A CT image reference device for a robotic surgery system

Abstract

A CT image reference device for a robotic surgery system comprises: a cavity device having a cavity, which is suitable for buckling with an image receiving end of a CT device so that the inner bottom side plane of the cavity fits with the bottom plane of the image receiving end; a double-layer plane device having a first and a second flat plate arranged parallel to each other, the second flat plate being suitable for fitting with the outer bottom side plane of the cavity device; and a locking device, one end of which is connected to the cavity device, and the other end of which is provided with an adjustable locking mechanism so as to fasten the cavity device to the image receiving end. The cavity device body is provided with a first and a second flange around it to form a hinge seat, a first positioning hole penetrating the body is formed at the bottom, and a slide groove guiding from the opening side of the cavity to the first positioning hole is formed, and a step hole is formed on the locking device for a bayonet handle formed with a stop flange to pass through. When the locking device rotates toward the cavity device, the bayonet handle enters the slide groove of the cavity device from the protruding part of the step hole and slides into the first positioning hole.

Description

Technical Field

[0001] The invention relates to a CT image reference device for a robot surgery system and the robot surgery system. Background Art

[0002] In orthopedic surgeries such as spine surgeries, whether traditional surgeries or spine robotic surgeries, medical staff are often required to take a large number of CT images. Spinal robotic surgery relies more on image accuracy in order to accurately reconstruct 3D virtual images and realize coordinates, so as to carry out surgical planning and positioning. For example, in a surgical navigation system using a binocular tracker (camera), the coordinate points can be collected by using a camera to identify a reference frame (optical ball) installed at a location such as a patient's lesion. At this time, it can be considered to attach a reference frame to the image receiving end of the CT device, so that the transformation relationship between the reference frame and the camera coordinate system, and between the image receiving end and the reference frame coordinate system based on the principle of coordinate transformation can be comprehensively considered, and the image receiving end can also be included in the spatial information of the 3D virtual image. In this way, a reference system can be provided for the CT image, and then the image correction can be performed through an algorithm to further improve the accuracy of robotic surgery.

[0003] However, when medical staff take a large number of CT images, patients and medical staff are exposed to a large amount of radiation.

[0004] It should be noted that the information mentioned in this background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to a person of ordinary skill in the art. Summary of the invention

[0005] To solve the above problems, the present invention aims to provide a CT image reference device, which is fixed to the C-arm image receiving end to facilitate the algorithm to perform image correction.

[0006] According to one aspect of the present invention, there is provided a CT image reference device for a robotic surgery system, comprising: a cavity device formed with a concave cavity, which is suitable for being buckled onto an image receiving end of a CT device so that an inner bottom side plane of the cavity and a bottom plane of the image receiving end fit together in planar contact with each other without leaving a gap; a double-layer plane device, which has a first flat plate and a second flat plate arranged parallel to each other and spaced apart, the second flat plate being suitable for fitting and connecting with an outer bottom side plane of the cavity device in planar contact with each other without leaving a gap; and a locking device, one end of which is connected to the cavity device, and the other end of which is provided with an adjustable locking mechanism capable of abutting against the image receiving end, thereby fastening the cavity device to the image receiving end.

[0007] Preferably, the cavity device has a main body, and a first flange and a second flange are provided on the outer periphery of the main body for hingedly connecting one end of the locking device, the first flange and the second flange protrude outward from the wall of the main body in the form of a U-shaped groove to form a hinge seat, and at the bottom of the U-shaped groove, a first positioning hole penetrating the main body and a sliding groove guiding from the opening side of the cavity along the outer wall of the main body to the first positioning hole are formed; a step hole is formed on the locking device in a through manner for a pin handle formed with a stop flange to pass through, and is used to accommodate a first spring sleeved on the pin handle and a sealing cap screwed to one end side of the step hole; starting from the initial state in which the stop flange abuts against the base of the step hole, during the rotation of the other end of the locking device toward the cavity device, the top of the part of the pin handle extending from the step hole gradually enters the sliding groove of the cavity device until the pin handle slides along the sliding groove and is inserted into the first positioning hole under the biasing force of the first spring.

[0008] Preferably, the slide groove has a groove depth which gradually increases as approaching the first positioning hole.

