Surgical navigation tool positioning device and surgical instrument

Abstract

The invention relates to the technical field of medical instruments, and discloses a surgical navigation tool positioning device and a surgical instrument.The positioning device comprises a positioning mounting rack, the positioning mounting rack is provided with at least three mounting surfaces which are not shielded during surgery, and each mounting surface is provided with at least three non-collinear optical markers; the optical marker can reflect light or actively emit infrared light; the positioning mounting frame comprises a positioning rod, the positioning rod is provided with at least three first mounting surfaces, and each first mounting surface is provided with an optical marker; the surgical instrument comprises an instrument body and the positioning device, the instrument body comprises a handle part, the positioning device is installed on the handle part, and the surgical instrument comprises an active surgical instrument or a passive surgical instrument. According to the invention, the problems of how to further improve the positioning accuracy of the navigation positioning tool during the operation and how to reduce the blocking of the sight of a doctor are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a navigation tool positioning device for surgery and a surgical instrument. BACKGROUND

[0002] The surgical navigation system is a key technology for precise medical treatment, and its positioning method has undergone significant changes from mechanical to optical. In the early stage, the system mainly relied on mechanical arms for positioning, but it had the disadvantages of limited flexibility and precision. With the application of optical positioning technology, the navigation scheme based on infrared reflection principle gradually became the mainstream. It can track the position and attitude of the surgical instrument in real time by using the reflective marker points on the positioning device.

[0003] The positioning device of the prior art basically adopts a combination structure of a cross-shaped positioning frame and multiple reflective balls. Although this design can achieve tracking of the surgical instrument, the positioning frame is relatively large in size and may affect the operating field of view of medical personnel during use. Therefore, the technical solution of the application number CN2025115726527 discloses a positioning tool for surgical navigation, which comprises at least two non-parallel mounting plates, and at least three coplanar but non-collinear optical markers are arranged on each mounting plate, so that the optical markers can be recognized by an external binocular camera in a wider range. Although this technical solution makes the positioning of the positioning tool more accurate and smaller in size, there is still room for improvement in terms of size and recognition accuracy. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a navigation tool positioning device for surgery and a surgical instrument, which can further improve the positioning accuracy of the navigation positioning tool during surgery and reduce the obstruction of the doctor's vision.

[0005] The present application solves the above technical problems by the following technical means: In a first aspect, the present application discloses a navigation tool positioning device for surgery, which comprises a positioning mounting frame, at least three mounting surfaces on the positioning mounting frame are not blocked during surgery, at least three non-collinear optical markers are arranged on each mounting surface, the relative spatial positions of the optical markers arranged on each mounting surface are not completely the same, and the relative spatial position of at least one optical marker changes; the optical markers can reflect light or actively emit infrared light.

[0006] Further, an information storage medium is further included, which records the spatial coordinate information of each optical marker and the front end of the surgical instrument and the shape information of the surgical instrument; the information storage medium is one of a two-dimensional code, a one-dimensional barcode, a ColorCode code, a DotCode code, an electronic radio frequency card, and a storage chip.

[0007] Further, the positioning mount comprises a positioning rod, the positioning rod has at least three first mounting surfaces, and at least three non-collinear optical markers are arranged on each of the first mounting surfaces; the positioning mount of the technical solution is a positioning rod, which is smaller in size, easy to package, not easy to be damaged, and can further reduce the occlusion of the doctor's visual line during surgery; the positioning mount has at least three first mounting surfaces for arranging optical markers, so that the mounting points of the optical markers are more and more stereoscopic, and the accuracy of recognition by the binocular camera during surgery is higher.

[0008] Further, one of the first mounting surfaces of the positioning rod is fixedly connected with a first supporting rod, the first supporting rod has at least three second mounting surfaces, and each second mounting surface of the first supporting rod corresponds to each first mounting surface of the positioning rod on the same side; part of the optical markers on the same side are arranged on the first mounting surface of the positioning rod, and the remaining optical markers are arranged on the second mounting surface of the first supporting rod on the same side. Because the optical markers on the same surface are not in the same straight line, a larger width of the mounting surface is required, which leads to a larger size of the positioning rod; in the technical solution, the first supporting rod is arranged, which facilitates the installation of the optical markers, can make the width of the positioning rod and the first supporting rod smaller, and the overall size smaller, and can further improve the surgical field of view of the doctor; and in this way, the installation of each optical marker on the same side is more stereoscopic, and the accuracy of recognition by the binocular camera is higher, and the operation accuracy of the doctor is higher.

