Probe mechanism, robotic surgical system, and method of acquiring registration points thereof

Abstract

The application belongs to the technical field of medical treatment, and particularly discloses a probe mechanism, a robot surgery system and a registration point acquisition method. The probe mechanism comprises a fixed probe assembly and a movable probe assembly. The fixed probe assembly comprises a fixed needle seat, a main probe and a navigation assembly. The main probe extends along a first direction and has a main tip. The navigation assembly comprises a plurality of main tracers arranged at intervals. The movable probe assembly comprises a sliding needle seat, a constant force spring and an auxiliary probe. The sliding needle seat is slidably installed on the fixed needle seat along the first direction. The auxiliary probe extends along the first direction and has an auxiliary tip. The sliding needle seat is provided with an auxiliary tracer. The constant force spring is installed on the fixed needle seat, and the force receiving end of the constant force spring is connected with the sliding needle seat. In the initial state, the auxiliary tip extends out relative to the main tip in the first direction. The application can realize the acquisition of multiple registration points through one-time contact, improve the registration efficiency, and improve the registration accuracy and the safety of surgery.

Description

Technical Field

[0001] This invention relates to the field of medical technology, and in particular to a probe mechanism, a robotic surgical system, and a method for obtaining registration points. Background Technology

[0002] With the development of science and technology, surgical navigation and medical robot technology have developed rapidly. Surgical navigation and medical robot-assisted surgical systems have been widely researched and applied to improve the accuracy of the surgical process, reduce surgical trauma, shorten surgical time and improve surgical safety.

[0003] During knee surgery, a probe with marker balls is typically used to couple or calibrate the knee joint coordinate system with the surgical system's coordinate system. The procedure involves first inserting the probe tip into the cartilage to locate the probe; then, a camera is used to identify the positions of multiple marker balls on the probe, thereby determining the coordinate position of the probe tip.

[0004] Existing technologies typically use a single probe to collect data at registration points, which requires multiple data acquisitions to couple the probe with the surgical system. This is cumbersome, inefficient, and affects surgical efficiency and ease of operation. Summary of the Invention

[0005] One object of the present invention is to provide a probe mechanism that can improve the registration efficiency and accuracy of the probe mechanism and improve the reliability of the probe mechanism in use.

[0006] Another objective of this invention is to provide a robotic surgical system that can improve the registration efficiency and accuracy of the robotic surgical system, reduce damage caused by registration, and improve surgical safety.

[0007] Another objective of this invention is to provide a method for obtaining registration points in a robotic surgical system, which can improve registration efficiency and registration accuracy.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A probe mechanism, comprising:

[0010] A fixed probe assembly includes a fixed needle holder, a main probe mounted on the fixed needle holder, and a navigation assembly mounted on the fixed needle holder. The main probe extends along a first direction and has a main tip. The navigation assembly includes a plurality of spaced-apart main tracers.

[0011] The active probe assembly includes a sliding needle seat, a constant force spring, and an auxiliary probe. The sliding needle seat is slidably mounted on the fixed needle seat along the first direction. The auxiliary probe extends along the first direction and has an auxiliary tip. An auxiliary tracer is provided on the sliding needle seat. The constant force spring is mounted on the fixed needle seat and the force-receiving end of the constant force spring is connected to the sliding needle seat.

[0012] In the initial state, the auxiliary tip extends relative to the main tip in the first direction.

[0013] As an optional technical solution for the probe mechanism, the probe mechanism further includes a mounting base, which is mounted on the fixed needle seat, and the movable probe assembly is mounted on the mounting base.

[0014] As an optional technical solution for the probe mechanism, the mounting base includes a mounting substrate, which is parallel to the first direction, and the movable probe components are all mounted on the side of the mounting substrate away from the fixed needle seat.

[0015] Alternatively, the mounting base includes a mounting sleeve, which is sleeved on the outside of the fixed needle seat, and the movable probe assembly is mounted on the outside of the mounting sleeve and is provided in multiple circumferentially spaced along the mounting sleeve.

[0016] As an optional technical solution for the probe mechanism, at least part of the movable probe assembly is a first movable probe assembly. The first movable probe assembly further includes a force transmission unit, which is connected between the force-receiving end of the constant force spring and the sliding needle seat. The force transmission unit is used to transmit the traction force between the sliding needle seat and the constant force spring.

[0017] As an optional technical solution for the probe mechanism, the force transmission unit includes a guide wheel and a connecting rope. The guide wheel is rotatably mounted on the mounting base, the connecting rope is wound around the guide wheel, and one end of the connecting rope is connected to the force-receiving end of the constant force spring, while the other end of the connecting rope is connected to the sliding needle seat.

