WO2023116821A1

WO2023116821A1 - Mounting member, marking member, and optical tracking assembly, and apparatus

Info

Publication number: WO2023116821A1
Application number: PCT/CN2022/141011
Authority: WO
Inventors: 陆天威; 陈俊超; 李涛
Original assignee: 苏州微创畅行机器人有限公司
Priority date: 2021-12-22
Filing date: 2022-12-22
Publication date: 2023-06-29
Also published as: CN114404040A

Abstract

An optical tracking assembly, a sterile optical tracking assembly, and an optical tracking apparatus. The optical tracking assembly comprises a mounting member and a marking member (200), the mounting member having a mounting area. The mounting member is configured to be used for detachable mounting to a navigation frame (300), the marking member (200) being mounted in the mounting area. The marking member (200) is configured to be able to be detachably connected to the navigation frame (300) by means of the mounting member.

Description

Mounting member, marking member, and optical tracking assembly and device

Cross-reference to related applications: This application claims the priority of the patent application No. 202111584658.8 filed on December 22, 2021, and the content disclosed in this application is hereby incorporated by reference.

technical field

The present application relates to the technical field of medical devices, in particular to mounting components, marking components, and optical tracking components and devices.

Background technique

An optical tracking system usually has an emission source and a marking component. The marking component reflects its own position by reflecting optical signals, so as to realize positioning and tracking. The stable connection between the marking component and the navigation frame is the key to ensure the tracking accuracy. In the related technology, the marking member and the navigation frame are usually directly connected to the navigation frame by means of screw connection or bonding. Although the firm connection between the two can be guaranteed, the disassembly and assembly are cumbersome. If there is a problem, it will take a long time to disassemble and replace.

Contents of the invention

According to various embodiments of the present application, the present application provides a mounting member, a marking member, and an optical tracking assembly and device.

The application provides a mounting component, the mounting component comprising:

A component body configured for removably mounting on the navigation frame, the component body having a mounting area thereon configured to at least partially receive the marking component.

In one of the embodiments, the mounting area is configured to removably receive the marking member.

In one of the embodiments, the component body includes a mounting cylinder and a mounting seat, and the mounting area is formed between the mounting cylinder and the mounting seat;

The mounting cylinder and the mounting seat are detachably connected, and at least one of the mounting cylinder and the mounting seat is provided with a first limiting portion, and the first limiting portion is configured for The marking member is captured between the mounting barrel and the mount.

In one of the embodiments, the first limiting portion includes a first limiting step and a first limiting protrusion respectively provided on the mounting cylinder and the mounting seat, the first limiting step and the The first limiting protrusion is configured to limit and clamp the marking member.

In one of the embodiments, at least one of the installation cylinder and the installation base is provided with a first connection part, and the installation cylinder and the installation base are detachably connected through the first connection part .

In one of the embodiments, the first connecting part includes a first locking groove and a first locking protrusion respectively provided in the inner cavity of the installation cylinder and the outer wall of the mounting seat, and the first locking groove and the first locking protrusion The above-mentioned first locking protrusion is locked relative to each other; or,

The first connection part includes an adhesive layer respectively arranged between the inner cavity of the installation cylinder and the outer wall of the installation seat; or,

The first connecting portion includes internal threads and external threads respectively provided in the inner cavity of the installation cylinder and the outer wall of the installation seat; or,

The first connecting portion includes a socket hole opened on the mounting cylinder or the mounting seat, and a socket member plugged into the socket hole; or,

The first connecting portion includes a threaded hole opened on the mounting cylinder or the mounting base, and a threaded member threadedly engaged with the threaded hole.

In one of the embodiments, at least a part of the mounting cylinder is an elastic deformation zone, and the elastic deformation zone has elastic deformation capability at least along the radial direction of the mounting cylinder, and the first connecting part is located on the elastic deformation area.

In one of the embodiments, the first connecting portion includes a first pressing surface located on the inner cavity of the mounting cylinder and a second pressing surface on the outer wall of the mounting seat respectively, and the elastic deformation area is configured In order to be able to apply an elastic pressing force radially inward when receiving an external force, the first pressing surface is configured to be able to be pressed against the second pressing surface by the elastic pressing force.

In one embodiment, the elastic deformation region is provided with at least one opening, and the elastic deformation region is divided into at least two parts by the opening.

In one of the embodiments, at least a second limiting portion is provided on the mounting cylinder, and the second limiting portion is configured to limit the relative position between the mounting cylinder and the navigation frame.

In one of the embodiments, at least a second connection part is provided on the installation cylinder, and the second connection part is configured to detachably connect the installation cylinder and the navigation frame.

In one of the embodiments, an installation groove is opened on the installation seat, and the installation groove is configured to install the marking member.

In one of the embodiments, the outer wall of the mounting seat is provided with a through hole communicating with the mounting groove.