[0009] Preferably, the adjustable locking mechanism includes: a hollow shell, a second spring with one end seated in a bottom plate groove in the hollow shell, a locking block floatingly arranged relative to the hollow shell with the second spring clamped, a locking handle, and a covering cover, wherein a rod driven by the locking handle passes through the covering cover and is crimped onto the top end surface of the locking block, and the locking block is formed with a leg portion passing through the opening of the hollow shell and abutting against the image receiving end.

[0010] Preferably, the double-layer plane device also has a first peripheral plane frame and a second peripheral plane frame, which are used to fix the first plate and the second plate respectively. Positioning interfaces are distributed on the second peripheral plane frame for connection with the cavity device and / or the tracing device.

[0011] Preferably, the CT image reference device further comprises a transfer pressure-bearing member for overlapping the stepped flange of the image receiving end housing and for the adjustable locking mechanism of the locking device to press against.

[0012] Preferably, the transfer pressure-bearing member includes a first locking rod and a second locking rod which are constructed in such a way that they can surround the outer periphery of the image receiving end while resting on the flange with one end face. The first hinged ends of the first locking rod and the second locking rod are pre-hinged together in a rotatable manner, and the second locking ends of the first locking rod can be locked together. The other end faces of the first locking rod and the second locking rod are formed as pressure-bearing top surfaces for the locking blocks of the locking device to press against.

[0013] Preferably, the transition pressure-bearing member is constructed to include two half sleeves, one end surface of the half sleeve can overlap the flange, and the other end surface is also formed with a sleeve flange extending in the radial direction for the locking block of the locking device to press against.

[0014] Preferably, pads are distributed around the inner periphery of the concave cavity and connected by second screws, and the pads are formed with grooves on the opening side of the cavity.

[0015] According to another aspect of the present invention, there is provided a robotic surgery system, comprising: a CT device, a tracker and any one of the above-mentioned CT image reference devices, wherein the CT image reference device is fastened to an image receiving end of the CT device.

[0016] As the expected beneficial effect of the CT image reference device according to the present invention, it can be applied to existing commercially available products of CT equipment, that is, by simply fixing the image reference device to the image receiving end of the existing CT equipment, it is possible to ensure that one of the planes is as close to the plane of the receiving end as possible, and to perform point development in a regularly arranged manner for image correction when taking CT images. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A stereogram schematically shows a CT image reference device according to an embodiment of the present invention when used;

[0018] Figure 2 Schematically showing the corresponding Figure 1 Exploded stereogram of

[0019] Figure 3 A three-dimensional diagram schematically showing components of the CT image reference device;

[0020] Figure 4 A cross-sectional view schematically showing components of the CT image reference device;

[0021] Figure 5-6 An exploded perspective view schematically showing components of the CT image reference device;

[0022] Figure 7 A stereogram schematically showing components of the CT image reference device;

[0023] Figure 8 A partially cutaway perspective view schematically showing components of a CT image reference device;

[0024] Fig. 9 A perspective view schematically showing components of a CT image reference device;

[0025] Fig.10 A partial assembly stereogram of a transfer pressure-bearing member of a CT image reference device according to another embodiment of the present invention is schematically shown;

[0026] Fig.11 The assembled stereogram schematically shows the adapter pressure piece when resting on the flange for locking. DETAILED DESCRIPTION

[0027] The exemplary embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. The exemplary embodiments described below and shown in the accompanying drawings are intended to teach the principles of the present invention, so that those skilled in the art can implement and use the present invention in several different environments and for several different applications. Therefore, the scope of protection of the present invention is defined by the appended claims, and the exemplary embodiments are not intended to be, and should not be considered as, a limiting description of the scope of protection of the present invention.

[0028] For the convenience of description, the sizes of the various parts shown in the drawings are not necessarily drawn according to the actual proportional relationship. The directions or positional relationships indicated, such as upper, lower, front, rear, left, right, top, bottom, inside, outside, etc., are all based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. Unless otherwise specifically stated, the order of the components and assembly steps described in the embodiments and the values ​​do not limit the scope of the present invention.