[0018] As an optional technical solution for the probe mechanism, in two adjacent sets of movable probe assemblies, one of the movable probe assemblies is a first movable probe assembly, and the two constant force springs are spaced apart in the first direction, with the two constant force springs located between the two sliding needle seats.

[0019] As an optional technical solution for the probe mechanism, in the initial state, the distance between the main tip and the auxiliary tip in the first direction is 15mm to 40mm;

[0020] And / or, the number of the active probe assemblies is 2 to 20.

[0021] A robotic surgical system includes a sensor system and a control system, including a probe mechanism as described above.

[0022] A method for obtaining registration points in a robotic surgical system, applied to the robotic surgical system described above, wherein the sensor system has a sensor coordinate system and the probe mechanism has a probe coordinate system, and the method for obtaining registration points includes:

[0023] Control the probe mechanism to move to the object being tested, and make the main tip and at least part of the auxiliary tip contact the object being tested;

[0024] The sensor system identifies the absolute position coordinates of all the main tracers in the sensor coordinate system;

[0025] Based on the absolute position coordinates and the relative position coordinates of all the main tracers in the probe coordinate system, calculate the coordinate transformation matrix from the probe coordinate system to the sensor coordinate system;

[0026] Based on the position of the main tip relative to the main tracer in the probe coordinate system, the relative coordinates of the main tip in the probe coordinate system are calculated.

[0027] For each active probe assembly, the sensor system identifies the tracer-relative position of the auxiliary tracer relative to the main tracer; the control system calculates the auxiliary tracer-relative coordinates of the auxiliary tracer in the probe coordinate system based on the tracer-relative position; and calculates the auxiliary tip-relative coordinates of the auxiliary tip in the probe coordinate system based on the relative position of the auxiliary tracer and the corresponding auxiliary tip.

[0028] The control system converts the relative coordinates of the main tip into the absolute coordinates of the main tip in the sensor coordinate system according to the coordinate transformation matrix, and converts the relative coordinates of the auxiliary tip into the absolute coordinates of the auxiliary tip in the sensor coordinate system.

[0029] The absolute coordinates of the main tip and several of the absolute coordinates of the auxiliary tips are used as registration coordinates for registration.

[0030] As an optional technical solution for a registration point acquisition method, the registration point acquisition method further includes:

[0031] For each active probe component, after calculating the relative coordinates of the auxiliary tip, the relative coordinates of the auxiliary tip are compared with the initial coordinates of the auxiliary tip in the initial state.

[0032] If the difference between the initial coordinates of the auxiliary tip and the relative coordinates of the auxiliary tip is less than a preset difference, then the relative coordinates of the auxiliary tip corresponding to the auxiliary tip are determined to be invalid coordinates to exclude registration.

[0033] The beneficial effects of this invention are as follows:

[0034] The probe mechanism provided by this invention, by setting a main probe and several auxiliary probes, allows both the main and auxiliary tips of the probe mechanism to contact the object being measured during use. This enables the acquisition of multiple registration points in a single contact, greatly improving the speed and efficiency of registration. Simultaneously, since the auxiliary tips extend relative to the main tip in the first direction in the initial state, the auxiliary tips can also contact the object being measured when the main tip contacts it, ensuring the reliability of contact between the auxiliary and main tips. Furthermore, this mechanism is well-suited for contacting objects with non-planar measurement portions. Registration improves the flexibility and accuracy of the probe mechanism. Furthermore, because the sliding needle seat of the auxiliary probe is connected to the force-bearing end of the constant force spring, when the auxiliary probe contacts the object being tested, it can slide relative to the main probe as the main probe contacts the object. At the same time, the piercing force of the auxiliary tip piercing the cartilage does not change with the compression or stretching of the constant force spring, ensuring that the force of the auxiliary tip piercing the cartilage remains constant. This ensures that both the main and auxiliary tips can effectively reach the bone surface while avoiding the auxiliary tip from penetrating the cortical bone, reducing surgical risks and the probability of complications, and improving surgical safety.

[0035] The surgical robot system provided by the present invention, by employing the above-mentioned probe mechanism, can improve the registration efficiency and registration accuracy of the surgical robot system, thereby improving surgical efficiency and surgical safety.

[0036] The registration point acquisition method for the surgical robot system provided by this invention can improve the efficiency and accuracy of registration by using the surgical robot system described above. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the probe mechanism provided in an embodiment of the present invention from a certain perspective;

[0038] Figure 2 This is a schematic diagram of the probe mechanism provided in an embodiment of the present invention from another perspective;

[0039] Figure 3 This is a cross-sectional view of the probe mechanism provided in an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the probe mechanism provided in an embodiment of the present invention after the fixed probe assembly has been removed;

[0041] Figure 5 yes Figure 4 A schematic diagram of the structure from another perspective.

