A calibrator based on a navigation positioning system and a calibration method thereof

Abstract

The application discloses a calibrator based on a navigation positioning system and a calibration method thereof, and relates to the field of positioning auxiliary equipment.The calibrator comprises a base, first and second positioning mechanisms arranged at two ends of the base, wherein the first and second positioning mechanisms are different in size; and a support fixedly connected to one side of the base, wherein the support comprises at least three receiving mechanisms, and the receiving mechanisms are used for receiving positioning signals of the navigation positioning system.The calibrator is contacted with a reference surface of a device to be calibrated through the two positioning mechanisms, and then position data of the multiple receiving mechanisms are collected, so that the deviation between an actual coordinate position of the device to be calibrated and a factory coordinate position is obtained, the device to be calibrated is recorded and adjusted, errors generated in storage and transportation are eliminated, and the precision of an execution result of the navigation positioning system is ensured.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of positioning auxiliary equipment, and more particularly relates to a calibrator based on a navigation positioning system and a calibration method thereof. BACKGROUND

[0002] With the development of intelligent orthopedic surgical robots in recent years and the widespread application of minimally invasive surgical techniques, the positioning accuracy of instruments or implants during surgery is also continuously improved. At present, the screw positioning accuracy of the leading orthopedic navigation positioning system has reached the level of millimeters or sub-millimeters. In order to ensure the system accuracy and the accuracy of the tool itself, three-coordinate equipment or tooling calibration is often performed before the tool is shipped. Due to the uncertainty of transportation, storage and intraoperative assembly conditions, additional accuracy errors often occur during use. Three-coordinate equipment cannot be used for on-site calibration in the operating room environment, and it is also inconvenient to use tooling for calibration to correct the accuracy, so the tool and system errors caused by on-site assembly or storage and transportation will seriously affect the accuracy of the final execution result of the navigation positioning system. SUMMARY

[0003] The present application aims to solve the problems existing in the prior art, and provides a calibrator based on a navigation positioning system and a calibration method thereof. The calibrator contacts the reference surface of the device to be calibrated through two positioning mechanisms, then collects the position data of multiple receiving mechanisms, obtains the deviation between the actual coordinate position and the factory coordinate position of the device to be calibrated, records and adjusts the device to be calibrated, eliminates the errors caused during storage and transportation, and ensures the accuracy of the final execution result of the navigation positioning system.

[0004] In order to achieve the above-mentioned purpose, the present application provides a calibrator based on a navigation positioning system, comprising:

[0005] a base, the two ends of the base are respectively provided with a first positioning mechanism and a second positioning mechanism, the sizes of the first positioning mechanism and the second positioning mechanism are different;

[0006] a support fixedly connected to one side of the base, the support comprising at least three receiving mechanisms, the receiving mechanisms being used to receive the positioning signals of the navigation positioning system.

[0007] Optionally, the base is T-shaped, the first end and the second end of the base are respectively connected with the first positioning mechanism and the second positioning mechanism, and the third end of the base is connected with the support.

[0008] Optionally, the first positioning mechanism comprises a first extension rod and a first positioning block, and the second positioning mechanism comprises a second extension rod and a second positioning block, wherein the first extension rod and the second extension rod are of the same size and fixedly connected with the base, and the first positioning block and the second positioning block are of different sizes and the same shape.

[0009] Optionally, the first positioning block and the second positioning block are spherical, and a line connecting the centers of the first positioning block and the second positioning block passes through the centers of the end faces of the first end and the second end of the base.

[0010] Optionally, the distance between the first positioning block and the second positioning block is greater than the length of the support.

[0011] Optionally, the third end of the base is provided with a guide pin and a mounting hole.

[0012] Optionally, the middle part of the support is connected with the base, and the receiving mechanism is located on the outer periphery of the support.

[0013] Optionally, the support comprises a support body, and a plurality of extension parts are arranged on the support body, and the distal end of each extension part is provided with a positioning hole for fixing the receiving mechanism.