[0029] In the description of this application, "multiple" means two or more than two, unless otherwise clearly specified and specifically defined. Unless otherwise clearly specified and defined, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0030] <First Embodiment>

[0031] like Figures 1 to 9 As shown, the reference device 1 for CT images according to the first embodiment of the present invention is generally constructed to include: a double-layer plane device 100, a locking device 200, a cavity device 300 and a tracing device 400, the double-layer plane device 100 is suitable for being attached to the outer bottom side plane of the cavity device 300 and connected to each other, the cavity device 300 formed with a concave cavity 309 is suitable for being buckled to the image receiving end 22 of the CT device 2 and being attached to the bottom plane of the image receiving end 22 on the inner bottom side of the cavity, the locking device 200 can be connected to the cavity device 300 while abutting against the image receiving end 22, so as to fasten the cavity device 300 and even the reference device 1 to the image receiving end 22 as a whole, wherein:

[0032] The double-layer plane device 100 includes: a connecting column 101, a connecting screw 102, a first plate 103, a second plate 104, and a steel ball (not shown);

[0033] The locking device 200 includes: a main body 201, a sealing cap 202, a first spring 203, a rotating shaft 204, a bayonet handle 205, a sealing cover 206, a locking handle 207, a first screw 208, a locking block 209, a second spring 210, and a housing 213;

[0034] The cavity device 300 includes: a main body 301, a cushion block 302, a second screw 303, and a concave cavity 309;

[0035] The tracer device 400 includes a tracer body 401 , a connection block 402 , a third screw 403 , and an optical ball 404 .

[0036] <Working Principle>

[0037] Since the cavity device 300 can be closely attached to the bottom plane of the image receiving end 22 with its inner bottom side plane, and the second flat plate 104 of the double-layer plane device 100 is also closely attached to the outer bottom side of the cavity device 300, the parallel positional relationship between the second flat plate 104 and the bottom plane of the image receiving end 22 is actually ensured. Therefore, the steel balls fixed at the parallel first and second flat plates 103 and 104 can serve as image markings, and the parts of the patient to which the first and second flat plates 103 and 104 are aimed correspond to the imaging surface captured by the CT device 2.

[0038] Therefore, with the help of the tracking device 400 fixed on the second flat plate 104 and the binocular tracker and other equipment arranged accordingly, the corresponding spatial coordinates of the second flat plate 104 and the image receiving end 22 with a fixed relative position relationship can also be obtained in the 3D virtual image.

[0039] Moreover, with the help of a second tracking device simultaneously provided at the corresponding part of the patient's body, such as the lesion, the lesion can be accurately imaged through the first plate 103, the second plate 104, and the cavity device 300 through the image receiving end 22, thereby reducing the necessity for repeated imaging due to mis-shooting, repeated shooting, etc., and reducing the radiation dose and health risks to patients and medical staff.

[0040] <Cavity device 300>

[0041] The main body 301 of the cavity device 300 can be formed as a box body with a concave cavity 309 of a predetermined depth by using PEEK / 6061 material, which is suitable for being sleeved on the image receiving end 22 from the upper opening, so that the bottom surface of the concave cavity 309 and the bottom surface of the image receiving end 22 are in planar contact with each other without leaving a gap.

[0042] An opening 319 corresponding to the image receiving end 22 may be provided on the lower side of the box body to avoid the working path of the image receiving end 22. A flat plate 318 for closing the opening 319 may also be provided, and a gap-free planar contact between the image receiving end 22 and the cavity device 300 is achieved by abutting the bottom surface of the image receiving end 22 against the flat plate 318.

[0043] The outer bottom surface 320 of the box body is also formed as a planar structure, and can be in planar contact with the second flat plate 104 or the second peripheral planar frame 107 and fastened together without leaving any gap.

[0044] The pads 302 are distributed around the inner side of the box body and are connected and fixed to the main body 301 by second screws 303. The pads 302 can be made of soft materials such as plastic and silica gel to avoid wear and scratches when the main body 301 is buckled to the image receiving end 22.

[0045] Flanges 304 and 306 are provided on the outer periphery of the box body for hingedly connecting the lower end of the locking device 200. The flanges 304 and 306 protrude outward from the box body wall of the main body 301 in the form of U-shaped grooves to form hinge seats, and can be provided at multiple locations along the periphery, and correspondingly provided with shaft holes 307 for passing the rotating shaft 204.