[0042] The markings in the image are as follows:

[0043] 1. Movable probe assembly; 1a. First movable probe assembly; 1b. Second movable probe assembly; 11. Sliding needle seat; 12. Auxiliary probe; 121. Auxiliary tip; 13. Constant force spring; 14. Mounting shaft; 15. Auxiliary tracer; 16. Force transmission unit; 161. Guide wheel; 1611. Wheel body; 1612. Wheel axle; 162. Connecting rope; 163. Rotary bearing;

[0044] 2. Fixed probe assembly; 21. Fixed needle seat; 22. Main probe; 221. Main tip; 23. Navigation assembly; 231. Navigation bracket; 2311. Mounting rod; 2312. Navigation frame; 232. Main tracer; 233. Mounting support; 24. Second set screw;

[0045] 3. Mounting base; 31. Mounting base plate; 32. Guide rail; 33. Mounting protrusion. Detailed Implementation

[0046] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention and not the entire structure.

[0047] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0049] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0050] Example 1

[0051] This embodiment provides a probe mechanism that can be applied to a robotic surgical system to determine the position and pose of the knee joint during knee surgery, thereby assisting the surgical robot in planning the path of surgical instruments and improving surgical accuracy and efficiency.

[0052] like Figures 1 to 5 As shown, the probe mechanism includes a fixed probe assembly 2 and a movable probe assembly 1. The fixed probe assembly 2 includes a fixed needle holder 21, a main probe 22 mounted on the fixed needle holder 21, and a navigation assembly 23 mounted on the fixed needle holder 21. The main probe 22 extends along a first direction and has a main tip 221. The navigation assembly 23 includes multiple spaced main tracers 232. The movable probe assembly 1 includes a sliding needle holder 11, an auxiliary probe 12, and a constant force spring 13. The sliding needle holder 11 is slidably mounted on the fixed needle holder 21 along the first direction. The auxiliary probe 12 extends along the first direction, with one end mounted on the sliding needle holder 11 and the other end forming an auxiliary tip 121. The constant force spring 13 is mounted on the fixed needle holder 21, and the force-bearing end of the constant force spring 13 is connected to the sliding needle holder 11. Each sliding needle holder 11 is provided with an auxiliary tracer 15. In the initial state, the auxiliary probe 12 extends relative to the main probe 22 in the first direction.

[0053] In this embodiment, the probe mechanism is operated by an operator who holds the fixed probe assembly 2 and moves the entire probe mechanism to the object being tested. Since the auxiliary tip 121 extends relative to the main tip 221 in the first direction, the auxiliary tip 121 first contacts the object being tested. As the operator continues to push the fixed probe assembly 2 toward the object being tested, the main tip 221 approaches the object being tested. At the same time, the object being tested pushes the auxiliary probe 12 to make the auxiliary probe 12 push the sliding needle seat 11 to slide relative to the fixed needle seat 21. The constant force spring 13 deforms until the main tip 221 contacts the object being tested.

[0054] When the probe mechanism is applied to a robotic system, it works in conjunction with the sensor system to achieve registration. The sensor system has a sensor coordinate system, and the probe mechanism has a probe coordinate system. During the operation of the surgical robot, the sensor system is the global coordinate system of the robotic surgical system, and the probe coordinate system is the local coordinate system.

[0055] Specifically, when the main tip 221 of the main probe 22 and the auxiliary tips 121 of several auxiliary probes 12 all come into contact with the object being measured, the sensor system identifies the absolute position coordinates of the multiple main tracers 232 of the fixed probe assembly 2 in the sensor coordinate system; the control system calculates the coordinate transformation matrix from the probe coordinate system to the sensor coordinate system based on the relative position coordinates of the multiple main tracers 232 in the probe coordinate system and their absolute position coordinates in the sensor system.

[0056] For the fixed probe assembly 2, since the main probe 22 and the navigation assembly 23 are rigidly connected, the relative positions of the main tip 221 and the main tracer 232 remain unchanged. Therefore, the control system can calculate the relative coordinates of the main tip 221 in the probe coordinate system based on the relative positions of the main tip 221 and the main tracer 232. Thus, the control system can convert the relative coordinates of the main tip 221 into the absolute coordinates of the main tip 221 in the sensor system based on the obtained coordinate transformation matrix. The coordinate point corresponding to the absolute coordinates of the main tip 221 is a registration point.

[0057] For each active probe assembly 1, since each sliding needle seat 11 is provided with an auxiliary tracer 15, the sensor system identifies the relative tracer positions of the auxiliary tracer 15 and the main tracer 232 in the probe coordinate system, so that the control system can obtain the auxiliary tracer relative position of the auxiliary tracer 15 based on the relative tracer positions and the coordinates of the main tracer 232 in the probe coordinate system; at the same time, since the relative position of the auxiliary probe 12 relative to the auxiliary tracer 15 is fixed, the control system can calculate the relative coordinates of the auxiliary tip 121 in the probe coordinate system based on the relative position of the auxiliary tracer 15 and the corresponding auxiliary tip 121; the control system can convert the relative coordinates of the auxiliary tip 121 into the absolute coordinates of the auxiliary tip 121 based on the coordinate transformation matrix, and the coordinate points corresponding to the absolute coordinates of the auxiliary tip 121 form a registration point.

