system can be improved.

Therefore, in order to facilitate each reflective ball 2 on the surface of the annular support surface 4 to construct a plurality of positioning surfaces that are different from each other in space, so as to produce obvious mutual differences between the positioning surfaces, in this embodiment, as As shown in FIGS. 6 to 7 , the outer peripheral surface of the annular support surface 4 is radially twisted to form a twisted surface 5 extending in the axial direction. When the reflective balls 2 are respectively fixed on the twisted surface 5 at different positions, it is more conducive to constructing positioning surfaces of different shapes, so as to facilitate the generation of obvious reciprocity between the positioning surfaces and facilitate the accurate tracking of the optical tracking system. Identify and distinguish each positioning surface, improve the registration accuracy of the positioning surface, so as to improve the tracking accuracy of surgical power instruments by the surgical navigation system.

Further, as shown in FIGS. 8 to 9 , the navigation support 3 is provided with a front support ring 6 and a rear support ring 7 arranged in the axial direction, and the twisted surface 5 is formed on the front support ring 6 and the rear support ring 7 respectively. , the twisted trajectories of the twisted surface 5 on the front support ring 6 and the rear support ring 7 are different from each other. By fixing the reflective balls 2 on the twisted surfaces 5 of the front support ring 6 and the back support ring 7 respectively, and because the twisted trajectories of the twisted surfaces of the front support ring 6 and the rear support ring 7 are different from each other Therefore, when each reflective ball 2 is respectively fixed on the surface of the front support ring 6 and the back support ring 7 at different positions, it is more conducive to constructing positioning surfaces of different shapes and sizes, so as to facilitate the There is a further obvious mutual difference between the positioning surfaces, so that the optical tracking system can more accurately identify and distinguish each positioning surface, and further improve the registration accuracy of the positioning surfaces, which can further improve the tracking accuracy of the surgical navigation system for surgical power instruments. .

Further, as shown in FIG. 10 , the outer diameter of the front support ring 6 is smaller than the outer diameter of the rear support ring 7 . Therefore, the reflective ball 2 on the front support ring 6 and the reflective ball 2 on the rear support ring 7 can construct a positioning surface inclined to the front side, so that the front side of the navigation bracket 3 can be tracked by the optical system in a wider range, and then It further effectively increases the tracking range of the optical tracking system for surgical power instruments.

Specifically, as shown in FIGS. 1 to 10 , the surfaces of the twisted surfaces 5 of the front support ring 6 and the rear support ring 7 are respectively surrounded by four said reflective balls 2 . Therefore, a positioning surface can be constructed by the adjacent four reflective balls 2 respectively, and a total of three positioning surfaces surrounding the navigation bracket 3 in the circumferential direction can be constructed, which can effectively increase the tracking range, and the three positioning surfaces also have obvious mutual The opposite sex is convenient for the accurate identification and registration of the optical tracking system, thus effectively improving the navigation accuracy.

Specifically, as shown in FIG. 11 , an installation interface 8 for mutual positioning and cooperation is provided between the connector 1 and the navigation bracket 3 . Therefore, the connector 1 and the navigation bracket 3 can be disassembled and assembled repeatedly, and the initial installation position can still be maintained without re-registration, and the navigation accuracy is not affected.

Specifically, as shown in FIG. 12 , several fixing brackets 9 are fixed on the annular support surface 4 , and each reflective ball 2 is connected to each fixing bracket 9 respectively. Therefore, it can be ensured that each reflective ball 2 can be stably connected to the navigation bracket 3 .

Specifically, as shown in FIG. 12 , the bottom of the connector 1 is provided with a handle 10 , and the handle 10 is provided with a power interface 11 for providing power for the motor of the connector 1 . Therefore, the movement of the surgical power instrument can be controlled by holding the handle 10 during the navigation operation, which makes the operation more convenient.

Specifically, in this embodiment, the drive motor in the connector 1 is provided with any one, two or three types of strain-type torque sensors, rotational speed sensors, and pressure sensors, and the drive motor is also provided with embedded intelligent The measurement and control module receives any one, two or three kinds of inductive signals collected from the strain-type torque sensor, rotational speed sensor, and pressure sensor, and judges, and controls the drive motor to adjust the signal according to the judgment result, so that it can effectively Enhance the precise control of surgical power instruments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions recorded in the foregoing embodiments, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

An optical tracking structure for navigating a surgical power system, comprising a connector (1) for connecting and driving a surgical power instrument, the connector (1) is provided with a navigation bracket (3), the navigation bracket ( 3) Followed by several reflective balls (2) for constructing positioning surfaces for the optical tracking system, it is characterized in that an annular support surface (4) is formed on the navigation bracket (3), and several of the reflective balls (2) are formed on the The balls (2) are distributed around the surface of the annular support surface (4), and the optical tracking system performs a 360° angle range on the spatial position of the surgical power instrument through a plurality of the reflective balls (2). Optical tracking.
The optical tracking structure for navigating a surgical power system according to claim 1, wherein the three-dimensional coordinate information of a plurality of the reflective balls (2) is acquired, and the three-dimensional coordinate information is read and analyzed to obtain the The pose information of the optical tracking system.
The optical tracking structure for navigating a surgical power system according to claim 1, wherein the drive motor in the connector (1) is provided with any one or two of a strain-type torque sensor, a rotational speed sensor, and a pressure sensor. One or three kinds, and an embedded intelligent measurement and control module is also set on the drive motor to receive the inductive signals collected by any one, two or three kinds of the strain-type torque sensor, rotational speed sensor, and pressure sensor and make judgments , and control the drive motor to adjust the signal according to the judgment result.
The optical tracking structure for navigating a surgical power system according to claim 1, wherein the connector (1) is connected to the surgical power instrument through a quick connection device.
The optical tracking structure for navigating a surgical power system according to claim 1, wherein the outer peripheral surface of the annular support surface (4) is radially twisted to form a twisted surface (5) extending along the axis direction, each of which is The reflective balls (2) are distributed around the surface of the twisted surface (5).
The optical tracking structure for a navigation surgery power system according to claim 5, wherein the navigation bracket (3) is provided with a front support ring (6) and a rear support ring (7), and the twisted surface ( 5) respectively formed on the surfaces of the front support ring (6) and the back support ring (7), the twisted track of the twisted surface (5) on the front support ring (6) and the back support ring (7) different from each other;

The outer diameter of the front support ring (6) is smaller than the outer diameter of the rear support ring (7).
The optical tracking structure for navigating a surgical power system according to claim 6, wherein the surfaces of the twisted surfaces (5) of the anterior support ring (6) and the posterior support ring (7) are respectively surrounded by four surrounding surfaces. Described reflective ball (2).
The optical tracking structure for a navigation surgical power system according to claim 1, wherein an installation interface (8) for mutual positioning and cooperation is provided between the connector (1) and the navigation support (3).
The optical tracking structure for navigating a surgical power system according to claim 1, wherein a plurality of fixing brackets (9) are provided on the annular support surface (4), and each of the reflective balls (2) is connected to each other respectively. on each fixing bracket (9).
The optical tracking structure for navigating a surgical power system according to claim 1, wherein a handle (10) is provided at the bottom of the connector (1), and a handle (10) is provided with a handle (10) for the connector ( 1) The drive motor provides the power supply interface (11).