[0014] Optionally, the receiving mechanism comprises a reflective ball and a fixing cover, the outer periphery of the reflective ball is provided with a clamping edge, the fixing cover is detachably connected with the extension part, the fixing cover can make the reflective ball protrude outward relative to the positioning hole, and the clamping edge abuts against the hole wall of the positioning hole.

[0015] The application also provides a calibration method based on a navigation positioning system, which utilizes the above-mentioned calibrator based on the navigation positioning system, and the method comprises the following steps:

[0016] The calibrator based on the navigation positioning system is factory-calibrated;

[0017] After the installation of the device to be calibrated is completed, the first positioning mechanism is arranged at one end of the device, the current position data is collected, the second positioning mechanism is arranged at the other end of the device, and the actual position data of the device to be calibrated is collected;

[0018] The collected position data of the two ends of the device is updated and overlaid to the factory parameters of the device to be calibrated, and the navigation positioning work of the device to be calibrated is completed.

[0019] The application provides a calibrator based on a navigation positioning system and a calibration method thereof, and the beneficial effects are as follows: the calibrator can calibrate the front-end tool of the surgical robot in real time and accurately under the operating room condition, eliminate foreseeable errors, and further guarantee the precision of the surgical robot.

[0020] Other features and advantages of the present application will be made apparent in the following detailed description of a preferred embodiment thereof. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description thereof taken in conjunction with the accompanying drawings, in which like reference numerals refer to like elements throughout the several views.

[0022] Figure 1 An external structure diagram of a navigation positioning system based calibrator according to an embodiment of the present application is shown.

[0023] Figure 2 An exploded view of a navigation positioning system based calibrator according to an embodiment of the present application is shown.

[0024] Figure 3 A use state of a navigation positioning system based calibrator according to an embodiment of the present application is shown Figure 1 .

[0025] Figure 4 A use state of a navigation positioning system based calibrator according to an embodiment of the present application is shown Figure 2 .

[0026] BRIEF DESCRIPTION OF DRAWINGS

[0027] 1, base; 2, support; 3, first extension rod; 4, first positioning block; 5, second extension rod; 6, second positioning block; 7, guide pin; 8, mounting hole; 9, extension; 10, positioning hole; 11, reflective ball; 12, fixed cover; 13, clamping edge; 14, device to be calibrated; 15, optical tracking system. DETAILED DESCRIPTION

[0028] Preferred embodiments of the present application will be described in more detail below. Although the following describes preferred embodiments of the present application, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0029] The present application provides a navigation positioning system based calibrator, comprising:

[0030] a base, the base is provided with a first positioning mechanism and a second positioning mechanism at two ends respectively, the first positioning mechanism and the second positioning mechanism are not identical in size;

[0031] The support is fixedly connected to one side of the base, and comprises at least three receiving mechanisms for receiving positioning signals of a navigation positioning system.

[0032] Specifically, the calibrator comprises a base and a support, the base is stably attached to a reference surface of the device to be calibrated through two first positioning mechanisms and second positioning mechanisms of different sizes, and then the position relationship of each receiving mechanism on the support is monitored through the positioning signals, so as to obtain the actual spatial position of the device to be calibrated, and the actual spatial position is overlaid on the original factory position data, thereby eliminating the errors generated in storage and transportation and improving the operation accuracy of the device.

[0033] The calibrator is matched with an optical tracking system to calibrate a tool of a robot in surgery and eliminate errors.

[0034] Optionally, the base is in a T shape, the first end and the second end of the base are connected to the first positioning mechanism and the second positioning mechanism respectively, and the third end of the base is connected to the support.

[0035] Specifically, the base is in a T shape, the first end and the second end of the base are connected to the first positioning mechanism and the second positioning mechanism respectively in the horizontal direction of the base, and the support is connected to the end of the base in the vertical direction of the base, so that when the first positioning mechanism or the second positioning mechanism is stably placed on the reference surface of the device to be calibrated, the optical tracking system can perform real-time tracking and positioning through the receiving mechanism on the support.

[0036] Optionally, the first positioning mechanism comprises a first extension rod and a first positioning block, and the second positioning mechanism comprises a second extension rod and a second positioning block, the first extension rod and the second extension rod are of the same size and are fixedly connected to the base, and the first positioning block and the second positioning block are of different sizes and the same shape.