In one of the embodiments, the installation cylinder includes a main body section and an outer expansion section axially distributed, the main body section is detachably connected to the mounting seat, and the outer expansion section has a At the inner end of the main barrel section and the outer end far away from the main barrel section, the radial cross-sectional area of the outwardly expanding barrel section gradually increases from the inner end to the outer end.

The application provides an optical tracking assembly, the optical tracking assembly includes:

said mounting member;

A marking member mounted on the mounting area of the mounting member.

The present application provides an optical tracking device, which includes:

A navigation frame, the navigation frame has at least two positioning areas, and at least two positioning areas have a relatively definite positional relationship;

At least two of the optical tracking components, at least two of the optical tracking components are detachably installed in at least two of the positioning areas.

In one of the embodiments, at least two of the positioning areas are respectively provided with mounting holes, and there is a relatively definite positional relationship between the mounting holes of the at least two positioning areas, and the optical tracking assembly is detachably mounted on the positioning area. inside the mounting hole described above.

In one of the embodiments, at least one of the mounting member and the mounting hole is provided with a second limiting portion, and the second limiting portion is configured to limit the mounting member and the mounting hole. relative position between them.

In one of the embodiments, the second limiting portion includes a second limiting step and a second limiting protrusion respectively arranged on the mounting member and in the mounting hole, and the second limiting step And the second limiting protrusion is configured to limit and clamp the marking member.

In one of the embodiments, at least one of the mounting member and the mounting hole is provided with a second connecting portion, and the mounting member and the mounting hole are detachably connected through the second connecting portion.

In one of the embodiments, the second connecting portion includes a second locking groove and a second locking protrusion respectively provided on the mounting member and in the mounting hole, the second locking groove and the second The locking protrusions are locked relative to each other.

In one of the embodiments, the second card slot includes a main slot section and a guide section connected, the second card protrusion is slidably fitted with the guide section, and can slide into the main slot through the guide section segment or slide out of the main slot segment.

The application provides a sterile optical tracking assembly, the sterile optical tracking assembly comprising:

At least one layer of aseptic packaging structure, the aseptic packaging structure has a sterile inner cavity; wherein, the optical tracking component is accommodated in the sterile inner cavity; or

The optical tracking component is obtained after being sterilized by a sterilization box.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below, and other features, objects, and advantages of the application will become apparent from the specification, drawings, and claims.

Description of drawings

FIG. 1 is a schematic diagram of an exploded structure of an optical tracking component provided in some embodiments of the present application;

Fig. 2 is a schematic diagram of the assembly structure of the optical tracking component provided in some embodiments of the present application;

Fig. 3 is a schematic cross-sectional structure diagram of an optical tracking component provided in some embodiments of the present application;

Fig. 4 is a schematic diagram of a partial cross-sectional structure of the optical tracking assembly shown in Fig. 3;

Fig. 5 is a cross-sectional view of the assembly structure of the optical tracking component and the navigation frame provided in some embodiments of the present application;

6 to 10 are schematic cross-sectional structural diagrams of optical tracking components provided in other embodiments of the present application;

Fig. 11 is a schematic diagram of a first angle of the installation cylinder provided in some embodiments of the present application;

Fig. 12 is a schematic diagram of a second angle of the installation cylinder provided in some embodiments of the present application;

Fig. 13 is a schematic cross-sectional structure diagram of the installation cylinder provided in some embodiments of the present application;

Fig. 14 is a schematic structural view of the installation cylinder provided in other embodiments of the present application;

Figure 15 is a perspective view of the mount provided in some embodiments of the present application;

Fig. 16 is a schematic cross-sectional structure diagram of the mounting seat provided in some embodiments of the present application;

Fig. 17 is a partial dimensional structural schematic diagram of the optical tracking component and the navigation frame provided in some embodiments of the present application;

Fig. 18 is a schematic diagram of an exploded structure of an optical tracking component provided in some embodiments of the present application;

Fig. 19 is a cross-sectional view of the assembly structure of the optical tracking assembly shown in Fig. 18;

Fig. 20 is a perspective view of an optical tracking device provided in some embodiments of the present application;

Figure 21 is a plan view of an optical tracking device provided in some embodiments of the present application;

Fig. 22 is a schematic structural diagram of a sterile optical tracking assembly provided in some embodiments of the present application;

23 to 25 are structural schematic diagrams of sterile optical tracking components provided in other embodiments of the present application;

Fig. 26 is a schematic diagram of acquiring sterile optical tracking components provided in other embodiments of the present application;

Fig. 27 is a schematic view 1 of the use state of the optical tracking device provided in some embodiments of the present application;

Fig. 28 is a schematic diagram 2 of the use state of the optical tracking device provided in some embodiments of the present application.

