Tracing apparatus and positioning system

A tracking and equipment technology, applied in the fields of tracking equipment and positioning systems, can solve the problems of the navigation system losing the spatial position of the manipulator, the unreasonable setting position of the tracking element, and the inability of the optical locator to identify the tracking equipment. The effect of extending the range and improving the accuracy

Pending Publication Date: 2019-08-16
BEIJING TINAVI MEDICAL TECH
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Problems solved by technology

[0003] In the existing tracking device of the mechanical arm, the setting position of the tracking element is unreasonable, resulting in that during the operation, when the operating end of the mechanical arm rotates and makes the tracking element of the tracking device and the normal direction of the optical positioner When the angle between them changes, the optical positioner may not be able to identify the position of the tracking device, which may cause the navigation system to lose the spatial position of the robotic arm.

Method used

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  • Tracing apparatus and positioning system
  • Tracing apparatus and positioning system
  • Tracing apparatus and positioning system

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Embodiment Construction

[0034] Features and exemplary embodiments of various aspects of the invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by showing examples of the present invention. In the drawings and the following description, at least some well-known structures and techniques have not been shown in order to avoid unnecessarily obscuring the present invention; and, for clarity, the dimensions of some structures may have been exaggerated. Furthermore, the features, structures, or characteristics described hereinafter may be combined in any suitable manner in one or more embodiments.

[0035] The orient...

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Abstract

The invention relates to a tracing apparatus and a positioning system. The tracing apparatus is used for indicating a spatial position of a mechanical arm of a surgical robot and comprises: a base having two opposite ends and a peripheral side between the two opposite ends, wherein one end is used for being connected with an operating end of the mechanical arm, and the other end is used for mounting a surgical instrument; positioning components connected to the base and used for indicating a spatial position of the base, wherein the positioning components comprises at least three tracing elements that are non-collinearly arranged on the peripheral side, wherein the multiple positioning components are distributed at the periphery of the base, and a normal included angle of any two of the tracing elements included in the same positioning component is less than or equal to 20 degrees. The tracing apparatus and the positioning system provided by an embodiment of the invention have the advantage that the tracing apparatus is easier for an optical position finder to recognize during rotation of the mechanical arm.

Description

technical field [0001] The invention relates to the technical field of positioning of medical equipment, in particular to a tracking device and a positioning system. Background technique [0002] During the operation of navigation surgery, the navigation system needs to obtain the position of the operating end of the manipulator in the spatial coordinate system based on the optical positioner through the tracking device installed on the operating end of the manipulator, so as to calculate Find out the position of the surgical instrument fixed on the operating end of the robotic arm, and then plan the surgical path of the robotic arm accordingly. [0003] In the existing tracking device of the mechanical arm, the setting position of the tracking element is unreasonable, resulting in that during the operation, when the operating end of the mechanical arm rotates and makes the tracking element of the tracking device and the normal direction of the optical positioner When the a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B34/20
CPCA61B34/20A61B34/30A61B34/70A61B2034/2055A61B2034/107A61B2017/00725A61B2090/3937A61B2090/3983A61B2090/3979A61B2034/2065A61B2034/207A61B2034/2072A61B34/32
Inventor 邓明明赵永强李寅岩
Owner BEIJING TINAVI MEDICAL TECH
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