[0046] On the box body wall at the bottom of the U-shaped groove, a first positioning hole 308 is formed which penetrates the box body wall of the main body 301, and a slide groove 305 is formed which guides from the upper side along the box body wall to the first positioning hole 308. The slide groove 305 may have a groove depth which gradually increases as it approaches the first positioning hole 308.

[0047] Although not shown, the outer bottom surface 320 of the main body 301 , in addition to the portion used for plane fitting, may also be formed with a positioning and fastening component for cooperating with the positioning interface 106 described later, so as to facilitate rapid positioning and fastening of the double-layer planar device 100 .

[0048] <Locking device 200>

[0049] The locking device 200 is constructed in an L-shape as a whole, with its lower end connected to the cavity device 300 and its upper end abutting or locking on the image receiving end 22 .

[0050] More specifically, a pivot hole 219 is provided at the lower end side for the rotation shaft 204 to pass through, so as to form a pivot point for the swing of the main body 201. Near the pivot point, a stepped hole 211 is also formed crosswise through the main body 201, for the bayonet handle 205 formed with a stop flange 212 to pass through, and then used to accommodate the first spring 203 and the sealing cap 202 sleeved on the bayonet handle 205. After the sealing cap 202 is screwed to the main body 201, that is, in a state where the first spring 203 applies a biasing force to the bayonet handle 205, the travel range of the stop flange 212 and even the bayonet handle 205 relative to the main body 201 is limited.

[0051] When the stop flange 212 abuts against the base of the step hole 211, the bayonet handle 205 stops moving forward, so that Figure 2 As shown, during the rotation of the main body 201 around the rotating shaft 204 toward the concave cavity 309 , the top of the portion of the bayonet handle 205 extending from the step hole 211 gradually enters the slide groove 305 of the cavity device 300 without interfering with the opening edge of the main body 301 .

[0052] In the adjustable locking mechanism on the upper end side, the lower end of the second spring 210 is seated in the bottom plate groove in the hollow shell 213, and the locking block 209 that can float relative to the hollow shell 213 with the help of the second spring 210 is pressed against the upper end of the second spring 210. The bottom end side of the locking block 209 can be formed with a leg portion passing through the bottom plate opening of the hollow shell 213 (not shown), so that the floating of the locking block 209 is guided and limited by the opening. The top surface of the locking block 209 is pressed against the cover 206 by the rod driven by the locking handle 207, so that the degree of compression of the locking block 209 on the CT device 2 can be adjusted by adjusting the locking handle 207. The cover 206 is fixed to the upper end of the shell 213 via the first screw 208.

[0053] Thus, after the locking device 200 is installed on the flanges 304 and 306 via the rotating shaft 204 , the rotating shaft 204 is shape-locked in the shaft hole 307 so as to be fixed relative to the cavity device 300 , while the main body 201 can rotate relative to the rotating shaft 204 .

[0054] After the concave empty cavity 309 of the cavity device 300 is buckled onto the image receiving end 22, when the main body 201 is turned toward the cavity device 300 around the rotation axis 204, the inner end 217 of the bayonet handle 205 first contacts the slide groove 305 of the cavity device 300 and is subjected to a reaction force, driving the stop flange 212 to reversely compress the first spring 203, thereby allowing the main body 201 to continue to rotate while the bayonet handle 205 avoids to the outside until the bayonet handle 205 slides along the slide groove 305 under the biasing force of the first spring 203 and finally inserts the inner end 217 into the first positioning hole 308. At this time, twisting the locking handle 207 will press the locking block 209 downward onto the CT device 2, and the symmetrically distributed locking device 200 realizes the connection between the reference device 1 and the image receiving end 22, thereby forming a relatively fixed position relationship with each other.

[0055] During disassembly, first loosen the locking handle 207. The locking block 209 is lifted away from the top of the image receiving end 22 by the second spring 210, thereby releasing the fixation on the image receiving end 22. Then pull the bayonet handle 205 to release the locking device 200 as a whole. Repeat the same operation on the opposite side.

[0056] <Dual-layer planar device 100>

[0057] like Figure 6 In the double-layer plane device 100 shown, the first plate 103 and the second plate 104 are respectively fixed to the first peripheral plane frame 105 and the second peripheral plane frame 107. The two peripheral plane frames are fixed by connecting screws 102 and connecting columns 101, so that the two peripheral plane frames and the first plate 103 and the second plate 104 are in a spatial position relationship parallel to each other.

