Tracer for navigation operation and positioning method

Abstract

The invention discloses a tracer for a navigation operation and a positioning method, the tracer is installed at the tail end of a mechanical arm of a surgical robot and comprises an axis and a tracing body similar to a prism, the tracing body is composed of an upper end surface with four to six edges, a lower end surface with four to six edges and four to six trapezoidal surfaces which are distributed all over the periphery, the perimeter of the upper end surface is smaller than that of the lower end surface, each trapezoidal surface has an inclination angle from the upper end surface to the lower end surface, the inclination angle ranges from 60 degrees to 90 degrees, at least three non-collinear circular reflectors are attached to each trapezoidal surface, the shape or the size of the polygon formed by the circular reflectors is different on each trapezoidal surface, so that the optical tracker can identify the current trapezoidal surface, the circular reflectors are used for reflecting infrared light emitted by the optical tracker, and the spatial position of the operating end of the mechanical arm can be determined in the surgical robot system.

Description

technical field [0001] The invention relates to a tracer for real-time tracking of the end position of a mechanical arm in a surgical robot navigation system and a positioning method thereof, belonging to the field of medical device manufacturing. Background technique [0002] In medical operations in which positioning or guidance is assisted by orthopedic surgical robots, a positioning sleeve is usually installed at the end of the robotic arm of the surgical robot. Before the operation, CT is used to determine the position of the patient's surgical site, and one or more paths are planned in the software. This path is the follow-up surgical path, such as the position and direction of the Kirschner wire or bone nail. The surgical positioning system establishes the corresponding coordinate relationship between the patient's surgical site and the position of the robotic arm through an optical tracker (also called a "navigation camera"), and then controls the movement of the rob...

AI Technical Summary

Problems solved by technology

The disadvantage of this design is mainly that the tracking range of the system is small, usually less than ±90°, and it is not suitable for installation on a robotic arm that requires 360-degree tracking.

In addition, the existing technology is the scheme proposed by 201510547376.9, which describes the scheme of installing reflective balls on 2 to 6 surfaces. The disadvantage of this scheme is that each reflective ball is relatively large. For a small number of surfaces, when the end of the mechanical arm rotates to a certain angle, the optical tracker will not be able to "see" the reflective ball, and there will be a positioning dead angle, and it will not be possible to perform omnidirectional tracking; if all surfaces are installed If there is a reflective ball, the volume is large, and it is easy to interfere with other axes of the robot arm during the rotation of the robot arm, resulting in restricted movement of the robot arm

Images