[0037] Optionally, the first positioning block and the second positioning block are spherical, and the line connecting the centers of the first positioning block and the second positioning block passes through the center of the end face of the first end and the second end of the base.

[0038] Specifically, the two ends in the horizontal direction of the base are fixedly connected to the two positioning blocks through the extension rods, since the two positioning blocks are in spherical shapes, the spherical surface data of the first positioning block and the second positioning block are collected to determine the reference surface position data of the device to be calibrated, so that the actual position coordinate information of the device to be calibrated is obtained; the two end faces in the horizontal direction of the base are parallel to each other, and when the first positioning block and the second positioning block are installed on the base, it is ensured that the line connecting the centers of the two positioning blocks can pass through the centers of the two end faces at the same time, so that the mutual position relationship of the positioning blocks and the reflective balls on the support is more stable.

[0039] Optionally, the distance between the first positioning block and the second positioning block is greater than the length of the support.

[0040] Specifically, the interval distance between the first positioning block and the second positioning block is set to be greater than the length of the support, so that the first positioning block and the second positioning block protrude outward by a length relative to the support, and when the first positioning block or the second positioning block needs to be placed in abutment with the device to be calibrated, the normal connection of the positioning block with the device to be calibrated is not affected due to the positional interference between the support and the device to be calibrated.

[0041] Optionally, the third end of the base is provided with a guide pin and a mounting hole.

[0042] Specifically, the support is fixedly connected through the third end of the base in the vertical direction, the guide pin can ensure that the base and the support are fixed and accurate in the connection position, and the two are rigidly connected, and the calibration accuracy is to bind the actual position data of the device to be calibrated with the calibrator, and when the optical tracking system obtains the position of the calibrator, the actual position data of the two ends of the device to be calibrated can be obtained, so that the complete actual position data of the device to be calibrated can be inferred.

[0043] Optionally, the middle part of the support is connected with the base, and the receiving mechanism is located on the outer periphery of the support.

[0044] Optionally, the support includes a support body, and a plurality of extension parts are arranged on the support body, and a positioning hole for fixing the receiving mechanism is arranged at the distal end of the extension part.

[0045] Specifically, the support is in a radial shape, and each receiving mechanism is located on a radial branch part of the support, which is the extension part; when the calibrator is held, the support can be held to move the calibrator, so that the two positioning blocks are stably connected with the positioning surfaces of the two ends of the device to be calibrated, and the real-time positioning and tracking of the receiving mechanism by the optical tracking system is not affected when the calibrator is held.

[0046] In one embodiment, the support is in an X shape, and the four extension parts of the support are respectively provided with receiving mechanisms; when the first positioning block is stably connected with one end of the device to be calibrated, the optical tracking system can collect data from the three reflective balls which are easy to be positioned and tracked, and then the second positioning block is stably connected with the other end of the device to be calibrated, and the optical tracking system can also collect data from the three reflective balls which are easy to be positioned and tracked, without collecting the same three reflective balls; in addition, the X-shaped support is convenient to hold, and does not affect the data transmission of the reflective balls and the connection of the positioning block with the device to be calibrated.

[0047] Optionally, the receiving mechanism includes a reflective ball and a fixing cover, the outer periphery of the reflective ball is provided with a clamping edge, the fixing cover is detachably connected with the extension part, the fixing cover can protrude the reflective ball outward relative to the positioning hole, and the clamping edge abuts against the hole wall of the positioning hole.

[0048] Specifically, the receiving mechanism is located at the end of the extension part farthest from the center of the support, the reflective ball is installed in the positioning hole, and then the fixing cover is tightened on the positioning hole, so that the reflective ball can protrude upward relative to the positioning hole of the support, which facilitates signal acquisition of the optical tracking system, and the lower side of the support is connected to the third end of the base, and the two ends of the base in the horizontal direction protrude outward relative to the area covered by the support and are provided with extension rods and positioning blocks, so that when the positioning blocks are stably attached to the equipment to be calibrated during use of the calibrator, the optical tracking system can successfully collect the position information on the reflective ball; after the fixing cover is tightened, the clamping edge is attached to the inner hole wall of the positioning hole, and the inner wall of the fixing cover is attached to the outer periphery of the clamping edge, so that the fixing cover cooperates with the support to limit the space of the reflective ball.