Detailed ways

In order to make the above-mentioned purpose, features and advantages of the present application more obvious and understandable, the implementation manners of the present application will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous details are set forth in order to provide a thorough understanding of the application. However, the present application can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present application, so the present application is not limited by the embodiments disclosed below.

1 and 5, an embodiment of the present application provides a mounting component, the mounting component includes a component body 100, wherein the component body 100 is the main structure of the mounting component, so the mounting component and component body can be used herein 100 are combined or replaced with each other to understand the description of the corresponding technical solutions. The component body 100 is configured to be detachably installed on the navigation frame 300. The component body 100 has an installation area, and the installation area is configured to at least partially receive The marking member 200, for example, the mounting area may be configured to at least partially receive the marking member 200 to the surface of the mounting area or to receive the marking member 200 to the interior of the mounting area, etc., enabling assembly of the mounting area.

Continue to refer to Fig. 1 and Fig. 5, based on the mounting member, an embodiment of the present application also provides a matching marking member 200, the marking member 200 includes a mounting part and a signal part, based on the structure of the marking member 200, the marking The component 200 can be adapted to be installed in the installation area of the component body 100 through the installation part, and the signal part protrudes from the installation area and is used for providing a marking signal. At the same time, an optical tracking assembly formed based on the mounting member is also provided. The optical tracking assembly is a combination of the mounting member and the marking member 200. The optical tracking assembly includes the mounting member and the marking member 200. The mounting member has an installation area. The component is configured to be detachably installed on the navigation frame 300 , the marking component 200 is installed in the installation area, and the marking component 200 is configured to be detachably connected to the navigation frame 300 indirectly through the mounting component.

It can be seen from the above technical solutions that the mounting member, as a structure independent of the marking member 200, can be made of any suitable material or structure. Therefore, compared with the marking member 200 itself, the mounting member can be set to more Different structural shapes are provided, and these structural shapes are more suitable for forming a flexible and detachable connection with the navigation frame 300 .

However, by introducing the installation member as a transitional structure between the navigation frame 300 and the marker member 200, the installation member does not have the risk and problem of being damaged similar to the marker member 200, and the installation member can be adopted according to various installation requirements. A variety of required materials, and manufactured into various required structural shapes, to meet the assembly requirements between the installation member and the navigation frame 300, so that the installation member can be used as a transitional structure, and the marking member 200 and the navigation frame 300 can be realized. The convenient and fast installation in the room solves the problem of cumbersome disassembly and assembly, and improves the efficiency of disassembly and assembly.

The mounting area provided by the component body 100 of the mounting component may be a surface area on the mounting component, or may be a corresponding space area formed in the mounting component. Form a fixed assembly, so that after the marking member 200 is installed on the surface area, it can form an independent structure together with the installation member. Similarly, when the installation area is a space area formed in the installation member, the space area needs to be able to independently accommodate the marking member 200 , so that at least part of the structure of the marking member 200 is accommodated inside the space area, and then the marking member 200 is fixedly assembled, so that after the marking member 200 is installed in the space area, it can form an independent structure together with the installation member, and the surface area The structure and the space area can be adapted according to assembly requirements, as long as the installation of the installation components can be realized, there is no limitation here.

The installation of the marking component 200 on the component main body 100 of the mounting component can be integrated and non-detachable. For example, the component main body 100 can be produced by 3D printing and other similar processes, and the marking component 200 can be completely wrapped in the component main body 100, so that both After they are installed together, they cannot be separated again. In addition, in one of the embodiments, the installation area is configured to detachably receive the marking member 200, so that the marking member 200 and the main body 100 can also be detachable. Detachably connected, the detachable way is easier to connect the marking member 200 with the member main body 100 in comparison, and the marking member 200 can be separated from the member main body 100 when necessary, wherein the marking member 200 can meet It is detachable and has fixed stability at the same time, which can ensure the stability of the two during use.

Referring to Fig. 3, for example, in one of the embodiments, the component body 100 includes a mounting cylinder 110 and a mounting seat 120, the installation area is formed between the mounting cylinder 110 and the mounting seat 120, and the mounting cylinder 110 and the mounting seat 120 are detachable ground connection, the installation cylinder 110 or the installation seat 120 is provided with a first stopper 130, or both the installation cylinder 110 and the installation seat 120 are provided with a first stopper 130, and the first stopper 130 is configured to use In order to limit the marking member 200 between the installation cylinder 110 and the installation seat 120, at this time, the installation area of the component body 100 can be formed between the installation cylinder 110 and the installation seat 120, and the first stopper 130 can place the marking member 200 limited to the correct installation position in the installation area.