[0058] Positioning interfaces 106 may also be distributed on the second peripheral plane frame 107 to achieve corresponding connection with the cavity device 300 and the connection with the connecting block 402 in the tracing device 400, both of which can be connected by screws.

[0059] In addition, steel balls (not shown) of different specifications may be embedded (tightly fitted) on the first flat plate 103 and the second flat plate 104 .

[0060] <Tracer device 400>

[0061] The tracing body 401 of the tracing device 400 is provided with at least three optical balls 404 , and is connected to the second plate 104 via a third screw 403 and a connecting block 402 .

[0062] According to the positioning of the surgical equipment, the tracking device 400 can be optionally installed on one side of the reference device 1 for optical tracking of the surgical robot.

[0063] The above description uses the roughly rectangular image receiving end 22 as an example. Since it has a wide and flat top surface, locking can be achieved by simply rotating the locking device 200 around the rotating shaft 204 and pressing it against the top surface, thereby obtaining a determined relative position relationship between the components.

[0064] <Second Embodiment>

[0065] The second embodiment is described below, which is applicable to the case where the image receiving end 22 is too thick in vertical height or the top surface is uneven but has a substantially flat stepped flange 21 near the image receiving end 22 .

[0066] At this time, you can use, for example Fig.10 The transition pressure-bearing member 500 shown plays the role of an adapter that overlaps the flange 21 to expand and realize a wider and flatter pressure-bearing top surface for the locking block 209 of the locking device 200 to press against.

[0067] like Fig.11 As shown, the transfer pressure-bearing member 500 is constituted as an articulated locking clamp, and the first locking rod 501 and the second locking rod 502 are pre-articulated together in a rotatable manner via the first articulated ends 503 and 504, and can be wrapped around the image receiving end 22 along the circumference while the lower side end face is placed on the flange 21, and then locked by the second locking ends 505 and 506 to be reliably supported on the flange 21. At this time, the upper side end faces of the first locking rod 501 and the second locking rod 502 form a pressure-bearing top face for the locking block 209 of the locking device 200 to press against.

[0068] The above-mentioned adapter pressure-bearing member 500 is shown in a curved rod-shaped structure, but it is not limited to this. As long as it can be constructed in a shape-locking manner, for example, when the image receiving end 22 is constructed as a cylindrical shell, the adapter pressure-bearing member 500 can be constructed of two half sleeves into a sleeve, and the sleeve can be used as long as it can ensure that the bottom side end face can be reliably overlapped on the flange 21. The upper side end face can also be formed into a sleeve flange (not shown) extending radially from the sleeve to further expand the pressure-bearing top surface.

[0069] The locking between the second locking ends 505 and 506 is certainly not limited to the bolt type shown in the figure, and other possible shape-locking structures can also be used as long as the two opposite sides can form a fastening force after docking.

[0070] The adapter pressure-bearing member 500 as an adapter can be constructed as various accessories with different thicknesses, so as to adapt to image receiving terminals 22 of different heights or thicknesses. For example, when the image receiving terminal 22 is a cylinder with a relatively high thickness, a belt or a metal hoop can be bound on the same side of the adapter pressure-bearing member 500 with a correspondingly higher cylinder portion, so that the lower end side of the cylinder abuts against the stepped flange 21 on the housing of the image receiving terminal 22. When the upper flange is pressed by the locking block 209, the downward pressure with the stepped flange as the fulcrum is balanced with the torque of the tightening force or the binding force at the sleeve flange (not shown), so as to form a stable connection.

[0071] In addition, although the cavity device can be adjusted according to different CT devices 2 to achieve the versatility of the device, according to the above embodiment, for example, when formed into the rectangular box shape of the first embodiment, the cavity device 300 can also be attached and fastened to the cylindrical image receiving end 22 by the locking device 200, as long as it has a size that can accommodate the image receiving end 22. Conversely, the same is true when formed into the cylindrical box shape of the first embodiment.

