Angle-adjustable optical calibration device

Abstract

The invention belongs to the technical field of medical instruments, and discloses an angle-adjustable optical calibration device, which comprises a reflective mark, a floating ball, a conical cover, a bottom cover, a nut insert and a spring bead screw, and is characterized in that the back surface of the reflective mark is provided with gum, and the reflective mark is adhered to the surface of the floating ball through the gum; the floating ball is installed in the conical cover and can rotate in the conical cover, the nut insert is fixed to the center of the bottom cover, and the conical cover is fixedly connected with the bottom cover. The spring ball screw is screwed into the nut insert, a spring is arranged in the spring ball screw, and the spring provides elastic force for the floating ball, so that static friction force exists between the floating ball and the conical cover, and hovering in any direction is achieved. The angle of the floating ball can be adjusted according to the actual pasting and mounting position, so that the reflective mark on the straight disc is parallel to the optical navigation camera, and the mark error is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices, and in particular relates to an optical calibration device with adjustable angle. Background Art

[0002] Optical navigation is increasingly used in surgical robots, and in optical navigation of CT intervention, the position calibration of the CT machine in the optical navigation camera is very important. It is common to set optical markers directly on the surface of the CT shell. Usually, an optical marker bracket of a fixed shape is pasted on the surface of the CT shell. An optical marker bracket usually contains multiple reflective markers. However, since the surface of the CT shell is usually designed as a curved surface for aesthetics, and the CT door opening is a conical surface that is concave inward, the common optical marker bracket is of a fixed shape and it is difficult to perfectly fit the surface of the CT shell. Even if it fits the surface of the CT shell, the reflective marker and the optical navigation camera will be at a certain angle rather than parallel, which will increase the error. Summary of the invention

[0003] The present invention aims to provide an optical calibration device with adjustable angle to solve the above-mentioned technical problems.

[0004] To achieve the above purpose, the specific technical solution of an optical calibration device with adjustable angle of the present invention is as follows:

[0005] An optical calibration device with adjustable angle comprises a reflective mark, a floating ball, a conical cover, a bottom cover, a nut insert and a spring ball screw, wherein the reflective mark has adhesive on the back side, and the reflective mark is adhered to the surface of the floating ball through the adhesive; the floating ball is installed in the conical cover and can rotate in the conical cover, the nut insert is fixed at the center of the bottom cover, and the conical cover is fixedly connected to the bottom cover; the spring ball screw is screwed into the nut insert, and a spring is built in the spring ball screw, and the spring provides elastic force for the floating ball, so that static friction exists between the floating ball and the conical cover, thereby realizing hovering in any direction.

[0006] Furthermore, by adjusting the screwing depth of the spring ball screw, the magnitude of the static friction force between the floating ball and the conical cover can be adjusted.

[0007] Furthermore, the upper part of the floating ball is set as a flat disc for sticking reflective marks; the lower part of the floating ball is set as a bottom spherical structure, the flat disc is fixedly connected to the bottom spherical structure, and the bottom spherical structure is a combination structure of a sphere with a slightly larger diameter and a sphere with a slightly smaller diameter, and the two spheres are concentric.

[0008] Furthermore, the conical cover has an arc surface inside, and the bottom spherical structure is in contact with the inner arc surface of the conical cover; a glue groove is provided at the bottom of the conical cover, and the bottom cover is fixedly connected to the conical cover by the glue in the glue groove.

[0009] Furthermore, a positioning slot is provided on the outside of the conical cover, and the positioning slot is used to cooperate with the auxiliary positioning block to perform circumferential positioning when the conical cover is pasted on the CT surface.

[0010] Furthermore, the bottom cover has a circular hole at its center for installing a nut insert, and the nut insert is fixed in the circular hole by hot melting or gluing.

[0011] Furthermore, a convex rib is provided on the outer side of the circumference of the bottom cover, and the convex rib cooperates with the rubber groove at the bottom of the conical cover.

[0012] Furthermore, the bottom of the bottom cover has adhesive backing for sticking on the CT machine.

[0013] Furthermore, the top of the spring ball screw is provided with a POM ball, the POM ball abuts against the floating ball, and the bottom of the spring ball screw is a hexagonal groove, which can be screwed into the nut insert in the bottom cover with a hexagonal wrench.