The first limiting part 130 can adopt various structural forms. In one embodiment, the first limiting part 130 includes a first limiting step 131 and a first limiting step respectively arranged on the mounting cylinder 110 and the mounting seat 120. The protrusion 132, for example, the first limit step 131 provided on the installation cylinder 110 cooperates with the first limit protrusion 132 provided on the installation base 120, or the first limit protrusion 132 provided on the installation cylinder 110 cooperates with the installation The first limit step 131 provided on the seat 120 cooperates with each other, wherein the first limit protrusion 132 can be an annular protrusion, a dot-shaped protrusion or a protrusion in other structural forms, and the first limit step 131 can be It is an annular step, a point-shaped step or a step of other structural forms, and even the end face of the mounting seat 120 or the mounting cylinder 110 can be directly used as the first limiting step 131, through the first limiting step 131 and the first limiting step. The limited cooperation of the protrusion 132, the first limiting step 131 and the first limiting protrusion 132 can be configured to limit and clamp the marking member 200, thereby limiting the marking member 200 to a correct installation position in the installation area.

3 and 4, the detachable connection between the mounting cylinder 110 and the mounting base 120 can be in various ways, and in one embodiment, the mounting cylinder 110 or the mounting base 120 is provided with a first connecting portion 140 , or a first connecting portion 140 is provided on both the mounting cylinder 110 and the mounting base 120 , and the mounting cylinder 110 and the mounting base 120 are detachably connected through the first connecting portion 140 .

In a structural form of the first connecting part 140, the first connecting part 140 includes a first card groove 141 and a first card protrusion 142 respectively provided in the inner cavity of the mounting cylinder 110 and the outer wall of the mounting base 120. The groove 141 is engaged with the first protrusion 142 relative to each other. For example, the first protrusion 141 provided in the inner cavity of the installation cylinder 110 is engaged with the first protrusion 142 provided on the outer wall of the mounting seat 120, or the inner cavity of the installation cylinder 110 The provided first locking protrusion 142 is relatively engaged with the first locking groove 141 provided on the outer wall of the mounting base 120. The first locking groove 141 can be an annular groove, a dotted groove or a groove structure in other structural forms. The first locking protrusion 142 It can be an annular locking protrusion, a point-shaped locking protrusion or a locking protrusion in other structural forms.

Referring to Fig. 4, Fig. 6 and Fig. 9, in addition, in other structural forms of the first connecting part 140, the first connecting part 140 includes the inner cavity of the mounting cylinder 110 and the outer wall of the mounting seat 120 respectively. The adhesive layer 143 between them, the adhesive layer 143 can directly bond the outer wall of the installation seat 120 to the inner cavity of the installation cylinder 110, or the first connecting part 140 includes the inner cavity of the installation cylinder 110 and the installation seat respectively. The inner thread 144 and the outer thread 145 of the outer wall of 120, the mounting seat 120 can be threadedly connected with the mounting cylinder 110, and arranged in the inner cavity of the mounting cylinder 110, or, the first connecting part 140 includes openings in the mounting cylinder 110 or The socket hole 146 on the mounting seat 120, and the socket piece 147 that is plugged and matched with the socket hole 146, the installation cylinder 110 is arranged in the inner cavity of the installation cylinder 110, and the socket piece 147 can be inserted into the socket hole 146. Apply an abutting force to the mounting base 120, and then form a connection to the mounting base 120 through this abutting force, or, the first connecting part 140 includes a threaded hole 148 opened on the mounting cylinder 110 or the mounting base 120, and threaded with the threaded hole 148 The matching screw 149, the mounting cylinder 110 is arranged in the inner cavity of the mounting cylinder 110, the screw 149 can exert an abutting force on the mounting seat 120 when it enters the threaded hole 148 and is screwed together, and then the mounting seat 120 can be exerted by this abutting force. 120 to form a connection, and those skilled in the art may adopt various connection forms according to requirements, which will not be repeated here.

10 and 14, in one embodiment, at least a part of the mounting cylinder 110 is an elastic deformation region 111, wherein the elastic deformation region 111 can produce an elastic effect through material or structural design, for example, the mounting cylinder The whole of 110 can be made of elastic material, or only a part of the area used to connect with the mounting seat 120 can be made of elastic material, and at least one opening 112 can be opened at a corresponding position of the mounting cylinder 110 to make the elastic The deformation region 111 is divided into at least two parts by the opening 112, and then the elastic deformation region 111 produces an elastic effect through the change of the structure, and the size of the opening 112 will affect the elastic deformation capacity of the elastic deformation region 111, so the For adjustment, for example, the opening 112 is enlarged or reduced, the width and depth of the opening 112 can be adjusted, and those skilled in the art can set it according to requirements.