[0058] That is, the probe mechanism provided in this embodiment, by setting a main probe 22 and several auxiliary probes 12, allows both the main tip 221 and the auxiliary tip 121 of the probe mechanism to contact the object being measured during use, thereby achieving the acquisition of multiple registration points in a single contact, greatly improving the speed and efficiency of registration. Simultaneously, since the auxiliary tip 121 extends relative to the main tip 221 in the first direction in the initial state, when the main tip 221 contacts the object being measured, the auxiliary tip 121 can also contact the object being measured, ensuring the reliability of the contact between the auxiliary tip 121 and the main tip 221. Furthermore, it is well-suited for contacting objects with non-planar measurement portions. Registration improves the flexibility and accuracy of the probe mechanism. Furthermore, since the sliding needle seat 11 of the auxiliary probe 12 is connected to the force-bearing end of the constant force spring 13, when the auxiliary probe 12 contacts the object being tested, as the main probe 22 contacts the object, the auxiliary probe 12 can slide relative to the main probe 22. At the same time, the piercing force of the auxiliary tip 121 piercing the cartilage does not change with the compression or stretching of the constant force spring 13. This ensures that the force of the auxiliary tip 121 piercing the cartilage remains constant, thereby ensuring that the main tip 221 and the auxiliary tip 121 can effectively reach the bone surface while avoiding the auxiliary tip 121 penetrating the cortical bone, reducing surgical risks and the probability of complications, and improving surgical safety.

[0059] like Figures 1 to 3 As shown, the distance between the auxiliary tip 121 and the main tip 221 in the first direction is preferably 15mm to 40mm. This avoids the problem of the entire probe mechanism being too large in the first direction due to the excessive distance between the auxiliary tip 121 and the main tip 221, and also avoids the problem of the auxiliary tip 121 and the main tip 221 being too small in the first direction, resulting in a small sliding stroke of the auxiliary probe relative to the main probe 22, which would require a higher measurement surface of the object being measured. The distance between the multiple auxiliary tips 121 and the main tip 221 in the first direction can be equal or unequal, and the present invention does not limit this.

[0060] In this embodiment, two active probe assemblies 1 are spaced apart, with the two auxiliary probes 12 and the main probe 22 arranged in a triangle to acquire three registration points in a single contact. In other embodiments, only one, three, or more active probe assemblies 1 may be provided. It is understood that the more active probe assemblies 1 there are, the more registration points are generated in a single contact, and the higher the registration efficiency. Similarly, the more active probe assemblies 1 there are, the larger the size of the probe mechanism. Due to the area limitation of the measured surface of the object being measured, some auxiliary probes 12 may not be able to contact the object being measured during a single contact. Preferably, the number of active probe assemblies 1 is greater than or equal to two and less than 20.

[0061] In this embodiment, the fixed needle seat 21 has a sleeve-shaped structure and extends along a first direction. The main probe 22 has a main tip 221 and a mounting end arranged opposite each other along the first direction. The mounting end is fixedly inserted into the central through hole of the fixed needle seat 21, and the main tip 221 extends out of the fixed needle seat 21. The navigation assembly 23 also includes a navigation bracket 231, which includes a mounting rod portion 2311 and a navigation frame portion 2312. The mounting rod portion 2311 extends along the first direction and is inserted into the central through hole of the fixed needle seat 21. One end of the mounting rod portion 2311 is connected to the mounting end of the main probe 22, and the other end is connected to the navigation frame portion 2312. The navigation frame portion 2312 is located outside the fixed needle seat 21, and a plurality of main tracer elements 232 are provided on the navigation bracket 231.

[0062] The central through hole includes a rod mounting hole and a probe mounting hole. The rod mounting part 2311 is inserted into the rod mounting hole, and the main probe 22 passes through the probe mounting hole. The cross-sectional shape of the rod mounting hole is the same as that of the rod mounting part 2311, and the cross-section of the rod mounting hole is a non-circular cross-section to prevent the rod mounting part 2311 from rotating in the rod mounting hole. This ensures that the fixed needle seat 21 and the navigation bracket 231 are relatively fixed in the circumferential direction of the fixed needle seat 21, thereby ensuring the reliability of the calibration.

