Reflective positioning device and surgical instrument

Abstract

The present invention provides a reflective positioning device and a surgical instrument, which belong to the technical field of tracing equipment and are used to trace a marked object. The device includes a main body, a movable part and a reflective sheet. The main body is used to connect with the marked object; a part of the structure of the movable part is detachably connected to the main body; the reflective sheet is arranged on the main body, and the movable part is configured so that a part of the structure can be separated from the main body, and the movable part remains connected to the main body. The present invention provides a reflective positioning device, which can self-destruct when disassembled and cannot be reused, thereby avoiding problems that may be caused by repeated use. The reflective positioning device is disassembled by separating the movable part from the main body. When the movable part is separated from the main body, it can at least destroy the overall appearance of the reflective positioning device, and can form an obvious "destroyed" prompt. The disassembled reflective positioning device cannot be used normally again.

Description

Technical Field

[0001] The present invention belongs to the technical field of tracing equipment, and more particularly, relates to a reflective positioning device and a surgical instrument. Background Art

[0002] During navigation in robotic-assisted surgery, the tracers used to locate anatomical structures, surgical tools, and the robotic arm serve as targets for the robot to understand the surgical environment in real space. Based on the positioning of these targets, the robotic system must accurately and systematically perform the surgical procedure according to the predetermined surgical plan. Therefore, the smoothness and accuracy of target information acquisition directly impacts the smoothness and precision of the surgical process.

[0003] A tracer usually consists of a frame and multiple reflective markers mounted on it. In clinical use, if doctors reuse reflective markers for economic reasons, the following problems may arise: multiple disassembly and assembly will cause wear and tear on the mounting area, leading to imperceptible loosening of the mounting, and also causing a decrease in the positioning accuracy of the reflective marker. In addition, during surgery, the reflective marker is exposed to the surgical environment and may be contaminated by splashing of body fluids and debris. The contamination itself and wiping will reduce the positioning accuracy of the reflective marker, and the accuracy will become increasingly lower with subsequent use. In addition, the reflective marker needs to be removed from the frame for storage and preservation when not in use. During storage and transportation, the reflective marker may also be scratched or deformed by collision, which will also cause a decrease in the positioning accuracy of the reflective marker. Therefore, if the reflective marker is reused, there is a risk that the reflective marker will affect the positioning accuracy of the surgical process due to the above-mentioned contamination or wear, or that a new reflective marker will be temporarily replaced after an accuracy problem is discovered during surgery, resulting in a poor surgical process. Summary of the Invention

[0004] The purpose of the present invention is to provide a reflective positioning device, aiming to solve the technical problem of repeated use of reflective marks in the prior art.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is to provide a reflective positioning device for tracing a marked object, comprising:

[0006] A main body, used for connecting with the marked object;

[0007] A movable part, part of which is detachably connected to the main body;

[0008] A reflective sheet is provided on the main body; wherein

[0009] The movable member is configured so that the partial structure can be separated from the main body, and the movable member remains connected to the main body.

[0010] Preferably, the movable member is associated with the reflective sheet, and the movable member is configured to pull the reflective sheet to deform when the partial structure is separated from the main body.

[0011] Preferably, the partial structure is a pull ring.

[0012] Preferably, the movable member includes a connecting structure, and when the partial structure is separated from the main body, the connecting structure pulls the reflective sheet to deform.

[0013] Preferably, the movable member comprises:

[0014] a first connecting portion, fixed to the main body;

[0015] The third connecting portion is connected to the first connecting portion; and the connecting structure between the third connecting portion and the first connecting portion is associated with the reflective sheet.

[0016] Preferably, the association is set such that a preset portion of the movable part is buried under the reflective sheet.

[0017] Preferably, the main body comprises:

[0018] A second connecting portion, one end of which is embedded in the object to be marked;

[0019] The bearing portion is connected to the other end of the second connecting portion; the bearing portion bears the movable part and the reflective sheet.

[0020] Preferably, one end of the second connecting portion embedded in the marked object is provided with a deformation portion for generating radial deformation to be fixed to the marked object.

[0021] Preferably, a positioning groove is provided on the bearing portion.

[0022] Preferably, the third connecting portion is provided with a pulling structure.

