Spatial three-dimensional positioning device

Abstract

The utility model discloses a spatial three-dimensional positioning device. The device comprises a sleeve, hole sites and positioning mark points, the hole sites are distributed in the outer surface of the sleeve in the circumferential direction, and one positioning mark point is fixed in one hole site; the optical tracking system can identify at least three positioning mark points at the same time when being observed from any angle in the space; the distances between every two positioning mark points are different; angles between every two positioning mark points are different, and the angles refer to included angles generated by connecting line segments of every two positioning mark points. The device can reduce the positioning requirements of an optical positioning system and the tail end position of the surgical robot mechanical arm to the maximum extent, and spatial orientation of the tail end position of the surgical robot mechanical arm is achieved. Meanwhile, the positioning mark points are arranged in the circumferential direction of the sleeve, namely, the positioning mark points are arranged in the circumferential direction of the tail end joint of the mechanical arm, and the operation space occupied by doctors is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of surgical robot positioning, and particularly relates to a three-dimensional positioning device in space. Background Art

[0002] During the surgical operation of a surgical robot, since the end effector fixedly connected to it will directly or indirectly contact the patient, it is necessary to track the spatial position of the robotic arm in real time to ensure surgical accuracy and patient safety. At the same time, by tracking the position of the end of the robotic arm, it is beneficial to calculate the optimal posture of the robotic arm, avoid the operator's operation area to the greatest extent, and prevent unexpected collisions during the operation.

[0003] Currently, most surgical robot-assisted surgeries use an optical system to identify specific trackers for tracking. The calibration points of these trackers are usually located in one or two planes. To ensure surgical accuracy, they not only have a large volume but also have a field of view blind area, thus affecting the navigation function of the surgical robot and the operation experience of clinicians. Utility Model Content

[0004] To improve the above technical problems, the present utility model provides a three-dimensional positioning device in space, including a sleeve, hole positions, and positioning marker points. The hole positions are circumferentially distributed on the outer surface of the sleeve, and one positioning marker point is fixed in one hole position; from any angle in space, the optical tracking system can simultaneously identify at least three positioning marker points;

[0005] The distances between any two positioning marker points are all different.

[0006] The angles between any two positioning marker points are all different, and the angle refers to the included angle generated by the line segments connecting any two positioning marker points.

[0007] According to the embodiment of the present utility model, from any angle in space, the optical tracking system can simultaneously identify at least four, five or more positioning marker points; the fourth, fifth or other positioning marker points are used for accuracy verification and confirmation.

[0008] According to the embodiment of the present utility model, the sleeve has two ends: a first end and a second end, and the first end is flange-connected to the end of the robotic arm.

[0009] According to the embodiment of the present utility model, the three-dimensional positioning device in space further includes a cover body, and the cover body is arranged between the first end of the sleeve and the flange of the end of the robotic arm to play a role in dust prevention and sealing.

[0010] According to the embodiments of the present utility model, the spatial three-dimensional positioning device further includes an adapter plate, which has two ends: a first end and a second end, and the first end of the adapter plate is connected to the second end of the sleeve. The adapter plate is adaptively connected to the surgical end tool, and through the adapter plate, the connection between the spatial three-dimensional positioning device and the surgical end tool is realized.

[0011] According to the embodiments of the present utility model, the spatial three-dimensional positioning device further includes an insulating plate, and the insulating plate is connected to the second end of the adapter plate. That is, in the order of position, they are the insulating plate, the adapter plate, and the sleeve in sequence.

[0012] In one embodiment, the adapter plate and the insulating plate are both provided with positioning holes, which facilitate the assembly of the surgical end tool, the insulating plate, the adapter plate, and the sleeve.

[0013] According to the embodiments of the present utility model, the spatial three-dimensional positioning device further includes a lighting member and a light homogenizing member. The lighting member is arranged at the second end of the sleeve, the light homogenizing member is semi-nested with the lighting member, and the width of the light homogenizing member is greater than that of the lighting member. The light homogenizing member is used to obliquely and uniformly guide out the light of the lighting member, ensuring that the operator can clearly observe the state of the robotic arm without affecting the recognition of the positioning mark points by the optical tracking system.

[0014] In one embodiment, the lighting member is a light strip that surrounds the second end of the sleeve;

[0015] In one embodiment, the light homogenizing member is a light homogenizing ring, the width of which is greater than that of the light strip, and it is semi-nested with the light strip.

[0016] According to the embodiments of the present utility model, the spatial three-dimensional positioning device further includes a control main board, which is arranged inside the sleeve, and the control main board is signal-connected and / or electrically connected to the lighting member and / or the robotic arm. In one embodiment, the control main board is provided with a power interface for supplying power to the lighting member; and / or, the control main board has a communication interface for processing the motion state signal of the robotic arm and controlling the lighting member to switch colors and control the display state.