[0063] An inner stepped surface is formed between the rod mounting hole and the probe mounting hole, facing away from the main tip 221. The end face of the mounting rod portion 2311 abuts against the inner stepped surface to achieve the axial positioning and limiting of the navigation bracket 231 in the fixed needle seat 21. Furthermore, the fixed needle seat 21 and the mounting rod portion 2311 are fastened by a first set screw that passes radially through the fixed needle seat 21, and the main probe 22 and the fixed needle seat 21 are fastened by a second set screw 24 that passes radially through the fixed needle seat 21.

[0064] In this embodiment, four main tracer elements 232 are provided, and each main tracer element 232 is mounted on the navigation bracket 231 via a mounting bracket 233. Three of the main tracer elements 232 are arranged in a triangle on the navigation bracket portion 2312, and the mounting bracket corresponding to the other main tracer element 232 passes through the fixed needle seat 21 and is mounted on the mounting rod portion 2311. The main tracer element 232 located on the mounting rod portion 2311 is positioned opposite to and spaced apart from another adjacent main tracer element 232 in a first direction to better identify the extension direction of the main probe 22 and to more conveniently obtain the coordinates of the main tip 221 in the probe coordinate system through the coordinates of the main tracer element 232 in the probe coordinate system.

[0065] It is worth noting that the structure of the fixed probe assembly 2 described above is only an exemplary structure. The specific structural settings of the fixed probe assembly 2 can be referred to the prior art. This invention does not elaborate on or limit the specific structure of the fixed probe assembly 2.

[0066] To improve the ease of installation of the movable probe assembly 1, in this embodiment, the probe mechanism further includes a mounting base 3. The mounting base 3 is fixedly mounted on the fixed needle seat 21, and the sliding needle seat 11 of the movable probe assembly 1 is slidably mounted on the mounting base 3. A constant force spring 13 is also mounted on the mounting base 3. This allows the fixed probe assembly 2 to utilize an existing structure without significant modifications. By adding the mounting base 3 and the movable probe assembly 1 mounted on the mounting base 3, the probe mechanism can be assembled, reducing modification costs and improving the ease of disassembly and replacement of the movable probe assembly 1 relative to the fixed probe assembly 2.

[0067] In this embodiment, the mounting base 3 includes a mounting substrate 31, which is parallel to the first direction. The movable probe assemblies 1 are all mounted on the side of the mounting substrate 31 away from the fixed probe seat 21. This type of mounting base 3 has a simple structure, low cost, and can reduce the probability of interference between the movable probe assembly 1 and the fixed probe assembly 2.

[0068] In another embodiment, the mounting base 3 may include a mounting sleeve, which is sleeved on the outside of the fixed needle seat 21. Multiple movable probe assemblies 1 are mounted on the outside of the mounting sleeve and spaced apart circumferentially along the mounting sleeve, such that the multiple movable probe assemblies 1 surround the fixed probe assembly 2. In yet another embodiment, the mounting base 3 may be specifically configured according to the number of movable probe assemblies 1. The present invention does not limit the specific structure of the mounting base 3.

[0069] like Figure 3 and Figure 5 As shown, in order to fix the mounting base 31 on the fixed pin seat 21, the fixed pin seat 21 is provided with a mounting hole, and the mounting base 31 is provided with a mounting protrusion 33. The mounting protrusion 33 is inserted into the mounting hole, and the cross-section of the mounting protrusion 33 is a non-circular cross-section. The shape of the mounting hole is adapted to the shape of the mounting protrusion 33 to avoid the mounting base 31 from rotating relative to the fixed pin seat 21, so as to better realize the mounting positioning of the mounting base 31 on the fixed pin seat 21, thereby improving the accuracy of the mounting position of the movable probe assembly 1 relative to the fixed probe assembly 2.

[0070] The mounting protrusion 33 can be interference-fitted into the mounting hole, or the mounting protrusion 33 and the fixing pin seat 21 can be connected by fasteners passing through the mounting protrusion 33 and the mounting hole. The mounting protrusion 33 is preferably welded to the mounting base 31 or integrally formed to ensure the positional reliability of the mounting protrusion 33 and the mounting base 31. In other embodiments, the mounting protrusion 33 can also be detachably connected to the mounting base 31.

[0071] like Figure 4As shown, to improve the reliability of the sliding needle holder 11 sliding along the first direction, one of the mounting base 31 and the sliding needle holder 11 is provided with a guide rail portion 32, and the other is provided with a guide groove. The guide rail portion 32 is slidably disposed in the guide groove, and both the guide rail portion 32 and the guide groove extend along the first direction. That is, the sliding needle holder 11 is guided along the first direction through the cooperation of the guide rail portion 32 and the guide groove. In other embodiments, one of the mounting base 31 and the sliding needle holder 11 may be provided with a guide rail portion 32, and the other may be provided with a slider that slidably cooperates with the guide rail portion 32, with the guide rail portion 32 extending along the first direction.