[0049] The application also provides a calibration method based on a navigation positioning system, which uses the calibration device based on the navigation positioning system, and the method comprises the following steps:

[0050] The calibration device based on the navigation positioning system is factory-calibrated;

[0051] After the equipment to be calibrated is installed, the first positioning mechanism is placed at one end of the equipment, the current position data is collected, the second positioning mechanism is placed at the other end of the equipment, and the actual position data of the equipment to be calibrated is collected;

[0052] The collected position data of the two ends of the equipment is updated and overlaid on the factory parameters of the equipment to be calibrated, and the navigation positioning work of the equipment to be calibrated is completed.

[0053] Specifically, the calibration method uses an optical tracking system, a calibrator and a matching software, the accuracy of the optical tracking system is generally less than 0.2 mm, the sampling frequency is not less than 60 Hz, the reflective ball can be recognized, and the spatial position of the reflective ball can be positioned and tracked in real time; through the relative position relationship between the two positioning blocks and the reflective ball collected at the factory, the positioning points of the equipment to be calibrated can be positioned and tracked in real time within the effective range of the optical tracking system; the matching software is provided with the original matching tool parameters of the equipment to be calibrated (the relative position relationship with the reflective ball on the robot), records the real-time position parameters of the connection position of the calibrator and the equipment to be calibrated, and updates and overlays the position coordinates collected by the calibrator on the original matching tool parameters, so that the calibration work of the equipment to be calibrated can be completed.

[0054] Embodiment

[0055] As shown in Figures 1 to 4 The application provides a calibration device based on a navigation positioning system, which comprises:

[0056] The base 1 is provided with a first positioning mechanism and a second positioning mechanism at two ends respectively, and the sizes of the first positioning mechanism and the second positioning mechanism are different.

[0057] The support 2 is fixedly connected to one side of the base 1, and the support 2 comprises at least three receiving mechanisms for receiving positioning signals of a navigation positioning system.

[0058] In the embodiment, the base 1 is in a T shape, the first end and the second end of the base 1 are respectively connected to the first positioning mechanism and the second positioning mechanism, and the third end of the base 1 is connected to the support.

[0059] In the embodiment, the first positioning mechanism comprises a first extension rod 3 and a first positioning block 4, and the second positioning mechanism comprises a second extension rod 5 and a second positioning block 6, the first extension rod 3 and the second extension rod 5 are of the same size and are fixedly connected to the base 1, and the first positioning block 4 and the second positioning block 6 are of different sizes and the same shape.

[0060] In the embodiment, the first positioning block 4 and the second positioning block 6 are spherical, and the line connecting the centers of the first positioning block 4 and the second positioning block 6 passes through the center of the end face of the first end and the second end of the base 1.

[0061] In the embodiment, the distance between the first positioning block 4 and the second positioning block 6 is greater than the length of the support 2.

[0062] In the embodiment, the third end of the base 1 is provided with a guide pin 7 and a mounting hole 8.

[0063] In the embodiment, the middle part of the support 2 is connected to the base 1, and the receiving mechanisms are located on the outer periphery of the support 2.

[0064] In the embodiment, the support 2 comprises a support body, a plurality of extension parts 9 are arranged on the support body, and a positioning hole 10 for fixing the receiving mechanism is arranged at the distal end of the extension part 9.

[0065] In the embodiment, the receiving mechanism comprises a reflective ball 11 and a fixing cover 12, the outer periphery of the reflective ball 11 is provided with a clamping edge 13, the fixing cover 12 is detachably connected to the extension part 9, the fixing cover 12 can make the reflective ball 11 protrude outward relative to the positioning hole 10, and the clamping edge 13 abuts against the hole wall of the positioning hole 10.