[0023] The reflective positioning device provided by the present invention has the advantage that, compared to existing technologies, it self-destructs upon disassembly, rendering it non-reusable and thus avoiding potential problems associated with reuse. Disassembly of the reflective positioning device is achieved by separating the movable member from the main body, which disrupts the overall appearance of the reflective positioning device, creating a clear "destruction" indicator. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A schematic structural diagram of a reflective positioning device provided by an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the exploded structure of a reflective positioning device provided by an embodiment of the present invention;

[0027] Figure 3 A schematic structural diagram of a main body used in a reflective positioning device provided in an embodiment of the present invention;

[0028] Figure 4 A schematic cross-sectional view of a reflective positioning device provided by an embodiment of the present invention when connected to a marked object;

[0029] Figure 5 for Figure 4 An enlarged schematic diagram of the structure at A in FIG;

[0030] Figure 6 A schematic structural diagram of another reflective positioning device provided by an embodiment of the present invention.

[0031] In the figure: 1. Main body; 11. Second connecting part; 111. Column part; 112. Elastic part; 113. Second positioning member; 12. Bearing part; 121. Mounting hole; 122. First positioning member; 123. Positioning groove; 2. Movable part; 211. First connecting part; 212. Connecting structure; 22. Third connecting part; 221. Third positioning part; 23. Fixing part; 231. Ring; 232. Connecting piece; 3. Reflective sheet; 4. Marked object; 41. Marking mounting hole; 42. Countersunk hole; 43. Prompt part. DETAILED DESCRIPTION

[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] Please also refer to Figures 1 to 5The present invention now provides a reflective locating device for tracking a marked object 4. The reflective locating device comprises a main body 1, a movable member 2, and a reflective sheet 3. The main body 1 is connected to the marked object 4; a portion of the movable member 2 is detachably connected to the main body 1; and the reflective sheet 3 is disposed on the main body 1. The movable member 2 is configured so that a portion of the structure can be detached from the main body 1 while remaining connected to the main body 1.

[0034] During use, simply connect the main body 1 to the marked object 4, and the reflective sheet 3 will reflect light correctly. Disassembly requires pulling the movable member 2, and incomplete detachment of the movable member 2 from the main body 1 can damage the movable member 2 and / or the reflective sheet 3. Specifically, the movable member 2 can lift the reflective sheet 3, causing it to bend or deform, or / and making it unable to reattach to its original attachment surface, resulting in a loss of reflective properties. Alternatively, the incomplete detachment of the movable member 2 from the main body 1 can cause the reflective positioning device to appear abnormal, prompting the user to discontinue use.

[0035] Compared to existing reflective positioning devices, the present invention provides a self-destructing, non-reusable reflective positioning device upon disassembly, thus avoiding potential problems associated with reuse. Disassembly of the reflective positioning device is achieved by detaching the movable member 2 from the main body 1. This detachment at least destroys the reflective positioning device's overall appearance, providing a clear "destruction" indicator.

[0036] In some embodiments, the movable member 2 is associated with the reflective sheet 3 and is configured to pull on the reflective sheet 3 to deform when the movable member 2 is partially separated from the main body 1. When the movable member 2 is partially separated from the main body 1, the reflective sheet 3 is damaged, which can alert the user that the reflective positioning device is damaged, thereby preventing the user from misusing it.

[0037] In some embodiments, please refer to Figures 1 to 5 The main body 1 includes a second connecting portion 11 and a supporting portion 12. One end of the second connecting portion 11 is embedded in the marked object 4; the supporting portion 12 is connected to the other end of the second connecting portion 11; the supporting portion 12 supports the movable member 2 and the reflective sheet 3. The embedded installation method makes the reflective positioning device less susceptible to collision or contamination.

[0038] In some embodiments, the support portion 12 is provided with a mounting hole 121 for removably connecting to the movable member 2. The support portion 12 is a disk-shaped structure. The mounting hole 121 is located at the center of the support portion 12. The connection point between the movable member 2 and the main body 1 is at the center of the support portion 12. During disassembly, the main body 1 is subjected to force along the centerline, with minimal lateral force, and minimal lateral pressure and friction on the marked object 4, facilitating disassembly.

[0039] In some embodiments, the connection position between the carrying portion 12 and the movable member 2 is not limited to the center position of the carrying portion 12 , but can be any position in the carrying portion 12 .