The elastic deformation region 111 has elastic deformation capability at least along the radial direction of the installation cylinder 110, and can be elastically deformed by an external force. The elastic deformation can be along the radial direction of the installation cylinder 110 or deviate from the radial direction of the installation cylinder 110. , the first connecting portion 140 may be located in the elastic deformation region 111, for example, when the first connecting portion 140 adopts a structure in which the first locking groove 141 and the first locking protrusion 142 are engaged with each other, the mounting seat 120 and the mounting cylinder 110 are nested The first locking groove 141 and the first locking protrusion 142 will be engaged with each other. At this time, the elastic deformation region 111 can form elastic deformation in the radial direction of the installation cylinder 110, thereby facilitating the gap between the first locking groove 141 and the first locking protrusion 142. Mutual clamping, and after the first clamping groove 141 and the first clamping protrusion 142 are clamped and matched with each other, the elastic deformation capacity in the radial direction is used to maintain the clamping between the first clamping groove 141 and the first clamping protrusion 142 The connection stability is not easy to disperse easily, and even can only be disassembled and separated from each other by professional tools.

In addition, in one of the embodiments, according to the elastic deformation capability of the elastic deformation region 111 , the first connecting part 140 may include a first pressing surface 1410 located in the inner cavity of the installation cylinder 110 and a first pressing surface 1410 of the installation seat 120 respectively. The second pressing surface 1411 of the outer wall, the elastic deformation region 111 is configured to apply an elastic pressing force radially inward when receiving an external force, and the first pressing surface 1410 is configured to be able to pass the elastic pressing force and the second pressing force The two pressing surfaces 1411 are pressed against each other, and the mutual pressing of the two can make the installation cylinder 110 and the installation seat 120 squeezed and connected, and even form an interference fit relationship.

Continuing to refer to Fig. 5, the component body 100 can be detachably installed with the navigation frame 300 in a variety of structural forms, and the ease of disassembly between the component body 100 and the navigation frame 300 can be designed according to requirements, so as to be suitable for use In order to facilitate the installation of the two, at least a second limiter 150 can be provided on the installation cylinder 110, so that the second limiter 150 is configured to limit the relative distance between the installation cylinder 110 and the navigation frame 300. Position, which can realize the exact alignment and matching when the installation cylinder 110 and the navigation frame 300 are connected to each other. In addition, of course, the second stopper 150 can also be set on the navigation frame 300, or the installation cylinder 110 and the navigation frame 300 are provided with a second limiting portion 150 , and those skilled in the art can set the structure and position of the second limiting portion 150 according to requirements, which are not limited here.

For the actual connection between the component main body 100 and the navigation frame 300, in one embodiment, at least a second connection part 160 may be provided on the installation cylinder 110, so that the second connection part 160 is configured for detachable connection and installation. Tube 110 and navigation frame 300, in addition, of course also can be provided with second connection part 160 on navigation frame 300, perhaps be provided with second connection part 160 between installation tube 110 and navigation frame 300, those skilled in the art The structure and position of the second connecting portion 160 can be set according to requirements, which are not limited here.

The marking member 200 can be an optical ball, etc., and the marking member 200 can adopt various structural forms. For example, the marking member 200 can be set to a spherical shape, an ellipsoid, a sheet shape, a disc shape, etc., which is not limited here, but for different structural shapes The corresponding marking member 200 can also be installed on the mounting base 120, as shown in Figure 15 and Figure 16, in one embodiment, the mounting base 120 is provided with a mounting groove 121, and the mounting groove 121 is configured In order to install the marking member 200, the installation groove 121 can be a part of structural shapes such as spherical, spherical, ellipsoidal, sheet, disc, etc., so as to meet the installation of the main body 100 of different structural shapes. And in one of the embodiments, the outer wall of the mounting base 120 is provided with a through hole 122 communicating with the mounting groove 121, the through hole 122 can communicate between the outside of the mounting base 120 and the inside of the mounting groove 121, and clean or extinguish the entire body. Bacteria are fluid.

Referring to FIG. 17, D1 and D2 are the distances between the first connecting portion 140 and the second connecting portion 160 in the axial direction relative to the end of the component body 100, that is, an example relative to the end of the installation cylinder 110, which is technically advanced in the art. Personnel can adjust the values of D1 and D2 according to requirements, and then adjust the positions of the first connecting portion 140 and the second connecting portion 160 in the axial direction. At the same time, R1 and R2 are the distances between the first connecting portion 140 and the second connecting portion 160 in the radial direction relative to the central axis of the component body 100. Those skilled in the art can adjust the values of R1 and R2 according to requirements, and then adjust the first The positions of the connecting portion 140 and the second connecting portion 160 in the radial direction and the overall diameter of the member main body 100 .