[0066] The application also provides a calibration method based on a navigation positioning system, which utilizes the calibration device based on the navigation positioning system, and the method comprises the following steps:

[0067] The calibration device based on the navigation positioning system is factory-calibrated;

[0068] After the calibration device based on the navigation positioning system is factory-calibrated, the device to be calibrated 14 is installed, the first positioning mechanism is arranged at one end of the device to be calibrated 14, the optical tracking system 15 collects current position data, the second positioning mechanism is arranged at the other end of the device to be calibrated 14, and the optical tracking system 15 collects actual position data of the device to be calibrated 14.

[0069] The collected position data of the two ends of the to-be-calibrated device 14 is updated and overlaid to the factory parameters of the to-be-calibrated device, and the navigation positioning of the to-be-calibrated device 14 is completed.

[0070] In summary, when the calibrator is used to calibrate the surgical robot implanted with the bone needle, the guide tool and the bone needle sleeve of the surgical robot are installed in place during the surgery. After installation, the spatial relative position between the axis of the guide tool and the bone needle sleeve of the surgical robot after installation and the bracket 2 may have a certain installation error compared with the guide tool and the bone needle sleeve calibrated at the factory. The first positioning block 4 is placed at one end of the guide tool using the calibrator calibrated at the factory, the current position of the first positioning block 4 is collected using software, then the second positioning block 6 is placed at the other end of the guide tool, and the current position of the second positioning block 6 is collected using software. The axis data of the two end points of the bone needle sleeve currently collected is updated and overlaid to the factory parameters in the software. In this way, the surgical robot completes the navigation positioning function and implants the screw along the guide tool. In this way, the calibrator can eliminate the error of the device during installation and the error of the guide tool during storage and transportation.

[0071] The above has described the embodiments of the present application, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A calibration method based on a navigation positioning system, the calibration method calibrating using a calibration device based on a navigation positioning system, characterized by, The calibrator comprises: a base, two ends of the base are respectively provided with a first positioning mechanism and a second positioning mechanism, the first positioning mechanism and the second positioning mechanism are not the same in size; a support is fixedly connected to one side of the base, the support comprises at least three receiving mechanisms for receiving positioning signals of a navigation positioning system; the base is T-shaped, a first end and a second end of the base are respectively connected with the first positioning mechanism and the second positioning mechanism, and a third end of the base is connected with the support; the first positioning mechanism comprises a first extension rod and a first positioning block, the second positioning mechanism comprises a second extension rod and a second positioning block, the first extension rod and the second extension rod are the same in size and are fixedly connected with the base, and the first positioning block and the second positioning block are the same in shape and are not the same in size; the method comprises: factory calibration of a calibrator based on a navigation positioning system; after installation of a device to be calibrated, the first positioning mechanism is arranged at one end of the device, current position data is collected, the second positioning mechanism is arranged at the other end of the device, and actual position data of the device to be calibrated is collected; the collected position data of the two ends of the device is updated and covered to factory parameters of the device to be calibrated, and navigation positioning work of the device to be calibrated is completed.

2. The calibration method based on a navigation positioning system according to claim 1, characterized in that, the first positioning block and the second positioning block are spherical, and a line connecting the centers of the first positioning block and the second positioning block passes through the center of the end face of the first end and the second end of the base.

3. The calibration method based on a navigation positioning system according to claim 1, characterized in that, the distance between the first positioning block and the second positioning block is greater than the length of the support.

4. The calibration method based on a navigation positioning system according to claim 1, characterized in that, the third end of the base is provided with a guide pin and a mounting hole.

5. The calibration method based on a navigation positioning system according to claim 1, wherein, the middle part of the support is connected with the base, and the receiving mechanisms are located on the outer periphery of the support.

6. The calibration method based on a navigation positioning system according to claim 5, characterized in that, the support comprises a support body, a plurality of extension parts are arranged on the support body, and a positioning hole for fixing the receiving mechanism is formed in the distal end of the extension part.

7. The calibration method for a navigation positioning system based on the navigation positioning system according to claim 6, characterized in that, the receiving mechanism comprises a reflective ball and a fixing cover, the outer periphery of the reflective ball is provided with a clamping edge, the fixing cover is detachably connected with the extension part, the fixing cover can make the reflective ball protrude outward relative to the positioning hole, and the clamping edge abuts against the hole wall of the positioning hole.

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