A matrix pin type bone surface coordinate mapper

Abstract

The present invention relates to a matrix needle-type bone surface coordinate mapper, which includes an outer sleeve. A measuring needle is arranged inside the outer sleeve, and a number of elastic limiting components are arranged inside the outer sleeve. The measuring needle is sleeved inside the elastic limiting components. The measuring needle is composed of a number of protection needles and a number of acquisition needles. The diameter of the protection needle is larger than that of the acquisition needle. A pressing component is installed inside the outer sleeve, and the working end of the pressing component corresponds to the tail end of the acquisition needle. Thus, the measuring needle uses the protection needle and the acquisition needle to cooperate with each other. The protection needle can cause the acquisition needle to generate a cohesive effect, be arranged more densely and avoid deformation, and the obtained coordinates are more accurate. It can be used in cooperation with an air gun to meet effective flexible pressing, has good versatility, can be applied to various orthopedic robot surgeries and can be extended to other surgical operations. The amplitude fed back by the measuring needle can be accurately collected through the presence of a laser rangefinder, and effective bone surface coordinate points can be obtained.

Description

Technical Field

[0001] The present invention relates to a coordinate mapper, and particularly to a matrix pin type bone surface coordinate mapper. Background Art

[0002] In recent years, some orthopedic surgical robots have been successively put into clinical use, such as spinal surgical robots, joint surgical robots, etc. Through bone surface coordinate acquisition and registration technology, the technical level of digital orthopedic surgery has been greatly improved, playing a crucial role in promoting the rapid development of orthopedic surgery towards personalization, precision, and minimally invasive.

[0003] For the key technologies of orthopedic surgical navigation and surgical robot systems - bone coordinate acquisition and registration methods, they can be divided into the following categories.

[0004] 1. Non-contact bone surface coordinate acquisition technology, which includes:

[0005] (1) Laser scanning. For example, the early Robodoc system adopted invasive marker positioning, and later only used a handheld sensing device to complete marker point positioning on the joint surface after knee joint incision to expose the surgical field.

[0006] (2) Line structured light self-scanning measurement. A full-vision self-scanning measurement system composed of a CCD camera, a galvanometer scanner, and a laser line projector can achieve rapid and accurate measurement of complex free-form surfaces.

[0007] (3) Three-dimensional laser line scanning system based on machine vision. It is composed of two area array CCD cameras, a target with 30 reference points (known coordinates), a semiconductor line laser, two image acquisition cards, a motion control card, a PC, and corresponding control hardware and software. Using the CCD camera to obtain the two-dimensional image of the three-dimensional object, the perspective transformation between the space world coordinate system and the camera plane coordinate system is realized. Through the two frames of two-dimensional images taken by the two cameras from different directions, the three-dimensional surface contour or three-dimensional space points of the object can be comprehensively measured. The non-contact measurement technology can quickly and accurately obtain the three-dimensional coordinates of the object without contacting the surface of the object to be measured.

[0008] However, due to the trend of the development of orthopedic surgery towards personalization, precision, and minimally invasive, the exposure range of minimally invasive surgery will inevitably become smaller and smaller. Coupled with the influence of interference factors such as periosteum coverage, bleeding, and respiratory movement, it is obviously difficult to perform non-contact coordinate data acquisition by widely stripping the periosteum to expose the bone surface during orthopedic surgical robots.

[0009] 2. Contact bone surface coordinate acquisition technology, which includes:

[0010] (1) A contact measurement system based on iGPS and a robot. It mainly consists of a robot, an iGPS (indoor GPS) global positioning system, a contact probe, a handheld frame, and a computer-aided system, etc. Among them, the contact probe is installed at the end of the robot flange through the handheld frame as the tool end of the industrial robot, and an iGPS receiver is installed on the handheld frame, so that the iGPS positioning system can obtain the coordinates of the tool end in real time.

[0011] (2) The contact measurement based on the scanning white light interference method. The measurement method is to place the plane mirror of the probe assembly under the objective lens, and the measurement light is reflected by the plane mirror to generate interference fringes with the reference light. A set of stable interference fringes is obtained by adjusting the broadband light interference device. During the measurement, the probe is pressed on the workpiece to be measured. For the surface topography with a maximum peak-valley difference less than 5μm, the metrological vertical displacement workbench does not scan, and the X-Y workbench is driven by a stepping motor to move, and the workpiece placed on it also moves accordingly.