[0040] In some embodiments, the supporting portion 12 can also be detachably connected to the movable member 2 by one or more of bonding, magnetic connection, threaded connection, snap connection, sleeve connection, and magnetic connection. It should be noted that there is no single method for connecting the partial structure of the movable member 2 to the supporting portion 12. As long as a detachable connection is achieved and the movable member 2 or a partial structure of the movable member 2 does not damage the reflective sheet 3 during the disassembly process, it is sufficient.

[0041] In some embodiments, the supporting portion 12 is provided with a first positioning member 122 for positioning the reflective sheet 3. The first positioning member 122 is a positioning flange provided along the periphery of the supporting portion 12.

[0042] In some embodiments, one end of the second connecting portion 11 embedded in the marked object 4 is provided with a deformation portion for generating radial deformation to secure the marked object 4. Specifically, the second connecting portion 11 includes: a column portion 111, an elastic portion 112, and a second positioning member 113 (the elastic portion 112 and the second positioning member 113 together constitute the deformation portion). One end of the column portion 111 is connected to the support portion 12; the elastic portion 112 is connected to the end of the column portion 111 facing away from the support portion 12, and is configured to generate elastic deformation in the lateral direction; and the second positioning member 113 is connected to the elastic portion 112. The column mounting structure reduces the use of metal pins in traditional installations, reduces the number of parts, and facilitates processing.

[0043] Several (e.g., four, three, etc.) elastic portions 112 are provided at circumferential intervals along the distal end of the cylindrical portion 111. A second positioning member 113 is provided on the outer periphery of the elastic portion 112. The second positioning member 113 comprises a positioning ridge structure, the top diameter of which is larger than the diameter of the cylindrical portion 111. The positioning ridge structure extends circumferentially, and both the upper and lower surfaces of the positioning ridge structure are inclined surfaces. When radial forces are applied to the inclined surfaces, the elastic portion 112 is deformed and gathered, reducing the diameter of the positioning ridge structure.

[0044] The main body 1 is connected to the object to be marked 4 by one or more of the following connection methods: plug-in, snap-on, and magnetic connection. A marking mounting hole 41 is provided on the object to be marked 4. The marking mounting hole 41 includes a countersunk portion, a fitting section, and a limiting section (expanded section), and the limiting section has a larger diameter than the fitting section. During the insertion of the main body 1, the fitting section will squeeze the elastic portion 112 to gather the elastic portion 112 to pass through the fitting section. After the positioning ridge enters the limiting section, the radial force disappears and the ridge opens and resets. The positioning ridge and the step of the hole form a limit to prevent axial disengagement; and the countersunk hole and the conical surface of the bearing portion 12 abut against each other to form another axial limit. When pulled out, the radial component of the force on the inclined surface of the positioning ridge forces the elastic portion 112 to gather and then be pulled out.

[0045] In some embodiments, the second connecting portion 11 is a columnar structure, one end of which is connected to the supporting portion 12 and the other end of which is a bottom end; the bottom end is provided with a positioning hole. In this case, the marked object 4 is provided with a positioning column that adapts to the limiting hole. The second connecting portion 11 is plugged into the marked object 4.

[0046] In some embodiments, please refer to Figures 1 to 5 The movable member 2 includes a first connecting portion 211 and a third connecting portion 22. The first connecting portion 211 is fixed to the main body 1, and the third connecting portion 22 is connected to the first connecting portion 211. A connecting structure 212 between the third connecting portion 22 and the first connecting portion 211 is associated with the reflective sheet 3. The predetermined portion of the movable member 2 (such as the connecting structure 212) is buried under the reflective sheet 3.

[0047] In any embodiment, the third connecting portion 22 is a ring structure. When the third connecting portion 22 is separated from the main body 1, it deforms, and the third connecting portion 22 and / or the connecting structure 212 damage the reflective sheeting 3. During use, the reflective positioning device is installed entirely within the marked object 4. To remove it, the third connecting portion 22 is pulled, which separates it from the main body 1 and lifts the reflective sheeting 3. Once lifted, the reflective sheeting 3 may bend or deform, or may be unable to reattach to its original attachment surface, resulting in inadequate reflective properties.