[0072] In this embodiment, the guide rail portion 32 is disposed on the mounting base 31, and the sliding pin seat 11 is provided with a guide groove. The guide groove extends through the sliding pin seat 11 in a first direction to improve the ease of insertion of the guide rail portion 22 into the guide groove. The cross-section of the guide rail portion 32 is T-shaped to prevent the guide rail portion 32 from dislodging from the guide groove in a direction away from the mounting base 3, thus ensuring the installation stability of the sliding pin seat 11 on the mounting base 31.

[0073] To prevent the sliding needle seat 11 from dislodging from the guide rail portion 32 along the first direction, stop members are provided at both ends of the guide rail portion 32 along the first direction, and at least one stop member is detachably connected to the guide rail portion 32. In other embodiments, stop members may also be provided at both ends of the guide groove, and at least one stop member is detachably connected to the sliding needle seat 11.

[0074] To improve the compactness of the installation structure of several movable probe assemblies 1, at least some of the movable probe assemblies 1 are first movable probe assemblies 1a. The first movable probe assembly 1a further includes a force transmission unit 16, which is connected between the sliding needle seat 11 and the constant force spring 13. The force transmission unit 16 is used to transmit the traction force between the sliding needle seat 11 and the constant force spring 13. By setting the force transmission unit 16, the requirement that the force-bearing end of the constant force spring 13 and the sliding needle seat 11 be spaced apart in the first direction can be avoided. This improves the spatial layout flexibility of the constant force spring 13 and the sliding needle seat 11, thereby reducing the installation position restrictions of the movable probe assembly 1 and improving the overall structural compactness of the probe mechanism.

[0075] In this embodiment, the force transmission unit 16 includes a guide wheel 161 and a connecting rope 162. The guide wheel 161 is rotatably mounted on the mounting base 3, and the rotation axis of the guide wheel 161 is perpendicular to the mounting base 31. The connecting rope 162 is wound around the guide wheel 161, and its two ends are connected to the constant force spring 13 and the sliding needle seat 11, respectively. That is, in this embodiment, the connecting rope 162 is used to realize the force transmission between the sliding needle seat 11 and the constant force spring 13, and the direction of force transmission is changed by the guide wheel 161, further improving the flexibility of the arrangement position of the constant force spring 13 relative to the sliding needle seat 11.

[0076] In other embodiments, the force transmission unit 16 can adopt belt drive or other transmission structure forms, as long as it can realize the force transmission between the constant force spring 13 and the sliding needle seat 11.

[0077] like Figure 4 and Figure 5 As shown, to improve the reliability of force transmission, in this embodiment, the guide wheel 161 is mounted on the mounting base 3 via a rotating bearing 163, thereby reducing the friction of the guide wheel 161's rotation, improving the smoothness of rotation, and thus improving the reliability of force transmission. Specifically, the mounting base 31 has a bearing hole, and the rotating bearing 163 is fitted into the bearing hole; the guide wheel 161 includes a wheel body 1611 and a wheel axle 1612 fixedly connected, the wheel axle 1612 is interference-fitted into the inner ring of the rotating bearing 163, and the connecting rope 162 is wound around the wheel body 1611.

[0078] In this embodiment, two sets of movable probe assemblies 1 are provided. The other set of movable probe assemblies 1 is a second movable probe assembly 1b. The sliding needle seat 11 in the second movable probe assembly 1b is directly connected to the constant force spring 13 to simplify the structure. The constant force springs 13 of the two sets of movable probe assemblies 1 are spaced apart along the first direction to improve the rationality of the spatial layout and the compactness of the structure. The two constant force springs 13 of the two sets of movable probe assemblies 1 are located between the two sliding needle seats 11 to reduce the probability of interference between the structures.

[0079] In this embodiment, the constant force spring 13 adopts a steel coil spring structure, and the steel coil spring is mounted on the fixed base via the mounting shaft 14. However, it is understood that other types of existing constant force springs 13 can also be used in this invention, and this invention does not limit the type of constant force spring 13.

[0080] In this embodiment, both the main tracer 232 and the auxiliary tracer 15 are optical tracer spheres. The principle of using optical tracer spheres for calibration and navigation is existing technology and will not be elaborated further here. In other embodiments, the main tracer 232 can also adopt other existing tracer structures that cooperate with the sensor system to identify the coordinate system. The sensor system can use optical, electronic, or magnetic sensors to cooperate with the main tracer 232 to identify the position of the main tracer 232 in the sensor coordinate system. The type and structure of the sensor system, as well as the type and structure of the main tracer 232 and the auxiliary tracer 15, can be set with reference to existing technology, and this invention does not limit them.

[0081] Example 2

[0082] This embodiment provides a surgical robot system and its registration point acquisition method, including a sensor system, a control system and a probe mechanism. The probe mechanism works in conjunction with the sensor system and the control system to achieve registration of the surgical robot system and navigation during the surgical process.