[0009] Further, the first supporting rod is connected with a second supporting rod away from the positioning rod, the second supporting rod has the same structure as the first supporting rod, and the first supporting rod, the second supporting rod and the positioning rod are located on the same plane. The second supporting rod is arranged to facilitate the installation of the optical markers, and the first supporting rod, the second supporting rod and the positioning rod are located on the same plane, which is small in size and small in occlusion of the visual line of the doctor during surgery.

[0010] Further, the positioning rod, the first supporting rod and the second supporting rod are hollow structures, and the mounting surfaces without optical markers are open structures, and the hollow structures are provided with reinforcing ribs. In this way, the whole positioning device is lighter in weight, and the reinforcing ribs can also ensure the strength of the whole positioning device.

[0011] Further, a stabilizing rod is connected between the second supporting rod and the positioning rod. The stabilizing rod is arranged to make the structure of the positioning device more stable and not easy to be damaged.

[0012] Furthermore, the positioning mounting frame includes a first positioning frame and a second positioning frame on the same plane. Both the first and second positioning frames have at least three mounting surfaces for setting optical markers. Each mounting surface of the first and second positioning frames faces the same side. A portion of the optical markers on the mounting surface on the same side are located on the first positioning frame, and the remaining optical markers are located on the second positioning frame. This technical solution divides the positioning mounting frame into a first positioning frame and a second positioning frame. In use, they can be respectively set at the front and rear ends of the handle of the surgical instrument. This reduces obstruction to the doctor's line of sight and facilitates the binocular camera's recognition of the positioning mounting frame.

[0013] Furthermore, both the first and second positioning frames have hollow quadrilateral cross-sections, and the mounting surface without optical markers is an open structure. Reinforcing ribs are provided within the hollow structure. This design makes the entire positioning device lighter, while the reinforcing ribs ensure the overall strength of the positioning device.

[0014] Furthermore, the optical marker is one of the following: a reflective sphere, a reflective sticker, a lens, or a light-emitting element. These optical markers can all be tracked by an infrared binocular camera to monitor the position and orientation of surgical instruments in real time.

[0015] Secondly, the present invention also discloses a surgical instrument, which includes an instrument body and the aforementioned positioning device. The instrument body includes a handle portion, and the positioning device is mounted on the handle portion. The surgical instrument can be an active or passive surgical instrument, including medical devices such as probes, suction tubes, dissecting fingers, scrapers, surgical scalpels, and surgical drills.

[0016] Furthermore, the surgical instrument is equipped with an information storage medium that records the spatial coordinates of each optical marker, the tip of the surgical instrument, and the shape information of the surgical instrument. The information storage medium can be one of the following: a QR code, a one-dimensional barcode, a ColorCode, a DotCode, an electronic RFID card, or a memory chip. These information storage media can record the spatial position information of each optical marker relative to the tip of the surgical instrument. The QR code, one-dimensional barcode, ColorCode, and DotCode can be identified by capturing the marker with a camera, and the information recorded in the electronic RFID card and memory chip can be directly read when the surgical instrument is connected to an external controller. Furthermore, this method allows for the fixing of the surgical instrument body and positioning device at the factory, and the calibration of the relative spatial positions of the instrument's front end, shape, and optical markers on the positioning frame. This parameter information is recorded in a storage medium, and each set of surgical instruments is assigned a unique identification mark. When using the instruments, doctors simply transmit the information from each set to the navigation system via the storage medium to retrieve the instrument's 3D information, eliminating the need for calibration during surgery. This makes the process simple, convenient, and provides more accurate data. Moreover, with each surgical instrument corresponding to a specific identification mark, the instruments can be reused or used only once. If used only, medical staff can discard them directly without further sterilization, reducing the hospital's workload and preventing cross-infection that could result from incomplete sterilization.

[0017] The beneficial effects of this invention are: 1. This invention, through the arrangement of a positioning rod, a first support rod, and a second support rod, sets at least three non-coplanar mounting surfaces on the positioning mounting frame, with at least three non-collinear optical markers arranged on each mounting surface, resulting in a wider spatial distribution of the markers. The combined design of the positioning rod and the support rod not only reduces the overall volume but also ensures that the optical markers are not obstructed during surgery through a three-dimensional layout, allowing them to be captured by the binocular camera from multiple angles, thus improving recognition accuracy. This effectively solves the problem that it is difficult to simultaneously satisfy the requirements of small size, light weight, easy packaging, durability, and high recognition accuracy in positioning devices.