Referring to Fig. 18 and Fig. 19, in one embodiment, the mounting cylinder 110 includes a main cylinder section 113 and an outer expansion cylinder section 114 distributed in the axial direction, the main cylinder section 113 is detachably connected with the mounting base 120, and the outer expansion The cylinder section 114 has an inner end close to the main body cylinder section 113 and an outer end far away from the main body cylinder section 113. The radial cross-sectional area of the outwardly expanding cylinder section 114 gradually increases from the inner end to the outer end direction. It needs to be explained Yes, since the installation cylinder 110 is a cylindrical structure with an inner cavity, its radial cross-sectional area does not refer to the actual cross-sectional area, but the theoretical cross-sectional area defined by the outer contour of the installation cylinder 110. The shape of the cross-sectional area can be a circle, a square, etc., so that the installation cylinder 110 can form a structure similar to a horn through the outer expansion cylinder section 114, and the structure of this horn can be used to limit the reflection signal angle of the marking member 200 Those skilled in the art can set the extent to which the radial cross-sectional area of the outer expansion barrel section 114 gradually increases from the inner end to the outer end according to requirements, so as to limit the reflected signal angle.

20 and 21, the present application also provides an optical tracking device, the optical tracking device includes a navigation frame 300 and at least two optical tracking components, the navigation frame 300 has at least two positioning areas 310, at least two There is a relatively definite positional relationship among the positioning areas 310 , and when at least two optical tracking components are detachably installed in at least two positioning areas 310 , a plurality of optical tracking components will also form a relatively definite positional relationship. The navigation frame 300 can be a rigid structure with multiple branch rods, and each positioning area 310 is on a different branch rod to form a relatively definite positional relationship. The navigation frame 300 can be an integrally processed structure or a separate structure.

In one of the embodiments, the positioning area 310 may be provided with mounting holes 320, and the mounting holes 320 of different positioning areas 310 have a relatively definite positional relationship, and the optical tracking components are detachably installed in the mounting holes 320, and then use the installation The hole 320 forms a position for the optical tracking components, so that the relative positional relationship between multiple optical tracking components can be determined. In addition, other positioning structures for positioning the optical tracking components can also be set on the positioning area 310. The setting of the positioning structure can be formed by changing the structure of the positioning area 310, such as slotting, or by positioning The area 310 is formed by adding auxiliary components, such as adding structures such as protrusions with a positioning function.

When the positioning area 310 forms the mounting hole 320 , in one embodiment, the second limiting part 150 can be set on the component body 100 or the mounting hole 320 , or the second limiting portion 150 can be set in both the component body 100 and the mounting hole 320 part 150 , the second limiting part 150 is configured to limit the relative position between the component body 100 and the installation hole 320 . The second limiting part 150 can realize the determination of the installation position of the component main body 100 on the navigation frame 300 by limiting the relative position between the component main body 100 and the installation hole 320, for example, the second limiting part 150 can limit the installation cylinder 110 and the installation The relative position between the holes 320.

The second limiting portion 150 can adopt various structural forms. In one embodiment, the second limiting portion 150 includes a second limiting step 151 and a second limiting step 151 respectively arranged on the component body 100 and in the installation hole 320 . position protrusion 152, wherein, the second limit portion 150 can be set on the installation cylinder 110 or the installation seat 120 of the component main body 100, taking the installation cylinder 110 as an example, it can be the second position that is set on the installation cylinder 110 The limit step 151 cooperates with the second limit protrusion 152 provided in the installation hole 320, or the second limit protrusion 152 provided on the installation cylinder 110 and the second limit step 151 provided in the installation hole 320 Cooperate with each other, wherein, the second limiting protrusion 152 can be an annular protrusion, a point-shaped protrusion or a protrusion in other structural forms, and the second limiting step 151 can be an annular step, a point-like step or other The step of the structural form can even directly use the end face of the installation cylinder 110 as the second limit step 151, through the limit fit of the second limit step 151 and the second limit protrusion 152, the second limit step 151 and the second limit step 151 The second limiting protrusion 152 can be configured to limit and clamp the marking member 200 , thereby limiting the marking member 200 in the installation hole 320 .

The detachable connection between the component body 100 and the mounting hole 320 can be in various ways, for example, the component body 100 or the mounting hole 320 is provided with the second connecting portion 160, or the component body 100 and the mounting hole 320 are both provided with a second connection The part 160 , the component body 100 and the mounting hole 320 are detachably connected through the second connection part 160 . In one of the embodiments, the second connecting portion 160 includes a second card slot 161 and a second card protrusion 162 respectively provided on the component body 100 and in the installation hole 320 , which may be the first card slot provided on the component body 100 141 is engaged with the first protrusion 142 provided in the installation hole 320, or the first protrusion 142 provided on the component body 100 is engaged with the first groove 141 provided in the installation hole 320, and the first groove 141 It may be an annular groove, a dotted groove or other structural forms of the groove structure, and the first locking protrusion 142 may be an annular locking protrusion, a dotted locking protrusion or other structural forms of the locking protrusion.