[0083] The probe mechanism adopts the structure described in Embodiment 1. The sensor system and control system can be configured with reference to existing surgical robots, and this invention does not limit them. The surgical robot system provided by this invention, by employing the aforementioned probe mechanism, can improve the registration efficiency and accuracy of the surgical robot system, thereby improving surgical efficiency and safety.

[0084] The registration point acquisition method provided in this embodiment includes:

[0085] The probe mechanism is moved to the object being measured, and the main tip 221 and at least part of the auxiliary tip 121 are brought into contact with the object being measured.

[0086] The sensor system identifies the absolute position coordinates of all main tracers 232 in the sensor coordinate system;

[0087] Based on the absolute position coordinates and the relative position coordinates of all main tracers 232 in the probe coordinate system, calculate the coordinate transformation matrix from the probe coordinate system to the sensor coordinate system;

[0088] Based on the position of the main tip 221 relative to the main tracer 232 in the probe coordinate system, the relative coordinates of the main tip 221 in the probe coordinate system are calculated.

[0089] For each active probe assembly 1, the sensor system identifies the tracer relative position of the auxiliary tracer 15 relative to the main tracer 232; the control system calculates the auxiliary tracer relative coordinates of the auxiliary tracer 15 in the probe coordinate system based on the tracer relative position; and calculates the auxiliary tip 121 relative coordinates of the auxiliary tip 121 in the probe coordinate system based on the relative position of the auxiliary tracer 15 and the corresponding auxiliary tip 121.

[0090] The control system converts the relative coordinates of the main tip 221 into the absolute coordinates of the main tip 221 in the sensor coordinate system according to the coordinate transformation matrix, and converts the relative coordinates of the auxiliary tip 121 into the absolute coordinates of the auxiliary tip 121 in the sensor coordinate system.

[0091] The absolute coordinates of the main tip 221 and several auxiliary tips 121 are used as registration coordinates for registration.

[0092] The registration point acquisition method for the surgical robot system provided by this invention can improve the efficiency and accuracy of registration by using the surgical robot system described above.

[0093] To improve the registration accuracy, the registration point acquisition method provided in this embodiment further includes:

[0094] For each active probe component 1, after calculating and obtaining the relative coordinates of the auxiliary tip 121, the relative coordinates of the auxiliary tip 121 are compared with the initial coordinates of the auxiliary tip 121 in the initial state.

[0095] If the distance between the initial coordinates of the auxiliary tip 121 and the relative coordinates of the auxiliary tip 121 is less than a preset value, then the relative coordinates of the auxiliary tip 121 corresponding to the auxiliary tip 121 will be determined as invalid coordinates to exclude registration.

[0096] During the use of the probe mechanism, if the distance between the relative coordinates of the auxiliary tip 121 and its initial coordinates is small, it indicates that the auxiliary tip 121 did not move relative to the fixed probe assembly 2 during the contact between the probe mechanism and the object being measured. This means that the auxiliary tip 121 is not in contact with the object. In other words, by measuring the distance between the initial coordinates of the auxiliary tip 121 and its coordinates in the probe coordinate system, it is possible to determine whether the corresponding auxiliary tip 121 is in contact with the object. This allows for the exclusion of data from auxiliary tips 121 that are not in contact with the object, ensuring that all registration points involved in the registration are points that are in contact with the object, thereby improving registration accuracy.

[0097] Preferably, the preset value is less than 1, but it is understood that the preset value can be specifically set according to the registration accuracy.

[0098] For example, if the initial coordinates of an auxiliary tip 121 in the probe coordinate system are (30, 40, 40) in the initial state, and after the main tip 221 contacts the object being measured, the coordinates of the auxiliary tip 121 acquired in the probe coordinate system are (30.2, 39.9, 40.2), then the spacing value is:

[0099]

[0100] If the preset value is 0.5, and 0.3 is less than 0.5, it means that the auxiliary tip has not moved relative to the main tip, which means that the auxiliary tip has not contacted the object being measured. Therefore, the data of the auxiliary tip 121 is determined to be invalid, and the data of the auxiliary tip 121 is discarded and not included in the registration calculation.

[0101] It is worth noting that the specific method for registration using the acquired registration points can refer to existing technologies, and this invention will not elaborate on or limit it.

[0102] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A probe mechanism, characterized in that, include: The fixed probe assembly (2) includes a fixed needle seat (21), a main probe (22) mounted on the fixed needle seat (21), and a navigation assembly (23) mounted on the fixed needle seat (21). The main probe (22) extends along a first direction and has a main tip (221). The navigation assembly (23) includes a plurality of spaced main tracers (232). The active probe assembly (1) includes a sliding needle seat (11), a constant force spring (13), and an auxiliary probe (12). The sliding needle seat (11) is slidably mounted on the fixed needle seat (21) along the first direction. The auxiliary probe (12) extends along the first direction and has an auxiliary tip (121). An auxiliary tracer (15) is provided on the sliding needle seat (11). The constant force spring (13) is mounted on the fixed needle seat (21), and the force-receiving end of the constant force spring (13) is connected to the sliding needle seat (11). In the initial state, the auxiliary tip (121) extends relative to the main tip (221) in the first direction.