[0048] In some embodiments, the first connecting portion 211 is a plug-in column structure; the connecting structure 212 is a pull-tab structure. The first connecting portion 211 is adapted to fit within the mounting hole 121. The connecting structure 212 is used to secure the third connecting portion 22 to the main body 1. The first connecting portion 211 is connected to the main body 1 by being inserted into the mounting hole 121. The connecting structure 212 is connected to the side surface at the top of the first connecting portion 211. The end of the connecting structure 212 facing away from the first connecting portion 211 is connected to the third connecting portion 22. A positioning groove 123 adapted to fit within the connecting structure 212 is provided on the support portion 12.

[0049] The first connecting portion 211 is fixed to the mounting hole 121 of the support portion 12. The connecting structure 212 is embedded in the positioning groove 123. The connection portion of the third connecting portion 22 for connecting to the connecting structure 212 is also filled in the positioning groove 123. The third connecting portion 22 and the surface of the support portion 12 jointly support the reflective sheeting 3. The first connecting portion 211 serves to secure a portion of the movable member 2 to the support portion 12.

[0050] In some embodiments, there is at least one connecting structure 212, and the shape of the connecting structure 212 is not unique, and can be one or more polyhedral structures (such as a plate, a cylinder, a prism), as long as one end can be connected to the third connecting part 22, the other end can be connected to the first connecting part 211, the connecting structure 212 has a certain elasticity, and the connecting structure 212 can damage one or more of the reflective sheet 3 during the deformation process.

[0051] In some embodiments, the third connecting portion 22 is provided with a third positioning portion 221. The third positioning portion 221 is used to locate at least one of the connection position of the third connecting portion 22 to the carrier portion 12 and the connection state of the third connecting portion 22 to the reflective sheeting 3. Specifically, the third positioning portion 221 is a flange structure disposed on the inner side of the third connecting portion 22. The flange structure is disposed radially along the third connecting portion 22 and is used to locate the height of the third connecting portion 22 when mounted on the carrier portion 12. When the inner diameter of the flange structure is the same as the diameter of the reflective sheeting 3, the flange structure can achieve radial positioning of the reflective sheeting 3.

[0052] In some embodiments, a chamfer is provided on the outer lower edge of the third connection portion 22 to facilitate application of force to the third connection portion 22 .

[0053] In some embodiments, a pull-up structure is provided on the third connecting portion 22. The pull-up structure is one or more of a groove structure and a protrusion structure. The provision of the pull-up structure facilitates pulling the third connecting portion 22 upward.

[0054] The reflective positioning device is inserted into the marking mounting hole 41 through the main body 1 and can be directly removed from the mounting hole 41 for removal. The reflective positioning device as a whole sinks into the countersunk hole 42 of the marked object 4. The edge of the countersunk hole 42 is provided with a clearance portion 43. When the reflective positioning device needs to be removed, it can be pulled outward from the clearance portion 43. Because the third connecting portion 22 surrounds the periphery of the support portion 12, the third connecting portion 22 is pulled upward and separated from the support portion 12. After the third connecting portion 22 separates, it forms a grip that is easy to grasp and continue to pull upward. During the upward pulling process, the connecting structure 212 disengages from the positioning groove 123, while the first connecting portion 211 remains in the mounting hole 121. As a result, the connecting structure 212 "lifts" from the surface of the support portion 12 and lifts the reflective sheeting 3, destroying the normal reflective function of the reflective sheeting 3. Continuing to pull the third connecting portion 22, the main body 1 can be pulled out of the marking mounting hole 41.

[0055] After being damaged, the reflective sheet 3 cannot reflect light properly, thus achieving a "self-destruction" function. In addition, since the reflective sheet 3 is "warped" and the third connecting portion 22 is detached from the supporting portion 12, it is in an abnormal state relative to its original state. This allows users to directly understand that the reflective marking is damaged and should not be used again, so they do not need to discover that it cannot be used normally during use, avoiding unnecessary disinfection and installation processes.

[0056] The present application realizes detachable installation by directly inserting the second connecting portion 11 into the marking installation hole 41, thus eliminating the trouble of a part and related manufacturing process.