A relatively tight clamping state can be formed between the component body 100 and the mounting hole 320, thereby maintaining the stability of the installation. A relatively easy-to-detach clamping state can also be formed between the component body 100 and the mounting hole 320, for example, it can be directly held Installation or disassembly, in order to improve the convenience of disassembly during use, for this reason, in one of the embodiments, the second card slot 161 includes a main slot section 163 and a guide section 164 connected, the second card protrusion 162 and the guide section The section 164 is slidingly fitted, and can slide into the main groove section 163 or slide out of the main groove section 163 through the guide section 164. The guide section 164 can be a structure such as a groove structure or an inclined plane, so the second card can be lowered to a certain extent by the guide section 164. The difficulty of locking between the groove 161 and the second protrusion 162 makes the component body 100 relatively easy to install or disassemble relative to the installation hole 320 .

Referring to Fig. 22 to Fig. 25, the present application also provides an aseptic optical tracking assembly, the aseptic optical tracking assembly includes at least one layer of aseptic packaging structure 400, the aseptic packaging structure 400 has a sterile inner cavity, optical tracking The components are housed in the sterile inner chamber, so the aseptic optical tracking components are sterilized through the aseptic storage of the optical tracking components by the aseptic packaging structure 400 .

In one of the embodiments, the sterile packaging structure 400 can be in a sterilized packaging bag or box, and the optical tracking component can be stored in the packaging bag or box and provided to the hospital in a sterile form. The sterile packaging bag can be opened in the middle, and the sterile optical tracking components can be taken out for use. Among them, single or multiple sterile optical tracking components can be put into a packaging bag or box, and then put into a larger packaging bag or box as a whole to form a double-layer sterile barrier.

For example, the aseptic optical tracking assembly includes an aseptic packaging bag, the inner cavity of the aseptic packaging bag constitutes a sterile inner cavity, and the optical tracking assembly is accommodated in the aseptic packaging bag; or, the aseptic optical tracking assembly includes a first aseptic packaging bag and the second aseptic packaging bag, the first aseptic packaging bag is stored in the inner cavity of the second aseptic packaging bag, the inner cavity of the first aseptic packaging bag constitutes the aseptic inner cavity, and the optical tracking component is stored in the second aseptic packaging bag. in a sterile packaging bag; or, the sterile optical tracking assembly includes a sterile packaging bag and a sterile packaging box, the sterile packaging box is stored in the inner cavity of the sterile packaging bag, and the inner cavity of the sterile packaging box constitutes a sterile Lumen, optical tracking components are housed in a sterile box.

In addition, a sterile optical tracking component can be obtained after the optical tracking component is sterilized by a sterilization box, as shown in Figure 26, the optical tracking component can be provided to the hospital in a non-sterile form first, and then Before the operation, the optical tracking assembly is put into a sterilization box for sterilization, so that the optical tracking assembly forms a sterile optical tracking assembly on the spot. At this time, the optical tracking assembly composed of the installation member and the marking member 200 is sterilized, which can protect the marking Weak coating on component 200.

In the operating room environment, the sterile optical tracking assembly can be taken out and quickly installed on the navigation frame 300 of the end-of-arm tool before using the robotic arm (robot) for surgery. If in the same environment, the sterile optical tracking component fails to be sterilized due to contamination or illegal operation, you can take out a new sterile optical tracking component, and quickly remove the invalid sterile optical tracking component from the navigation stand 300 directly by hand. Optical tracking assembly, replace with a new sterile optical tracking assembly. As shown in Figure 27 and Figure 28, especially in the operating room environment, when the patient's operation is in progress, if the sterile optical tracking component fails to be sterilized due to contamination or illegal operation, the doctor can quickly remove it from the navigation stand without tools. Remove the invalid sterile optical tracking assembly on the 300 and replace it with a new sterile optical tracking assembly, which can avoid re-dismantling the navigation frame 300 that has been fixed on the affected limb, reduce the pain of the patient, and increase the error tolerance rate of the operation.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above examples only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims

A mounting member, characterized in that the mounting member comprises:

A component body configured for removably mounting on the navigation frame, the component body having a mounting area thereon configured to at least partially receive the marking component.
The mounting member of claim 1, wherein the mounting area is configured to removably receive the marking member.
The mounting member according to claim 2, wherein the member body includes a mounting cylinder and a mounting seat, and the mounting area is formed between the mounting cylinder and the mounting seat;

The mounting cylinder and the mounting seat are detachably connected, and at least one of the mounting cylinder and the mounting seat is provided with a first limiting portion, and the first limiting portion is configured for The marking member is captured between the mounting barrel and the mount.
The mounting member according to claim 3, wherein the first limiting portion includes a first limiting step and a first limiting protrusion respectively provided on the mounting cylinder and the mounting seat, the The first limiting step and the first limiting protrusion are configured to limit and clamp the marking member.
The mounting member according to claim 3, wherein at least one of the mounting cylinder and the mounting seat is provided with a first connecting portion, and the mounting cylinder and the mounting seat pass through the first connecting portion. A connecting portion is detachably connected.
The mounting member according to claim 5, wherein the first connecting portion includes a first locking groove and a first locking protrusion respectively provided in the inner cavity of the mounting cylinder and the outer wall of the mounting seat, so that The first card slot and the first card protrusion are engaged in relative engagement; or,