[0072] <Effects of use>

[0073] Initially, the main body 201 of the locking device 200 is in an unfolded state around the rotating shaft 204. Starting from the initial state where the stop flange 212 abuts against the base of the step hole 211, during the rotation of the other end of the locking device 200 toward the cavity device 300, the top of the portion of the bayonet handle 205 extending from the step hole 211 gradually enters the slide groove 305 of the cavity device 300 until the bayonet handle 205 slides along the slide groove 305 and is inserted into the first positioning hole 308 under the biasing force of the first spring 203.

[0074] According to the first embodiment, when in use, the inner bottom end surface of the main body 301 of the entire reference device 1 is relatively abutted against the image receiving end 22 of the CT imaging device 2, and then the main body 201 on both sides is pulled toward the image receiving end 22, until the latch handle 205 is guided into the first positioning hole 308 along the vertical slide grooves 305 on both sides of the main body 301 due to the action of the first spring 203, so that the upper end of the main body 201, that is, the upper end of the bent arm is clamped on the upper end surface of the image receiving end 22 of the CT imaging device 2, and the preliminary positioning is completed at this time, and there is no need to hold the main body 301 for a long time during the tightening process. By tightening the locking handle 207, the locking block 209 is gradually pressed downward against the upper end surface of the image receiving end 22, so that the main body 301 is pulled closer to the side of the image receiving end 22, so that the inner bottom end surface of the main body 301 is tightly fitted with the image receiving end 22 of the CT imaging device 2.

[0075] According to the second embodiment, when in use, the adapter pressure block 500 is overlapped and fastened around the outer shell of the CT device 2 in advance, and then the upper end of the main body 201, that is, the upper end of the bent arm, is clamped on the upper end flange end face of the adapter pressure block 500 with reference to the first embodiment to achieve similar positioning and fastening effects.

[0076] In this way, the step edge on the cylindrical side of the image receiving end 22 of the CT imaging device can also prevent the operator from holding the main body 301 for a long time, and ensure that the inner end surface of the main body 301 is in close contact with the image receiving end 22 of the CT imaging device.

[0077] During disassembly, the locking handle 207 is loosened, the latch handle 205 is pulled out, and then the main body 201 is turned over, so that the main body 301 can be separated from the image receiving end 22 .

[0078] As described above, the main body 301 is a cover frame structure, and the inner side walls of the frame are respectively provided with cushion blocks 302 connected by fixing screws. When the main body 301 and the image receiving end 22 of the CT imaging device 2 are relatively covered, the cushion blocks 302 can prevent the inner wall of the frame from contacting the image receiving end 22, and guide the positioning. In addition, a groove can be provided at one end of the cushion block facing the opening of the box body to guide the image receiving end 22 to slide in.

[0079] According to the CT image reference device 1 of the present invention, when it is installed on a C-arm, for example, the reference device 1 can be easily docked and installed no matter where the C-arm rotates and stops.

[0080] For example, gravity can be used to directly snap the cover onto the receiving end facing upward, or the cover can be snapped onto the receiving end facing sideways or downward from the side or bottom by temporarily lifting it, and the bayonet handle 205 can be used in time for auxiliary positioning and support, and then locked, so that installation and fixing become faster, more convenient and more accurate.

[0081] Although the invention has been described with reference to various specific embodiments, it should be understood that modifications can be made within the spirit and scope of the inventive concepts described. It is therefore intended that the invention not be limited to the embodiments described, but will have the full scope defined by the language of the appended claims.

Claims

1. A CT image reference device for a robotic surgery system, characterized in that: include: A cavity device (300) having a concave cavity (309) is formed, and is suitable for being buckled to an image receiving end (22) of a CT device (2) so that the inner bottom side plane of the cavity (309) and the bottom plane of the image receiving end (22) are attached together in a manner that the planes are in contact with each other without leaving a gap; a double-layer plane device (100) having a first plate (103) and a second plate (104) arranged parallel to each other and spaced apart, a steel ball fixed at a position on the first plate (103) and the second plate (104) parallel to each other and used as an image marker, and the second plate (104) 104) is suitable for being attached to and connected with the outer bottom side plane of the cavity device (300) in a manner of planar contact without leaving a gap; a locking device (200), one end of which is connected to the cavity device (300), and the other end of which is provided with an adjustable locking mechanism capable of abutting against the image receiving end (22), thereby fastening the cavity device (300) to the image receiving end (22); and a tracing device (400) fixed on the second plate (104), and at least three optical balls (404) are provided on the tracing body (401) of the tracing device (400).

