WO2022227778A1 - Structure de suivi optique pour système d'alimentation chirurgical de navigation - Google Patents

Structure de suivi optique pour système d'alimentation chirurgical de navigation Download PDF

Info

Publication number
WO2022227778A1
WO2022227778A1 PCT/CN2022/075519 CN2022075519W WO2022227778A1 WO 2022227778 A1 WO2022227778 A1 WO 2022227778A1 CN 2022075519 W CN2022075519 W CN 2022075519W WO 2022227778 A1 WO2022227778 A1 WO 2022227778A1
Authority
WO
WIPO (PCT)
Prior art keywords
optical tracking
navigation
surgical power
support ring
power system
Prior art date
Application number
PCT/CN2022/075519
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京长木谷医疗科技有限公司, 张逸凌 filed Critical 北京长木谷医疗科技有限公司
Publication of WO2022227778A1 publication Critical patent/WO2022227778A1/fr

Links

Images

Classifications

    • 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
    • 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

Definitions

  • 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.
  • 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.
  • 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.
  • the commonly used tracking tools include 3 to 4 reflective spheres that are coplanar (the plane is called the positioning surface).
  • 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.
  • 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°.
  • 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.
  • 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.
  • the connector is connected to the surgical power instrument through a quick connection device.
  • 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.
  • 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.
  • 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.
  • an installation interface for mutual positioning and cooperation is provided between the connector and the navigation support.
  • 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.
  • 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.
  • a navigation bracket 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
  • 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.
  • 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.
  • 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.
  • 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.
  • each reflective ball 2 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the optical tracking system 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.
  • 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.
  • each reflective ball on the navigation bracket constructs multiple positioning surfaces
  • 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.
  • 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.
  • the outer peripheral surface of the annular support surface 4 is radially twisted to form a twisted surface 5 extending in the axial direction.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • the bottom of the connector 1 is provided with a handle 10
  • 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.
  • 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.

Abstract

La présente demande se rapporte au domaine technique des instruments médicaux, et en particulier, à une structure de suivi optique pour un système d'alimentation chirurgical de navigation, comprenant un connecteur pour connecter et entraîner un instrument chirurgical électrique. Le connecteur est pourvu d'un support de navigation ; le support de navigation est suivi d'une pluralité de billes réfléchissantes utilisées pour former une surface de positionnement pour un système de suivi optique ; une surface de support annulaire est formée sur le support de navigation ; la pluralité de billes réfléchissantes étant réparties sur la surface de la surface de support annulaire de manière à l'entourer ; le système de suivi optique effectue un suivi optique dans une plage angulaire de 360 degrés sur la position spatiale de l'instrument d'alimentation chirurgical au moyen de la pluralité de billes réfléchissantes. Selon la structure de suivi optique pour un système d'alimentation chirurgical de navigation de la présente demande, une plage de suivi du système de suivi optique sur un instrument d'alimentation chirurgical peut être efficacement améliorée, la précision de navigation lors d'un processus de fonctionnement est assurée, et l'opération de navigation est fluide.
PCT/CN2022/075519 2021-04-28 2022-02-08 Structure de suivi optique pour système d'alimentation chirurgical de navigation WO2022227778A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110469946.2A CN113116525B (zh) 2021-04-28 2021-04-28 用于导航手术动力系统的光学跟踪结构
CN202110469946.2 2021-04-28

Publications (1)

Publication Number Publication Date
WO2022227778A1 true WO2022227778A1 (fr) 2022-11-03

Family

ID=76780917

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/075519 WO2022227778A1 (fr) 2021-04-28 2022-02-08 Structure de suivi optique pour système d'alimentation chirurgical de navigation

Country Status (2)

Country Link
CN (1) CN113116525B (fr)
WO (1) WO2022227778A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113116525B (zh) * 2021-04-28 2021-12-03 北京长木谷医疗科技有限公司 用于导航手术动力系统的光学跟踪结构
CN113599721B (zh) * 2021-07-29 2024-02-06 中科领航医疗科技有限公司 一种手术导航与放射性植入系统用定位反光小球机构及使用方法
CN113842214B (zh) * 2021-09-03 2022-10-11 北京长木谷医疗科技有限公司 手术机器人导航定位系统及方法