The first connection part includes an adhesive layer respectively arranged between the inner cavity of the installation cylinder and the outer wall of the installation seat; or,

The first connecting portion includes internal threads and external threads respectively provided in the inner cavity of the installation cylinder and the outer wall of the installation seat; or,

The first connecting portion includes a socket hole opened on the mounting cylinder or the mounting seat, and a socket member plugged into the socket hole; or,

The first connecting portion includes a threaded hole opened on the mounting cylinder or the mounting base, and a threaded member threadedly engaged with the threaded hole.
The installation member according to claim 5, wherein at least a part of the installation cylinder is an elastic deformation region, and the elastic deformation region has elastic deformation capacity at least along the radial direction of the installation cylinder, and the first A connecting portion is located in the elastic deformation area.
The mounting member according to claim 7, wherein the first connecting portion includes a first pressing surface respectively located in the inner cavity of the mounting cylinder and a second pressing surface on the outer wall of the mounting seat, The elastic deformation region is configured to be able to apply an elastic pressing force radially inward when receiving an external force, and the first pressing surface is configured to be able to pass the elastic pressing force and the second pressing force Press tightly.
The mounting member according to claim 7, wherein the elastic deformation region is provided with at least one opening, and the elastic deformation region is divided into at least two parts by the opening.
The mounting member according to claim 3, wherein at least a second limiting portion is provided on the mounting cylinder, and the second limiting portion is configured to limit the mounting cylinder and the navigation system. relative position between racks.
The mounting member according to claim 3, wherein at least a second connecting portion is provided on the mounting cylinder, and the second connecting portion is configured to detachably connect the mounting cylinder and the navigation stand.
The installation member according to claim 3, wherein an installation groove is opened on the installation base, and the installation groove is configured to install the marking member.
The mounting member according to claim 12, wherein a through hole communicating with the mounting groove is opened on the outer wall of the mounting base.
The mounting member according to claim 3, wherein the mounting cylinder includes a main body section and an outer expansion section axially distributed, the main body section is detachably connected to the mounting base, and the outer The expanding barrel section has an inner end close to the main body barrel section and an outer end far away from the main body barrel section, and the radial cross-sectional area of the outer expanding barrel section gradually increases from the inner end to the outer end.
An optical tracking component, characterized in that the optical tracking component comprises:

A mounting member according to any one of claims 1-14;

A marking member mounted on the mounting area of the mounting member.
An optical tracking device, characterized in that the optical tracking device comprises:

A navigation frame, the navigation frame has at least two positioning areas, and at least two positioning areas have a relatively definite positional relationship;

At least two optical tracking assemblies as claimed in claim 15, at least two said optical tracking assemblies are detachably installed in at least two said positioning areas.
The optical tracking device according to claim 16, wherein at least two of the positioning areas are respectively provided with mounting holes, and there is a relatively definite positional relationship between the mounting holes of at least two of the positioning areas, and the optical The tracking assembly is detachably mounted in the mounting hole.
The optical tracking device according to claim 17, wherein at least one of the mounting member and the mounting hole is provided with a second limiting portion, and the second limiting portion is configured to limit the The relative position between the mounting member and the mounting hole.
The optical tracking device according to claim 18, wherein the second limiting part comprises a second limiting step and a second limiting protrusion respectively arranged on the mounting member and in the mounting hole , the second limiting step and the second limiting protrusion are configured to limit and clamp the marking member.
The optical tracking device according to claim 17, wherein at least one of the mounting member and the mounting hole is provided with a second connection portion, and the mounting member and the mounting hole are connected through the second connection. detachably connected.
The optical tracking device according to claim 20, wherein the second connection part comprises a second locking groove and a second locking protrusion respectively provided on the mounting member and in the mounting hole, the first The two card slots are engaged with the second card protrusion relative to each other.
The optical tracking device according to claim 21, wherein the second card slot includes a connected main slot section and a guide section, the second card protrusion is slidably fitted with the guide section, and can pass through the A guide segment slides into or out of the main channel segment.
A sterile optical tracking assembly, characterized in that the sterile optical tracking assembly includes:

At least one layer of aseptic packaging structure, the aseptic packaging structure has a sterile inner cavity; wherein, the optical tracking assembly according to claim 15 is housed in the sterile inner cavity; or

The optical tracking assembly according to claim 15 is obtained after being sterilized by a sterilization box.