[0017] According to the embodiments of the present utility model, the spatial three-dimensional positioning device includes: a positioning unit, including a sleeve, a hole position, a positioning mark point, and a cover body;

[0018] a connection unit, including an adapter plate and an insulating plate;

[0019] a status display unit, including a lighting member, a light homogenizing member, and a control main board;

[0020] Both the sleeve and the adapter plate have two ends: a first end and a second end;

[0021] The hole positions are distributed circumferentially on the outer surface of the sleeve, and a positioning mark point is fixed in one of the hole positions; the distances and angles between any two positioning mark points are different; the angle refers to the included angle formed by the connecting line segments of any two positioning mark points; from any angle in space, the optical tracking system can simultaneously identify at least four positioning mark points; the first end of the sleeve is connected to the end flange of the robotic arm, the cover body is arranged between the first end of the sleeve and the end flange of the robotic arm, and the second end of the sleeve is connected to the first end of the adapter plate; the insulating plate is connected to the second end of the adapter plate;

[0022] The lighting member is arranged at the second end of the sleeve, the light homogenizing member is semi-nested with the lighting member, and the width of the light homogenizing member is greater than that of the lighting member;

[0023] The control main board is arranged inside the sleeve and is signal- and / or electrically connected to the lighting member and the robotic arm.

[0024] Advantageous Effects

[0025] The present invention overcomes the shortcomings in the prior art. The provided three-dimensional positioning device can minimize the positioning requirements for the position of the optical positioning system and the end of the robotic arm of the surgical robot, and realize the spatial orientation of the end position of the robotic arm of the surgical robot. At the same time, the positioning mark points are arranged circumferentially along the sleeve, that is, the circumferential layout along the end joint of the robotic arm is realized, reducing the encroachment on the surgical space of the doctor.

[0026] In addition, the arrangement of the lighting member and the light homogenizing member facilitates the doctor to timely know the state of the robotic arm and improves the safety of the operation. Description of the Drawings

[0027] Figure 1 It is a schematic diagram of the overall structure of the three-dimensional positioning device;

[0028] Figure 2 For Figure 1 It is a schematic diagram of the structure of the positioning unit in;

[0029] Figure 3 For Figure 1 It is a schematic diagram of the structure of the state display unit in;

[0030] Figure 4 For Figure 1 It is a schematic diagram of the structure of the connecting unit in;

[0031] Reference Numerals: 1 - Connecting Unit, 2 - State Display Unit, 3 - Positioning Unit, 4 - Robotic Arm;

[0032] 11 - Insulating Plate, 12 - Adapter Plate, 13 - Positioning Hole;

[0033] 21 - Light strip, 22 - Uniform light ring, 23 - Control main board;

[0034] 31 - Sleeve, 32 - Positioning mark point, 33 - Cover body. Detailed implementation manner

[0035] The technical solution of the present invention will be further described in detail below in combination with specific embodiments. It should be understood that the following embodiments are only for illustrative explanation of the present invention and should not be construed as limiting the protection scope of the present invention. All technologies implemented based on the above content of the present invention are covered within the scope of protection intended by the present invention.

[0036] As Figures 1-4 shown in the spatial three - dimensional positioning device, including:

[0037] The positioning unit 3 includes a sleeve 31, a hole position (coinciding with the positioning mark point), a positioning mark point 32 and a cover body 33;

[0038] The connection unit 1 includes an adapter plate 12 and an insulating plate 11;

[0039] The status display unit 2 includes a lighting member, a light - homogenizing member and a control main board 23.

[0040] Both the sleeve and the adapter plate have two ends: a first end and a second end;

[0041] The hole positions are circumferentially distributed on the outer surface of the sleeve 31, and a positioning mark point 32 is fixed in one hole position; the distances and angles between any two positioning mark points are different, and the angle refers to the included angle generated by the connecting line segment of any two positioning mark points;

[0042] From any angle in space, the optical tracking system can simultaneously identify at least three positioning mark points; preferably, for ensuring the accuracy and safety of use, a redundant design is adopted, and the number of positioning mark points simultaneously identified at each viewing angle ≥ 4 (as Figures 1-2 shown), and the 4th mark point is used for automatic accuracy verification and confirmation.

[0043] The first end of the sleeve 31 is connected to the end flange of the robotic arm 4, and the cover body 33 is arranged between the first end of the sleeve 31 and the end flange of the robotic arm 4, and is fixed to the first end of the sleeve 31 by screws, playing a role of sealing and dust - proofing;

[0044] The second end of the sleeve 31 is connected to the first end of the adapter plate 12; the insulating plate 11 is connected to the second end of the adapter plate 12 by screws. Both the insulating plate 11 and the adapter plate 12 have positioning holes 13 and have a unique installation direction. The insulating plate 12 can be firmly connected to the end - effector of the surgical robot (such as an oral implant handpiece) through the installation hole positions;

[0045] The lighting element is arranged at the second end of the sleeve 31, and the light-distributing element and the lighting element adopt a semi-nested design, and the width of the light-distributing element is greater than that of the lighting element;

[0046] In one embodiment, the lighting element is a light strip 21, which is arranged around the second end of the sleeve 31; the light homogenizer is a light homogenizer ring 22, which is wider than the light strip 21 and semi-nested with the light strip 21; the light homogenizer ring is used to evenly guide the light from the light strip obliquely, so as to ensure that the operator can clearly observe the state of the robotic arm without affecting the recognition of the optical tracking system;

[0047] The control mainboard 23 is fixed inside the sleeve 31, and is connected to the light strip 21 and the robot 4 through signals and / or electricity; specifically, there is signal and power transmission between the control mainboard 23 and the light strip 21, and the control mainboard is provided with a power interface to power the light strip. At the same time, the control mainboard is also provided with a communication interface to process the robot arm motion state signal and control the light strip to display different colors and light states. According to the instructions required by the surgical process, the light color (such as blue, yellow, green, red) is switched and the light state (such as constant light, flashing) is controlled. For example, when the robot is successfully connected for the first time, the light is constant blue.