[0018] 2. The modular first and second positioning frames of this invention can be flexibly installed at the front and rear ends of the tool handle; this design allows the positioning device to adjust its layout according to the shape of the tool, for example, by adapting to different operating angles through a multi-faceted shape.

[0019] 3. This invention can integrate the handle and positioning device of the instrument body into production and complete the calibration before leaving the factory. The optical markers, spatial coordinates and shape information of the front end of the instrument body are stored in the information storage medium. This "ready to use" mode eliminates the intraoperative calibration process. The navigation system only needs to retrieve the three-dimensional information of the surgical instrument through the storage medium, simplifying the doctor's workflow. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the surgical drill with a surgical navigation tool positioning device in Embodiment 2 of the present invention; Figure 2 This is a three-dimensional structural diagram of the surgical drill with a surgical navigation tool positioning device in Embodiment 3 of the present invention; Figure 3 This is a three-dimensional structural diagram of the surgical drill with a surgical navigation tool positioning device in Embodiment 4 of the present invention; Figure 4 This is a three-dimensional structural diagram of the surgical scalpel with a surgical navigation tool positioning device in Embodiment 5 of the present invention; Figure 5 yes Figure 4 A magnified view of a section at point A in the middle; Figure 6 This is a three-dimensional structural diagram of the handle of a passive surgical instrument with a positioning device for surgical navigation tools in Embodiment 7 of the present invention.

[0021] The components include: 1. Positioning rod; 2. Optical marker; 3. Opening structure; 4. Reinforcing rib; 5. Drill body; 6. Handle; 7. First support rod; 8. Second support rod; 9. Stabilizing rod; 10. Surgical shaving body; 11. Passive surgical instrument handle; 12. First positioning frame; 13. Second positioning frame; and 14. Information storage medium. Detailed Implementation

[0022] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. It should be noted that the illustrations provided in the following embodiments are for illustrative purposes only and represent schematic diagrams, not actual pictures, and should not be construed as limiting the present invention. In order to better illustrate the embodiments of the present invention, some components in the figures may be omitted, enlarged, or reduced, and do not represent the actual product size; it is understandable for those skilled in the art that some well-known structures and their descriptions may be omitted in the figures.

[0023] In the figures of this invention, the same or similar reference numerals correspond to the same or similar components. In the description of this invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figure, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the figures are only for illustrative purposes and should not be construed as limiting this invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances. Example 1

[0024] This embodiment describes a surgical drill with a positioning device for surgical navigation tools, such as... Figure 1 As shown in the part (excluding the first support rod 7), it includes a positioning mounting frame with at least three mounting surfaces that are not obstructed during surgery. Each mounting surface has at least three non-collinear optical markers 2. The relative spatial positions of the optical markers 2 on each mounting surface are not exactly the same, and the relative spatial position of at least one optical marker 2 changes. That is, at least one optical marker 2 in the circumferential direction at the same position on the positioning mounting frame has a change in relative spatial position. The optical markers 2 can reflect light or actively emit infrared light.

[0025] Specifically, in this embodiment, the positioning mounting bracket is a square positioning rod 1. The cross-section of the positioning rod 1 is a hollow quadrilateral with three first mounting surfaces: the front, the back (not shown), and the top. Each first mounting surface is provided with three non-collinear optical markers 2. For example... Figure 5 As shown, the mounting surface without the optical marker 2 is an open structure 3. To increase the strength of the positioning rod 1, a reinforcing rib 4 is provided in the hollow structure. In this embodiment, the optical marker 2 is a lens.

[0026] Because the positioning mounting bracket in this embodiment is a positioning rod 1, it is smaller in size, easier to package, and less prone to damage, which can further reduce the obstruction of the doctor's line of sight during surgery; it has three first mounting surfaces for setting optical markers 2, which makes the mounting points of optical markers 2 more numerous and more three-dimensional, and the accuracy of recognition by the binocular camera during surgery is higher. Example 2

[0027] This embodiment describes a surgical drill with a positioning device for surgical navigation tools, such as... Figure 1 As shown, it includes a drill body 5 and a positioning device. The drill body 5 includes a handle 6, and the positioning device is integrally formed on the handle 6.