[0012] When the probe moves relative to the measured surface, the microscopic unevenness of the measured surface causes the probe to move up and down, thereby causing the plane mirror at the other end of the lever to swing, making the interference fringes move accordingly. For the surface profile with a maximum peak-valley difference greater than 5μm, the interference fringes move out of the field of view, and the metrological vertical displacement workbench moves to pull the interference fringes back to the original position. The metrological diffraction grating measures the height value (large number) of the movement of the vertical displacement workbench, and the sum of the height value (small number) recorded by the probe reflects the change in the height of the workpiece. Contact measurement has the advantages of high precision and good repeatability, but its measurement speed is slow, the efficiency is low, the measurement range is limited, and the generated data is sparse. And this method is commonly used in industry, and it needs to be modified and replaced when directly applied to the medical field, and it is not very convenient to implement.

[0013] Based on the above understanding, the applicant has previously applied for a bone surface coordinate mapper with a retractable measuring needle (application numbers 2019102874455, 2019103380274). However, in practical applications, it is found that due to structural problems, it still has defects such as sparse measurement data in one measurement and the need to move to increase the measurement position to improve the data density. Such a situation must be assisted by a complex high-precision moving and changing position mechanism to achieve, resulting in disadvantages such as low efficiency and possible limitation of measurement accuracy due to movement.

[0014] In view of the above-mentioned defects, the inventor actively conducts research and innovation in order to create a matrix needle type bone surface coordinate mapper to meet the needs of modern minimally invasive digital treatment surgery technology and improve the accuracy, reliability and safety of orthopedic robot surgery. Summary of the Invention

[0015] To solve the above technical problems, the object of the present invention is to provide a matrix needle type bone surface coordinate mapper.

[0016] A matrix needle - type bone surface coordinate mapper of the present invention includes an outer sleeve, and a measuring needle is arranged inside the outer sleeve, wherein: a plurality of elastic limiting components are arranged inside the outer sleeve, the measuring needle is sleeved inside the elastic limiting components, the measuring needle is composed of a plurality of protection needles and a plurality of acquisition needles, the diameter of the protection needles is larger than that of the acquisition needles, a pressing component is installed inside the outer sleeve, and the working end of the pressing component corresponds to the tail end of the acquisition needles.

[0017] Further, for the above - mentioned matrix needle - type bone surface coordinate mapper, the elastic limiting component is an elastic ring, the outer wall of the elastic ring is combined with the interior of the outer sleeve, and the inner wall of the elastic ring is constraint - connected with the measuring needle.

[0018] Furthermore, for the above - mentioned matrix needle - type bone surface coordinate mapper, an embedding groove is arranged on the inner wall of the outer sleeve, the outer wall of the elastic ring is embedded in the embedding groove, and there are at least two elastic rings, which respectively form an upper elastic ring and a lower elastic ring.

[0019] Furthermore, for the above - mentioned matrix needle - type bone surface coordinate mapper, the acquisition needles are arranged in a matrix, and the protection needles are arranged in a surrounding manner around the acquisition needles.

[0020] Furthermore, for the above - mentioned matrix needle - type bone surface coordinate mapper, the pressing component is an air gun, the air gun includes an air delivery pipe, and an adapter is connected to the air delivery pipe.

[0021] Still further, for the above - mentioned matrix needle - type bone surface coordinate mapper, a laser rangefinder is installed on the outer sleeve.

[0022] By means of the above - mentioned solution, the present invention has at least the following advantages:

[0023] 1. The measuring needle uses the protection needles and the acquisition needles to cooperate with each other. The protection needles can make the acquisition needles generate an inward - gathering effect, be arranged more densely, avoid the deformation of the acquisition needles, and obtain more accurate coordinates.

[0024] 2. It can be used in cooperation with an air gun to meet effective flexible pressurization, so that the protection needles and the acquisition needles can penetrate the periosteum (but not penetrate into the bone) and be in ideal contact with the bone surface, thereby avoiding the influence of factors such as periosteum, bleeding, or tissue fluid exudation on the acquisition of bone surface coordinates.

[0025] 3. It has good versatility, can be applied to various orthopedic robot surgeries and can be extended to other surgical operations.