[0014] An optical calibration device with adjustable angle of the present invention has the following advantages: the optical calibration device with adjustable angle of the present invention is small in size, and the surface of the CT machine shell is a large curvature surface, which can be perfectly fitted on the surface of the CT machine; the present invention can adjust the angle of the floating ball according to the actual pasting and installation position so that the reflective mark on the flat circular disk is parallel to the optical navigation camera to reduce the marking error; the present invention is convenient to operate and has low cost. By pasting multiple calibration devices on the CT machine, a virtual optical calibration bracket is formed to realize position calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is an exploded view of the optical calibration device with adjustable angle of the present invention;

[0016] Figure 2 It is a stereoscopic diagram of the optical calibration device with adjustable angle of the present invention;

[0017] Figure 3 It is a schematic diagram and a side sectional view of an embodiment of the present invention;

[0018] Figure 4 It is a schematic diagram of the floating ball structure of the present invention;

[0019] Figure 5 It is a schematic diagram of the conical cover structure of the present invention;

[0020] Figure 6 It is a schematic diagram of the bottom cover structure of the present invention;

[0021] Figure 7 It is a schematic diagram of the structure of the auxiliary positioning block of the present invention;

[0022] Figure 8 It is a schematic diagram of the front structure of the auxiliary positioning bracket of the present invention;

[0023] Fig. 9 It is a schematic diagram of the back structure of the auxiliary positioning bracket of the present invention;

[0024] Explanation of markings in the figure: 1. Reflective mark; 2. Floating ball; 201. Flat disc; 202. Bottom spherical structure; 3. Conical cover; 301. Arc surface; 302. Glue groove; 4. Bottom cover; 401. Round hole; 402. Raised rib; 5. Nut insert; 6. Spring ball screw; 7. Auxiliary positioning block; 701. Positioning rib; 8. Auxiliary positioning bracket; 801. Positioning boss. DETAILED DESCRIPTION

[0025] In order to better understand the purpose, structure and function of the present invention, an optical calibration device with adjustable angle of the present invention is further described in detail below with reference to the accompanying drawings.

[0026] like Figure 1 Figure 2 Figure 3 As shown, an optical calibration device with adjustable angle of the present invention comprises a reflective mark 1, a floating ball 2, a conical cover 3, a bottom cover 4, a nut insert 5, and a spring ball screw 6. Among them, the reflective mark 1 has a back adhesive on the back, and the reflective mark 1 is attached to the surface of the floating ball 2 through the back adhesive; the floating ball 1 is installed in the conical cover 3 and can rotate in the conical cover 3, the nut insert 5 is fixed at the center of the bottom cover 4, and the conical cover 3 and the bottom cover 4 are fixed by glue; the spring ball screw 6 is screwed into the nut insert 5, and the spring ball screw 6 has a spring built in it, which can be axially compressed and can provide elastic force for the floating ball 2. Due to the existence of the elastic force, there is static friction between the floating ball 2 and the conical cover 3, so as to achieve hovering in any direction. In addition, the magnitude of the friction force can be adjusted by adjusting the screwing depth of the spring ball screw 6.

[0027] like Figure 4 As shown, the upper part of the floating ball 2 is set as a flat disc 201 for sticking the reflective mark 1; the lower part of the floating ball is set as a bottom spherical structure 202. The flat disc 201 is fixedly connected to the bottom spherical structure 202, and the bottom spherical structure 202 is a combination structure of a sphere with a slightly larger diameter and a sphere with a slightly smaller diameter. The two spheres are concentric, and the purpose is to ensure that the floating ball is concentric when rotating, while reducing the volume of the device.

[0028] like Figure 5As shown, the conical cover 3 has an arc surface 301 inside, and the bottom spherical structure 202 contacts the inner arc surface 301 of the conical cover; a glue groove 302 is provided at the bottom of the conical cover 3 to facilitate glue application, and the bottom cover 4 is fixedly connected to the conical cover 3 through the glue in the glue groove 302, and a positioning groove 303 is provided outside the conical cover 3, and the positioning groove 303 is used to cooperate with the auxiliary positioning block 7 for circumferential positioning when pasted on the CT surface.

[0029] like Figure 6 As shown, the bottom cover 4 has a circular hole 401 in the center for installing the nut insert 5, which can be fixed in the circular hole by hot melting or gluing; the bottom cover 4 has a convex rib 402 on the outer side of the circumference, which cooperates with the glue groove 302 at the bottom of the conical cover to increase the bonding strength. The bottom of the bottom cover 4 has a backing adhesive for gluing on the CT machine.

[0030] like Figure 7 As shown, a positioning rib 701 is provided on the auxiliary positioning block 7, which realizes circumferential positioning during installation with the positioning slot 303 on the outer side of the cone cover 3. The back of the auxiliary positioning block 7 has adhesive, which can be pasted on the CT machine.

[0031] like Figure 8 Fig. 9 As shown, the auxiliary positioning bracket 8 includes four corners extending from the center to four directions, and a positioning boss 801 is provided in the center, which can cooperate with the flat disc 201 on the top of the floating ball. There are four reflective marks on the four corners of the auxiliary positioning bracket 8, and the plane of the positioning boss 801 is parallel to the plane where the four reflective marks are located. The optical navigation camera calculates the plane where the four reflective marks are located by identifying the four reflective marks. Since the plane of the positioning boss 801 is parallel to the four reflective marks, the angle between the reflective mark 1 attached to the top of the floating ball 2 and the optical navigation camera can be calculated.