[0028] The positioning device in this embodiment includes a positioning mounting frame, which includes a positioning rod 1. A first support rod 7 is integrally formed on the end of the positioning rod 1. The positioning rod 1 and the first support rod 7 have a hollow quadrilateral cross-section. The positioning rod 1 has three first mounting surfaces: front, back (not shown), and top. The first support rod 7 has three second mounting surfaces: front, left (not shown), and right. Each second mounting surface of the first support rod 7 corresponds to each first mounting surface of the positioning rod 1, facing the same side. Two optical markers 2 on the same side are located on the first mounting surface of the positioning rod 1, and the remaining optical marker 2 is located on the second mounting surface of the first support rod 7 on the same side. Figure 5 As shown, the mounting surface without the optical marker 2 is an open structure 3. To increase the strength of the positioning rod 1 and the first support rod 7, a reinforcing rib 4 is provided in the hollow structure. The optical marker 2 can be any of the following: a reflective ball, a reflective sticker, a lens, or a light-emitting body. In this embodiment, the optical marker 2 is a reflective sticker. The handle portion 6 in this embodiment is provided with an information storage medium 14, specifically a barcode.

[0029] The positioning device in this embodiment, through the setting of the first support rod 7, makes it easier to install the optical marker 2, which can make the positioning rod 1 and the first support rod 7 narrower and the overall volume smaller, which can further improve the surgeon's field of vision; and this can make the installation of each optical marker 2 on the same side more three-dimensional, thereby making the recognition accuracy of the binocular camera higher and the surgeon's operation more accurate. Example 3

[0030] This embodiment describes a surgical drill with a positioning device for surgical navigation tools, such as... Figure 2 As shown, the only difference between this embodiment and Embodiment 2 is that the end of the first support rod 7 furthest from the positioning rod 1 is connected to a second support rod 8. The second support rod 8 has the same structure as the first support rod 7, and the first support rod 7, the second support rod 8, and the positioning rod 1 are all located on the same plane. Furthermore, in this embodiment, the first support rod 7 is not located at the end of the positioning rod 1. The placement of the second support rod 8 facilitates the installation of the optical marker 2, allowing some of the optical marker 2 to be placed on the second support rod 8, further improving recognition accuracy. Also, since the first support rod 7, the second support rod 8, and the positioning rod 1 are all located on the same plane, the size is small, minimizing obstruction of the surgeon's view. Another difference is that the information storage medium 14 in this embodiment is a QR code, which is placed on the positioning rod 1. Example 4

[0031] This embodiment describes a surgical drill with a positioning device for surgical navigation tools, such as... Figure 3 As shown, the only difference between this and embodiment 3 is that a stabilizing rod 9 is connected between the second support rod 8 and the positioning rod 1, which makes the structure of this positioning device more stable and less prone to damage. Example 5

[0032] This embodiment describes a surgical scalpel equipped with a surgical navigation tool positioning device, such as... Figure 4 and 5 As shown, the only difference between this embodiment and Example 3 is that the instrument body in this embodiment is a surgical scalpel body 10. Example 6

[0033] This embodiment describes a passive surgical instrument handle with a surgical navigation tool positioning device. Passive instruments may include probes, suction tubes, scrapers, and other passive surgical tools. (See reference...) Figure 6 As shown, the device includes a passive surgical instrument handle 11 and a positioning mounting frame for the positioning device, which includes a first positioning frame 12 and a second positioning frame 13 on the same plane. Both the first positioning frame 12 and the second positioning frame 13 have three mounting surfaces for setting optical markers 2. Each mounting surface of the first positioning frame 12 and the second positioning frame 13 faces the same side in a one-to-one correspondence. One of the optical markers 2 on the mounting surface on the same side is located on the first positioning frame 12, and the remaining two optical markers 2 are located on the second positioning frame 13.

[0034] In this embodiment, both the first positioning frame 12 and the second positioning frame 13 have hollow quadrilateral cross-sections. The mounting surface without the optical marker 2 is an open structure 3, and reinforcing ribs 4 are provided in the hollow structure. This embodiment divides the positioning mounting frame into a first positioning frame 12 and a second positioning frame 13. During use, they can be respectively positioned at the front and rear ends of the passive surgical instrument handle 11. This reduces obstruction of the doctor's view and facilitates the binocular camera's recognition of the positioning mounting frame. Furthermore, it makes the entire positioning device lighter, and the reinforcing ribs 4 ensure the overall strength of the positioning device. Example 7

[0035] This embodiment describes the handle of a passive surgical instrument with a surgical navigation tool positioning device. The passive instrument can be a probe, suction tube, scraper, or other passive surgical tool. Figure 6 As shown, the only difference between this embodiment and embodiment 6 is that the cross-section of the first positioning frame 12 and the second positioning frame 13 in this embodiment is I-shaped. The front, back and top of the I-shaped first positioning frame 12 and the second positioning frame 13 are provided with three optical markers 2. One of the optical markers 2 on the same mounting surface is located on the first positioning frame 12, and the remaining two optical markers 2 are located on the second positioning frame 13.