2. The probe mechanism according to claim 1, characterized in that, The probe mechanism further includes a mounting base (3), which is mounted on the fixed needle seat (21), and the movable probe assembly (1) is mounted on the mounting base (3).

3. The probe mechanism according to claim 2, characterized in that, The mounting base (3) includes a mounting base (31), which is parallel to the first direction. The movable probe assembly (1) is mounted on the side of the mounting base (31) away from the fixed needle seat (21). Alternatively, the mounting base (3) includes a mounting sleeve, which is sleeved on the outside of the fixed needle seat (21), and the movable probe assembly (1) is mounted on the outside of the mounting sleeve and is provided in multiple circumferentially spaced along the mounting sleeve.

4. The probe mechanism according to claim 2, characterized in that, At least part of the movable probe assembly (1) is a first movable probe assembly (1a), and the first movable probe assembly (1a) further includes a force transmission unit (16), which is connected between the force-receiving end of the constant force spring (13) and the sliding needle seat (11). The force transmission unit (16) is used to transmit the traction force between the sliding needle seat (11) and the constant force spring (13).

5. The probe mechanism according to claim 4, characterized in that, The force transmission unit (16) includes a guide wheel (161) and a connecting rope (162). The guide wheel (161) is rotatably mounted on the mounting base (3). The connecting rope (162) is wound around the guide wheel (161). One end of the connecting rope (162) is connected to the force-receiving end of the constant force spring (13), and the other end of the connecting rope (162) is connected to the sliding needle seat (11).

6. The probe mechanism according to claim 4, characterized in that, In two adjacent sets of movable probe assemblies (1), one of the movable probe assemblies (1) is the first movable probe assembly (1a), and the two constant force springs (13) are spaced apart in the first direction, and the two constant force springs (13) are located between the two sliding needle seats (11).

7. The probe mechanism according to any one of claims 1-6, characterized in that, In the initial state, the distance between the main tip (221) and the auxiliary tip (121) in the first direction is 15mm to 40mm; And / or, the number of the active probe components (1) is 2 to 20.

8. A robotic surgical system, comprising a sensor system and a control system, characterized in that, Includes the probe mechanism as described in any one of claims 1-7.

9. A method for obtaining registration points in a robotic surgical system, characterized in that, Applied to the robotic surgical system as described in claim 8, wherein the sensor system has a sensor coordinate system, the probe mechanism has a probe coordinate system, and the registration point acquisition method includes: When the probe mechanism moves to the point where the main tip (221) and at least part of the auxiliary tip (121) contact the object being measured, the sensor system identifies the absolute position coordinates of all the main tracers (232) in the sensor coordinate system; Based on the absolute position coordinates and the relative position coordinates of all the main tracers (232) in the probe coordinate system, calculate the coordinate transformation matrix from the probe coordinate system to the sensor coordinate system; Based on the position of the main tip (221) relative to the main tracer (232) in the probe coordinate system, the relative coordinates of the main tip (221) in the probe coordinate system are calculated; For each active probe assembly (1), the sensor system identifies the tracer-relative position of the auxiliary tracer (15) relative to the main tracer (232); the control system calculates the auxiliary tracer-relative coordinates of the auxiliary tracer (15) in the probe coordinate system based on the tracer-relative position; and calculates the auxiliary tip-relative coordinates of the auxiliary tip (121) in the probe coordinate system based on the relative position of the auxiliary tracer (15) and the corresponding auxiliary tip (121). The control system converts the relative coordinates of the main tip into the absolute coordinates of the main tip in the sensor coordinate system according to the coordinate transformation matrix, and converts the relative coordinates of the auxiliary tip into the absolute coordinates of the auxiliary tip in the sensor coordinate system. The absolute coordinates of the main tip and several of the absolute coordinates of the auxiliary tips are used as registration coordinates for registration.

10. The registration point acquisition method according to claim 9, characterized in that, The registration point acquisition method further includes: For each of the active probe components (1), after calculating the relative coordinates of the auxiliary tip (121), the relative coordinates of the auxiliary tip are compared with the initial coordinates of the auxiliary tip (121) in the initial state; If the distance between the initial coordinates of the auxiliary tip and the relative coordinates of the auxiliary tip is less than a preset value, then the relative coordinates of the auxiliary tip (121) are determined to be invalid coordinates to exclude registration.

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