2. The CT image reference device according to claim 1, characterized in that: The cavity device (300) comprises a main body (301), and a first flange (304) and a second flange (306) are provided on the outer periphery of the main body (301) for hingedly connecting one end of the locking device (200). The first flange (304) and the second flange (306) protrude outward from the wall of the main body (301) in the form of a U-shaped groove to form a hinge seat. At the bottom of the U-shaped groove, a first positioning hole (308) is formed which penetrates the main body (301), and a slide groove (305) is formed which guides from the opening side of the cavity (309) along the outer wall of the main body (301) to the first positioning hole (308). A step hole (211) is formed on the locking device (200) in a penetrating manner for forming a hinge seat. The bayonet handle (205) of the stop flange (212) passes through and is used to accommodate the first spring (203) sleeved on the bayonet handle (205) and the sealing cap (202) screwed to one end side of the step hole (211). Starting from the initial state in which the stop flange (212) abuts against the base of the step hole (211), during the rotation of the other end of the locking device (200) toward the cavity device (300), the top end of the bayonet handle (205) extending from the step hole (211) gradually enters the slide groove (305) of the cavity device (300) until the bayonet handle (205) slides along the slide groove (305) under the biasing force of the first spring (203) and is inserted into the first positioning hole (308).

3. The CT image reference device according to claim 2, characterized in that: The slide groove (305) has a groove depth that gradually increases as it approaches the first positioning hole (308).

4. The CT image reference device according to claim 1, characterized in that: The adjustable locking mechanism comprises: a hollow shell (213), a second spring (210) with one end seated in a bottom plate groove in the hollow shell (213), a locking block (209) floatingly arranged relative to the hollow shell (213) and clamping the second spring (210), a locking handle (207) and a cover (206), wherein a rod driven by the locking handle (207) passes through the cover (206) and is pressed against the top end surface of the locking block (209), and the locking block (209) is formed with a leg portion that passes through the opening of the hollow shell (213) and abuts against the image receiving end (22).

5. The CT image reference device according to claim 1, characterized in that: The double-layer plane device (100) further comprises a first peripheral plane frame (105) and a second peripheral plane frame (107), which are respectively used to fix the first plate (103) and the second plate (104). Positioning interfaces (106) are distributed on the second peripheral plane frame (107) for connecting with the cavity device (300) and / or the tracing device (400), wherein the tracing body (401) of the tracing device (400) is connected to the positioning interface (106) via a third screw (403) and a connecting block (402), thereby being connected to the second plate (104).

6. The CT image reference device according to claim 1, characterized in that: It also includes a transfer pressure-bearing member (500) for overlapping the stepped flange (21) of the housing of the image receiving end (22) and for the adjustable locking mechanism of the locking device (200) to press against.

7. The CT image reference device according to claim 6, characterized in that: The transition pressure-bearing member (500) comprises a first locking rod (501) and a second locking rod (502) which are configured in such a way that they can surround the outer periphery of the image receiving end (22) while having one end face resting on the flange (21); a first hinged end (503) of the first locking rod (501) and a first hinged end (504) of the second locking rod (502) are pre-hinged together in a rotatable manner; a second locking end (505) of the first locking rod (501) and a second locking end (506) of the second locking rod (502) can be locked together; and the other end faces of the first locking rod (501) and the second locking rod (502) are formed as pressure-bearing top faces for the locking block (209) of the locking device (200) to press against.

8. The CT image reference device according to claim 6, characterized in that: The transition pressure-bearing member (500) is constructed to include two half sleeves, one end surface of the half sleeve being able to overlap the flange (21), and the other end surface also being formed with a sleeve flange extending in the radial direction for the locking block (209) of the locking device (200) to press against.

9. The CT image reference device according to claim 1, characterized in that: A cushion block (302) is distributed around the inner periphery of the concave cavity (309) and connected by a second screw (303), and a groove is formed on the opening side of the cavity (309) of the cushion block (302).

10. A robotic surgery system, comprising: A CT device (2), a tracker and a CT image reference device according to any one of claims 1 to 9, wherein the CT image reference device is fastened to an image receiving end (22) of the CT device (2).

Images