[0048] In one embodiment, the sleeve 31 is composed of two sections with different diameters, the end of the large diameter section (i.e., the first end of the sleeve) is connected to the end flange of the robot arm, the end of the small diameter section (i.e., the second end of the sleeve) is connected to the first end of the adapter plate, and the control main board is fixed inside the small diameter section sleeve.

[0049] The spatial positioning device of the surgical robot end instrument has the following beneficial effects:

[0050] 1. No strict positioning requirements are required, reducing the positioning restrictions of the trolley during surgery, increasing the working space of the surgical robot navigation function, reducing the probability of intraoperative occlusion, reducing the time for intraoperative positioning adjustment, and improving surgical efficiency;

[0051] 2. The layout of the calibration points of the present invention is compact, which increases the tracking range while reducing the size of the positioning device, thereby reducing the occupation of the doctor's operating space;

[0052] 3. It has lighting and light-homogenizing components, which can synchronize the movement of the doctor's robotic arm in real time to ensure the safety of the operation.

[0053] ​In the description of the present utility model, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. Unless otherwise clearly specified and defined, terms such as "installed", "connected", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0054] The above describes the embodiments of the present invention. However, the present invention is not limited to the above embodiments. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A spatial stereo positioning device, characterized in that: The spatial stereo positioning device comprises a sleeve, holes and positioning mark points, wherein the holes are distributed circumferentially on the outer surface of the sleeve, and one positioning mark point is fixed in one hole; when observed from any angle in space, the optical tracking system can simultaneously identify at least three positioning mark points; The distances between any two positioning landmarks are not the same; The angles between any two positioning mark points are all different, and the angle refers to the angle formed by the line segments connecting the any two positioning mark points.

2. The spatial stereo positioning device according to claim 1, characterized in that: Observing from any angle in space, the optical tracking system can simultaneously identify at least four, five or more positioning markers.

3. The spatial stereo positioning device according to claim 1, characterized in that: The sleeve has two ends: a first end and a second end, and the first end is connected to the end flange of the robot arm.

4. The spatial stereo positioning device according to claim 3, characterized in that: The spatial stereo positioning device also includes a cover body, which is arranged between the first end of the sleeve and the end flange of the mechanical arm.

5. The spatial stereo positioning device according to claim 3, characterized in that: The spatial stereo positioning device also includes an adapter plate having two ends: a first end and a second end. The first end of the adapter plate is connected to the second end of the sleeve.

6. The spatial stereo positioning device according to claim 5, characterized in that: The spatial stereo positioning device also includes an insulating plate, and the insulating plate is connected to the second end of the adapter plate.

7. The spatial stereo positioning device according to claim 3, characterized in that: The spatial stereo positioning device also includes an illuminating element and a light homogenizing element. The illuminating element is arranged at the second end of the sleeve. The light homogenizing element and the illuminating element are semi-nested. The light homogenizing element is wider than the illuminating element.

8. The spatial stereo positioning device according to claim 7, characterized in that: The lighting component is a light strip surrounding the second end of the sleeve; the light homogenizing component is a light homogenizing ring.

9. The spatial stereo positioning device according to any one of claims 7 to 8, characterized in that: The spatial stereo positioning device also includes a control mainboard, which is arranged inside the sleeve, and the control mainboard is signal and / or electrically connected to the lighting component and / or the mechanical arm.

10. A spatial stereo positioning device, characterized in that: The spatial stereo positioning device comprises: A positioning unit, comprising a sleeve, a hole, a positioning mark point and a cover body; A connection unit, including an adapter plate and an insulating plate; A status display unit, including a lighting component, a light homogenizing component and a control main board; The sleeve and the adapter plate each have two ends: a first end and a second end; The holes are distributed circumferentially on the outer surface of the sleeve, and a positioning mark point is fixed in one hole; the distances and angles between the two positioning mark points are different; the angle refers to the angle formed by the line segments connecting the two positioning mark points; when observed from any angle in space, the optical tracking system can simultaneously identify at least four positioning mark points; the first end of the sleeve is connected to the end flange of the robot arm, the cover body is arranged between the first end of the sleeve and the end flange of the robot arm, the second end of the sleeve is connected to the first end of the adapter plate; the insulating plate is connected to the second end of the adapter plate; The lighting component is arranged at the second end of the sleeve, the light diffuser and the lighting component are semi-nested, and the width of the light diffuser is greater than that of the lighting component; The control main board is arranged inside the sleeve and is connected to the lighting component and the mechanical arm through signals and / or electricity.

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