[0026] 4. Due to the presence of the laser rangefinder, the amplitude feedback by the measuring needle can be accurately collected, and effective bone surface coordinate points can be obtained.

[0027] 5. The overall structure is simple, facilitating processing and operation.

[0028] The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and implement it according to the content of the specification, the following describes in detail with reference to the preferred embodiments of the present invention and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic external structure diagram of a matrix needle - type bone surface coordinate mapper (without the pressure - applying component installed).

[0030] Figure 2 It is a schematic sectional structure diagram of a matrix needle - type bone surface coordinate mapper (without the pressure - applying component installed).

[0031] Figure 3 It is a bottom - view of the position distribution of the protection needles and the acquisition needles.

[0032] Figure 4 It is a schematic diagram of the use of a matrix needle - type bone surface coordinate mapper.

[0033] The meanings of the reference numerals in the drawings are as follows.

[0034] 1 Outer sleeve 2 Measuring needle

[0035] 3 Elastic limiting component 4 Protection needle

[0036] 5 Acquisition needle 6 Air delivery pipe

[0037] 7 Adapter 8 Bone surface DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The following further describes in detail the specific embodiments of the present invention with reference to the drawings and embodiments. The following embodiments are used to illustrate the present invention but not to limit the scope of the present invention.

[0039] As Figures 1 to 4 a matrix needle - type bone surface coordinate mapper, which includes an outer sleeve 1. A measuring needle 2 is arranged inside the outer sleeve 1. The difference is that: several elastic limiting components 3 are arranged inside the outer sleeve 1, and the measuring needle 2 is sleeved inside the elastic limiting components 3. At the same time, in order to protect the whole measuring needle 2 during use, the measuring needle 2 is composed of several protection needles 4 and several acquisition needles 5, and the diameter of the protection needles 4 is larger than that of the acquisition needles 5. In this way, the protection needles 4 can protect the acquisition needles 5. And, in order to meet the flexible pressure application to the tail end of the acquisition needles 5, a pressure - applying component is installed inside the outer sleeve 1, and the working end of the pressure - applying component corresponds to the tail end of the acquisition needles 5.

[0040] In view of a preferred embodiment of the present invention, in order to achieve the restraint and limitation of the collection needle 5 and ensure that it has a better matrix arrangement and an appropriate density, the elastic limiting component 3 adopted is an elastic ring. Specifically, the outer wall of the elastic ring is combined with the inside of the outer sleeve 1, and the inner wall of the elastic ring is constrained and connected with the measuring needle 2. During implementation, the material of the elastic ring is rubber or non-rubber, as long as it has appropriate elasticity. And generally, the protection needle 4 is located on the periphery and is in direct contact with the elastic ring.

[0041] Furthermore, in order to ensure the stability of installation, the inner wall of the outer sleeve 1 is provided with an embedding groove, and the outer wall of the elastic ring is embedded in the embedding groove. And there are at least two elastic rings, which respectively form an upper elastic ring and a lower elastic ring. In this way, the upper and lower ends of the collection needle 5 can be simultaneously constrained.

[0042] In view of the actual implementation, the collection needles 5 are arranged in a matrix, and the protection needles 4 are arranged in a surrounding manner around the collection needles 5, which can generate a certain cohesive force to ensure that the arrangement is neat and in place. Specifically, the thinner collection needles 5 are located in the central part and are in direct contact with each other, and the thicker protection needles 4 are located around the periphery of the collection needles 5. Even when the collection needles 5 are laterally stressed on the inclined bone surface, the deformation of the collection needles 5 can be ensured not to occur.

[0043] Furthermore, in order to facilitate operation, the pressure application component adopted in the present invention is an air gun, and the air gun includes an air delivery pipe 6, and a connection head 7 is connected to the air delivery pipe 6. Of course, during actual implementation, the air gun can be installed outside the coordinate mapper as an independent component, or can be installed on the corresponding operating robot, and can be adjusted according to the actual needs of the surgical implementation. And in order to be able to collect the bone surface data collected by the measuring needle 2 in time and obtain accurate coordinates, a laser rangefinder can be installed on the outer sleeve 1. Of course, for different implementation modes, the laser rangefinder can also be externally installed on the robot, which can reduce the self-weight of the coordinate mapper. It should be noted that in order to better display the structure of the present invention, the laser rangefinder is not drawn in the drawings to avoid structural occlusion. Since its installation position is not limited, the structure or brand can adopt the currently commercially available conventional laser rangefinders for medical measurement, so no further description is given.