[0036] The surgical instruments in Examples 1-7 described above can all be sterilized before leaving the factory and designed for single use, which completely eliminates the risk of cross-infection and simplifies the preoperative preparation process. Through the built-in information storage medium, the spatial information of the surgical instruments can be automatically registered, which can greatly improve surgical efficiency.

[0037] Furthermore, the integrated design of the surgical instrument body and positioning device in the above embodiments eliminates the assembly errors of traditional separate structures, improves the overall accuracy and reliability of the system, and the present invention fully considers actual clinical needs, achieving the best balance in terms of infection control, operational efficiency, system accuracy and cost control, and has significant technological progress and clinical application value.

[0038] Additionally, it should be noted that in other embodiments, the information storage medium can also be one of ColorCode, DotCode, electronic radio frequency card, or storage chip, which can also achieve the technical effect of this application. Furthermore, the information storage medium 14 can also be ColorCode, DotCode, electronic radio frequency card, or storage chip, and can achieve the same technical effect by not setting it on the positioning mounting bracket or handle, but setting it on the packaging or a separate recording card.

[0039] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention. Technical aspects, shapes, and structures not described in detail in this invention are all well-known technologies.

Claims

1. A positioning device for surgical navigation tools, characterized in that: The device includes a positioning mounting frame with at least three mounting surfaces that are not obstructed during surgery. Each mounting surface has at least three non-collinear optical markers. The relative spatial positions of the optical markers on each mounting surface are not exactly the same, and the relative spatial position of at least one optical marker changes. The optical markers can reflect light or actively emit infrared light.

2. The surgical navigation tool positioning device according to claim 1, characterized in that: It also includes an information storage medium that records the spatial coordinates of each optical marker, the front end of the surgical instrument, and the shape information of the surgical instrument; the information storage medium is one of the following: QR code, one-dimensional barcode, ColorCode, DotCode, electronic radio frequency card, and storage chip.

3. The surgical navigation tool positioning device according to claim 1 or 2, characterized in that: The positioning mounting bracket includes a positioning rod having at least three first mounting surfaces, each of which is provided with at least three non-collinear optical markers.

4. The surgical navigation tool positioning device according to claim 3, characterized in that: A first support rod is fixedly connected to one of the first mounting surfaces of the positioning rod. The first support rod has at least three second mounting surfaces. Each second mounting surface of the first support rod corresponds to each of the first mounting surfaces of the positioning rod and faces the same side. A portion of the optical markers on the same side are located on the first mounting surface of the positioning rod, and the remaining portion of the optical markers are located on the second mounting surface of the first support rod on the same side.

5. The surgical navigation tool positioning device according to claim 4, characterized in that: The end of the first support rod away from the positioning rod is connected to a second support rod. The second support rod has the same structure as the first support rod, and the first support rod, the second support rod and the positioning rod are all located on the same plane.

6. The surgical navigation tool positioning device according to claim 5, characterized in that: The positioning rod, the first support rod, and the second support rod are all hollow structures, and the mounting surface without optical markers is an open structure. The hollow structure is provided with reinforcing ribs.

7. The surgical navigation tool positioning device according to claim 6, characterized in that: A stabilizing rod connects the second support rod to the positioning rod.

8. The surgical navigation tool positioning device according to claim 1, characterized in that: The positioning mounting frame includes a first positioning frame and a second positioning frame on the same plane. Both the first positioning frame and the second positioning frame have at least three mounting surfaces for setting optical markers. Each mounting surface of the first positioning frame and the second positioning frame faces the same side. Some of the optical markers on the mounting surface on the same side are located on the first positioning frame, and the remaining optical markers are located on the second positioning frame.

9. The surgical navigation tool positioning device according to claim 8, characterized in that: Both the first positioning frame and the second positioning frame have hollow quadrilateral cross sections, and the mounting surface without optical markers is an open structure. The hollow structure is provided with reinforcing ribs.

10. A surgical instrument, characterized in that: The surgical instrument includes an instrument body and a positioning device as described in any one of claims 1-9. The instrument body includes a handle portion, and the positioning device is mounted on the handle portion. The surgical instrument includes an active surgical instrument or a passive surgical instrument.

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