[0032] The top of the spring ball screw 6 has a POM ball, which contacts the floating ball 2. The POM ball is made of POM material to prevent damage to the floating ball 2 and is wear-resistant. The bottom of the spring ball screw 6 is a hexagonal groove, which can be screwed into the nut insert 5 in the bottom cover 4 with a hexagonal wrench. When the angle needs to be adjusted, press the floating ball 2 downward, and the top POM ball of the spring ball screw 6 shrinks into the spring ball screw under pressure. At this time, the angle can be adjusted at will. After adjustment, release the external force applied to the floating ball 2, and the spring ball screw 6 resets under the action of the spring elastic force, and the floating ball 2 is re-pressed on the arc surface 301 inside the conical cover, and the two are locked by friction.

[0033] This device is used in conjunction with the auxiliary positioning block 7 and the auxiliary positioning bracket 8 for optical calibration. During calibration, the flat disk 201 on the top of the floating ball 2 with the reflective mark 1 is inserted into the positioning boss 801 of the auxiliary positioning bracket, and the optical calibration device and the auxiliary positioning bracket 8 are pre-placed on the surface of the CT machine housing. The angle of the auxiliary positioning bracket 8, that is, the angle of the floating ball 2, is manually adjusted to find a suitable position and angle to minimize the error of the optical navigation camera. After finding the target position, the positioning rib 701 of the auxiliary positioning block 7 is inserted into the positioning groove 303 on the outside of the conical cover 3. Since the auxiliary positioning block 7 contains adhesive, the auxiliary positioning block 7 is attached to the surface of the CT machine housing. Remove the optical calibration device, tear off the adhesive protective sticker on the bottom cover 4 to expose the adhesive, re-insert the positioning groove 303 on the outside of the conical cover 3 into the positioning rib 701 of the auxiliary positioning block 7, attach it to the surface of the CT machine housing, and remove the auxiliary positioning block 7. Usually, multiple suitable positions are found and multiple optical calibration devices are installed to form an optical calibration device array, forming a virtual optical calibration bracket to achieve position calibration of the optical navigation camera and the CT machine.

[0034] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. An optical calibration device with adjustable angle, characterized in that: The invention comprises a reflective mark (1), a floating ball (2), a conical cover (3), a bottom cover (4), a nut insert (5) and a spring ball screw (6). The reflective mark (1) has an adhesive on the back, and the reflective mark (1) is adhered to the surface of the floating ball (2) through the adhesive. The floating ball (2) is inserted into the conical cover (3) and can rotate in the conical cover (3). The nut insert (5) is fixed at the center of the bottom cover (4), and the conical cover (3) and the bottom cover (4) are fixedly connected. The spring ball screw (6) is screwed into the nut insert (5), and a spring is built in the spring ball screw (6). The spring provides elastic force for the floating ball (2), so that static friction exists between the floating ball (2) and the conical cover (3), thereby realizing hovering in any direction.

2. The optical calibration device with adjustable angle according to claim 1, characterized in that: By adjusting the screwing depth of the spring ball screw (6), the magnitude of the static friction force between the floating ball (2) and the conical cover (3) can be adjusted.

3. The optical calibration device with adjustable angle according to claim 1, characterized in that: The upper part of the floating ball (2) is configured as a flat disc (201) for adhering the reflective mark (1); the lower part of the floating ball (2) is configured as a bottom spherical structure (202); the flat disc (201) and the bottom spherical structure (202) are fixedly connected; the bottom spherical structure (202) is a combination structure of a sphere with a slightly larger diameter and a sphere with a slightly smaller diameter, and the two spheres are concentric.

4. The optical calibration device with adjustable angle according to claim 3, characterized in that: The conical cover (3) has an arc surface (301) inside, and the bottom spherical structure (202) contacts the inner arc surface of the conical cover (3); a glue groove (302) is provided at the bottom of the conical cover (3), and the bottom cover (4) is fixedly connected to the conical cover (3) by glue in the glue groove (302).

5. The optical calibration device with adjustable angle according to claim 1, characterized in that: The cone cover (3) is provided with a positioning slot on the outside, and the positioning slot is used to cooperate with the auxiliary positioning block (7) to perform circumferential positioning when the cone cover (3) is attached to the surface of the CT.

6. The optical calibration device with adjustable angle according to claim 1, characterized in that: The bottom cover (4) has a circular hole (401) at its center for mounting a nut insert (5). The nut insert (5) is fixed in the circular hole (401) by hot melting or gluing.

7. The angle-adjustable optical calibration device according to claim 4, characterized in that: The bottom cover (4) has a convex rib (402) on the outer circumference thereof, and the convex rib (402) cooperates with the rubber groove (302) at the bottom of the conical cover (3).

8. The angle-adjustable optical calibration device according to claim 1, characterized in that: The bottom of the bottom cover (4) has adhesive backing for being adhered to the CT machine.

9. The optical calibration device with adjustable angle according to claim 1, characterized in that: The top of the spring ball screw (6) is provided with a POM ball, which abuts against the floating ball (2). The bottom of the spring ball screw (6) is a hexagonal groove, which can be screwed into the nut insert (5) in the bottom cover (4) with a hexagonal wrench.

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