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070239169A1 (en) * 2006-03-17 2007-10-11 Perception Raisonnement Action En Medecine Reference marker and use in a motion tracking system
WO2018104439A1 (fr) * 2016-12-08 2018-06-14 Orthotaxy Système chirurgical pour couper une structure anatomique selon au moins un plan cible
CN108938090A (zh) * 2018-08-20 2018-12-07 真健康（北京）医疗科技有限公司 一种精准定位的肿瘤手术机器人系统及其目标定位方法
CN110123456A (zh) * 2019-05-15 2019-08-16 北京天智航医疗科技股份有限公司 示踪设备和定位系统
US20210068903A1 (en) * 2019-09-05 2021-03-11 Nuvasive Surgical instrument tracking devices and related methods
CN112603498A (zh) * 2020-12-29 2021-04-06 南京佗道医疗科技有限公司 一种自动穿刺置针系统
CN213047263U (zh) * 2020-06-05 2021-04-27 北京天智航医疗科技股份有限公司 多角度示踪器及手术机器人的定位系统
CN113116525A (zh) * 2021-04-28 2021-07-16 北京长木谷医疗科技有限公司 用于导航手术动力系统的光学跟踪结构
CN113842214A (zh) * 2021-09-03 2021-12-28 北京长木谷医疗科技有限公司 手术机器人导航定位系统及方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8417315B2 (en) * 2007-05-14 2013-04-09 Varian Medical Systems, Inc. Marker systems with spaced apart surfaces or markers and methods of using the same
CN101889857B (zh) * 2009-05-22 2012-09-19 许杰 手术导航设备
CN201529151U (zh) * 2009-06-02 2010-07-21 复旦大学 脊柱微创手术导航用快速接头
TW201106916A (en) * 2009-08-21 2011-03-01 Accumis Inc Omni-directional position surgical guide instrument and omni-directional position unit structure thereof
WO2011133927A2 (fr) * 2010-04-22 2011-10-27 Blue Belt Technologies, Llc Outil et kit chirurgical main libre commandé
NL2008205C2 (en) * 2012-01-31 2013-08-01 Umc Utrecht Holding Bv Tracking of an endoscopic device.
US11786324B2 (en) * 2012-06-21 2023-10-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
CN105055022B (zh) * 2015-06-30 2017-10-20 华南理工大学 一种手术导航通用标记结构及其图像位置获取方法
CN109938839B (zh) * 2015-08-31 2024-03-26 北京天智航医疗科技股份有限公司 一种用于导航手术的光学跟踪工具
US10251724B2 (en) * 2017-05-02 2019-04-09 Synaptive Medical (Barbados) Inc. Vertebral reference clamp
KR102102291B1 (ko) * 2017-12-20 2020-04-21 주식회사 고영테크놀러지 옵티컬 트래킹 시스템 및 옵티컬 트래킹 방법
CN108742843A (zh) * 2018-06-25 2018-11-06 北京航空航天大学 一种c型臂空间标定器
CN211156332U (zh) * 2019-09-17 2020-08-04 北京天智航医疗科技股份有限公司 患者示踪器及手术定位系统
CN112641511B (zh) * 2020-12-18 2021-09-10 北京长木谷医疗科技有限公司 关节置换手术导航系统及方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070239169A1 (en) * 2006-03-17 2007-10-11 Perception Raisonnement Action En Medecine Reference marker and use in a motion tracking system
WO2018104439A1 (fr) * 2016-12-08 2018-06-14 Orthotaxy Système chirurgical pour couper une structure anatomique selon au moins un plan cible
CN108938090A (zh) * 2018-08-20 2018-12-07 真健康（北京）医疗科技有限公司 一种精准定位的肿瘤手术机器人系统及其目标定位方法
CN110123456A (zh) * 2019-05-15 2019-08-16 北京天智航医疗科技股份有限公司 示踪设备和定位系统
US20210068903A1 (en) * 2019-09-05 2021-03-11 Nuvasive Surgical instrument tracking devices and related methods
CN213047263U (zh) * 2020-06-05 2021-04-27 北京天智航医疗科技股份有限公司 多角度示踪器及手术机器人的定位系统
CN112603498A (zh) * 2020-12-29 2021-04-06 南京佗道医疗科技有限公司 一种自动穿刺置针系统
CN113116525A (zh) * 2021-04-28 2021-07-16 北京长木谷医疗科技有限公司 用于导航手术动力系统的光学跟踪结构
CN113842214A (zh) * 2021-09-03 2021-12-28 北京长木谷医疗科技有限公司 手术机器人导航定位系统及方法

Also Published As

Publication number Publication date
CN113116525A (zh) 2021-07-16
CN113116525B (zh) 2021-12-03

Similar Documents

Publication Publication Date Title
WO2022227778A1 (fr) Structure de suivi optique pour système d'alimentation chirurgical de navigation
US20200375670A1 (en) Methods for locating and tracking a tool axis
WO2017036340A1 (fr) Outil de suivi optique permettant la navigation d'une intervention chirurgicale
US7289227B2 (en) System and tracker for tracking an object, and related methods
WO2017211039A1 (fr) Dispositif de localisation pour intervention chirurgicale, système de localisation et procédé de localisation
US20070270690A1 (en) Non-contact medical registration with distance measuring
CN104819707B (zh) 一种多面体主动光标靶
JP2013527783A (ja) ナビゲートされるフリーハンド手術器具および装備
EP3265009A1 (fr) Système de suivi de va-et-vient redondant
JP2019503820A5 (fr)
WO2020073540A1 (fr) Dispositif de détection de source magnétique connectant de manière fixe un aimant externe et un réseau de capteurs magnétiques
CN112971986A (zh) 一种用于导航手术的示踪器及定位方法
US11872163B2 (en) Ophthalmic docking system with 3-dimensional automatic positioning using magnetic sensing array
CN214908027U (zh) 一种用于手术导航或手术机器人的光学定位组件
CN112451092B (zh) 一种关节置换配准装置及方法
CN205054433U (zh) 用于导航手术的光学跟踪工具
CN112618024A (zh) 多臂协同式手术机器人
CN112603544B (zh) 一种机械臂末端执行器校准系统及方法
US20220184824A1 (en) High accuracy molded navigation arrays, systems, and methods
CN113768623A (zh) 使用单目定位跟踪器的手术导航系统
US11759274B2 (en) Surgical device and method thereof
US20230240761A1 (en) Methods for locating and tracking a tool axis
CN110575196A (zh) 超声探头及穿刺手术系统
CN116077179A (zh) 手术器械注册的方法、电子设备及计算机可读存储介质
TW200829857A (en) Optical apparatus and its coordinate calibration method

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22794259

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22794259

Country of ref document: EP

Kind code of ref document: A1