[0057] In some embodiments, see Figure 6 The movable member 2 is provided with a fixed portion 23 connected to the main body 1. The fixed portion 23 includes a collar 231 and a connecting piece 232. The collar 231 is mounted on the support portion 12 and / or the second connecting portion 11. One end of the connecting piece 232 is connected to the collar 231, and the other end is connected to the third connecting portion 22. The third connecting portion 22 is a ring body. The inner side of the ring body is provided with a radially extending tongue (not shown). The tongue is covered by the reflective sheet 3 to form an associated arrangement. When the ring body is pulled up, the tongue pulls on the reflective sheet 3, causing the edge of the reflective sheet 3 to warp. There can be one or more tongues.

[0058] In a second aspect, the present application provides a surgical instrument comprising a reflective positioning device, a positioning portion, and a functional portion. The reflective positioning device is the reflective positioning device described in the aforementioned embodiment. The positioning portion is configured to carry the reflective positioning device, and the functional portion has a predetermined positional relationship with the positioning portion and is configured to perform at least a portion of a surgical procedure.

[0059] In an optional embodiment, the surgical instrument is a probe used for alignment during surgery, the probe package is used to carry a positioning frame for multiple positioning markers and a probe tip for contacting the patient's anatomical structure, the probe tip and the positioning frame have a fixed positional relationship, and the reflective positioning device is detachably connected to the positioning frame. During the alignment process, the system obtains the position information of the positioning markers and, in combination with the above-mentioned fixed positional relationship, can match the point contacted by the probe tip with the corresponding point in the three-dimensional model of the surgical plan in the Computer Aided Surgery (CAS) system. After the probe is used, the reflective positioning device is removed.

[0060] In one optional embodiment, the surgical instrument is an end effector used to perform surgical procedures during a surgical procedure. The end effector is provided with an end reference frame and carries a surgical tool. The end reference frame is provided with multiple reflective positioning devices that have a fixed positional relationship with the surgical tool. During the surgical procedure, the system uses the positional information of the reflective positioning devices, combined with the fixed positional relationship between the reflective positioning devices and the surgical tool, to accurately determine the position of the surgical tool in the surgical system, thereby further guiding the operator to manipulate the end effector to perform the surgery.

[0061] The surgical instruments mentioned above or not are all marked with the non-reusable reflective positioning device in the first aspect. The principle of avoiding reuse has been specifically explained in the first aspect and will not be repeated here.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A reflective positioning device for tracing a marked object, characterized in that: include: A main body, used for connecting with the marked object; A movable part, part of which is detachably connected to the main body; A reflective sheet, arranged on the main body; in The movable member is configured so that the partial structure can be separated from the main body, and the movable member remains connected to the main body; The movable member is associated with the reflective sheet, and the movable member is configured to pull the reflective sheet to deform when the partial structure is separated from the main body; The pulled reflective sheet is bent or deformed, and the reflective sheet cannot be reattached to the original attachment surface, and cannot reflect light correctly.

2. The reflective positioning device according to claim 1, characterized in that: The partial structure is a pull ring.

3. The reflective positioning device according to claim 1, characterized in that: The movable part comprises a connection structure, and when the partial structure is separated from the main body, the connection structure pulls the reflective sheet to deform.

4. The reflective positioning device according to claim 1, characterized in that: The movable parts include: A first connecting portion, fixed to the main body; The third connecting portion is connected to the first connecting portion; and the connecting structure between the third connecting portion and the first connecting portion is associated with the reflective sheet.

5. The reflective positioning device according to claim 1, characterized in that: The association is configured such that a preset portion of the movable member is buried under the reflective sheet.

6. The reflective positioning device according to claim 1, characterized in that: The subject includes: A second connecting portion, one end of which is embedded in the labeled object; The bearing part is connected to the other end of the second connecting part; the bearing part bears the movable part and the reflective sheet.

7. The reflective positioning device according to claim 6, characterized in that: The second connecting portion has one end embedded in the marked object and is provided with a deformation portion for generating radial deformation so as to be fixed to the marked object.

8. The reflective positioning device according to claim 6, characterized in that: The bearing portion is provided with a positioning groove.

9. The reflective positioning device according to claim 4, characterized in that: The third connecting portion is provided with a pulling structure.

10. A surgical instrument for a surgical navigation system, characterized in that: include: A reflective positioning device, used for marking a marked object, wherein the reflective positioning device is the reflective positioning device according to any one of claims 1 to 9; A positioning part, used for carrying the reflective positioning device; The functional part has a predetermined positional relationship with the positioning part, and the functional part is used to perform at least part of the operation of the surgical operation.

Images