[0044] The working principle of the present invention is as follows:

[0045] The tail of the measuring needle is flexibly pressurized through the air gun to ensure that the tip of each measuring needle penetrates the periosteum (but does not penetrate into the bone) and is in ideal contact with the bone surface, reducing accidental injuries. For the structure of the commonly used built-up cage at present, a structure similar to that without a cage can be realized. Thus, the tails of the measuring needles can map the coordinates of the bone surface 8 of the required measuring part in a more intensive manner at one time, thereby improving the accuracy, efficiency and reliability of bone surface coordinate acquisition.

[0046] As can be seen from the above textual description and in combination with the attached drawings, after adopting the present invention, the following advantages are obtained:

[0047] 1. The measuring needle adopts a protective needle and a collection needle that cooperate with each other. The protective needle can cause the collection needle to have a cohesive effect, making the arrangement denser, avoiding deformation of the collection needle, and obtaining more accurate coordinates.

[0048] 2. It can be used in conjunction with an air gun to achieve effective flexible pressurization, enabling the protective needle and the collection needle to penetrate the periosteum (but not into the bone) and make ideal contact with the bone surface, thereby avoiding the influence of factors such as the periosteum, bleeding, or tissue fluid exudation on the collection of bone surface coordinates.

[0049] 3. It has good versatility and can be applied to various orthopedic robot surgeries and can be extended to other surgical operations.

[0050] 4. The presence of a laser rangefinder can be used to accurately collect the amplitude feedback by the measuring needle and obtain effective bone surface coordinate points.

[0051] 5. The overall structure is simple, facilitating processing and operation.

[0052] In addition, the orientation or positional relationship described in the present invention is based on the orientation or positional relationship shown in the attached drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or structure referred to must have a specific orientation, or be operated in a specific orientation structure. Therefore, it should not be construed as a limitation to the present invention.

[0053] The terms "main" and "subsidiary" 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 "main" and "subsidiary" may explicitly or implicitly include one or more of such features. In the description of the present invention, "several" means two or more, unless otherwise specifically defined.

[0054] Similarly, 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 one or more of such features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0055] In the present invention, unless otherwise clearly specified or limited, terms such as "connection" and "arrangement" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral one; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. And it can be directly on another component or indirectly on that another component. When a component is referred to as "connected to" another component, it can be directly connected to the other component or indirectly connected to that other component.

[0056] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0057] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A matrix pin-type bone surface coordinate mapper, comprising an outer sleeve (1), and a measuring needle (2) is arranged inside the outer sleeve (1), and is characterized in that: A plurality of elastic limiting components (3) are arranged in the outer sleeve (1), the measuring needle (2) is sleeved in the elastic limiting component (3), the measuring needle (2) is composed of a plurality of protection needles (4) and a plurality of collection needles (5), the diameter of the protection needle (4) is larger than that of the collection needle (5), a pressure component is installed in the outer sleeve (1), and the working end of the pressure component corresponds to the tail end of the collection needle (5); The collection needles (5) are arranged in a matrix, and the protection needles (4) are arranged around the periphery of the collection needles (5), and the thinner collection needles (5) are located in the center and directly contact each other, and the thicker protection needles (4) are located around the periphery of the collection needles (5); The pressure-applying component is an air gun, and the air gun comprises an air delivery pipe (6), and a connector (7) is connected to the air delivery pipe (6).

2. The matrix pin type bone surface coordinate mapper according to claim 1, characterized in that: The elastic limiting component (3) is an elastic ring, the outer wall of the elastic ring is combined with the interior of the outer sleeve (1), and the inner wall of the elastic ring is constrainedly connected to a measuring needle (2).

3. The matrix pin type bone surface coordinate mapper according to claim 2, wherein: The inner wall of the outer sleeve (1) is provided with an embedding groove, and the outer wall of the elastic ring is embedded in the embedding groove. There are at least two elastic rings, which respectively constitute an upper elastic ring and a lower elastic ring.

4. A matrix pin type bone surface coordinate mapper according to claim 1, characterized in that: A laser rangefinder is installed on the outer sleeve (1).

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