Navigation error measurement equipment for traumatic orthopedic surgery based on AR (Augmented Reality) technology

Abstract

The invention discloses traumatic orthopedic surgery navigation error measurement equipment based on an AR technology, and belongs to the field of orthopedic surgery. Comprising a table underframe, and the top of the table underframe is fixedly connected with an operating table. An operator does not need to manually push the arc-shaped side frame for position adjustment, and the moving accuracy and portability of the arc-shaped side frame are improved; the position of the puncture needle body is adjusted in a portable mode, the needle body is moved away in a portable mode when the puncture needle body is placed, the needle body is moved to the surface of an operating table in a portable mode when the puncture needle body is used, and automation of measurement is improved; meanwhile, the position of an optical signal receiver is adjusted in a portable mode through movement of a top supporting frame, manual repeated adjustment and calibration are not needed, a puncture needle body is driven to puncture a model on the surface of an operating table through stable descending of a top fixing block, the accuracy and stability of puncture of the puncture needle body on the operating table are improved, and the working efficiency is improved. Through repeated puncture error measurement, errors generated in an operation are reduced.

Description

Technical Field

[0001] The present invention relates to the field of orthopedic surgery, and more specifically, to a traumatic orthopedic surgery navigation error measurement device based on AR technology. Background Art

[0002] AR technology is a technology that increases users' perception of the real world through information provided by computer systems. In trauma orthopedic surgery, AR technology uses cameras, sensors, real-time computing and matching technology to superimpose virtual surgical information, three-dimensional models, surgical planning, virtual instruments, etc. onto real surgical scenes, thereby helping doctors perform surgical operations more intuitively and accurately.

[0003] AR navigation provides doctors with visual auxiliary reference during the diagnosis and treatment process, greatly reducing the difficulty and risk of surgery and improving surgical efficiency. Therefore, it is particularly important to verify AR navigation measurement errors and daily accuracy maintenance before clinical interventional puncture surgery.

[0004] Based on the above technical problems, the prior art has also provided some solutions. For example, the Chinese patent with authorization announcement number CN116115336A discloses a surgical navigation error measurement device and method based on AR technology. The device places the surgical navigation error measurement device at different positions on the examination bed, and the imaging equipment takes pictures from different angles. The puncture path formed by the nylon line is compared with the virtual path generated by the AR navigation. The current AR navigation path can be quickly and accurately calibrated to calculate the lesion target distance error and the needle insertion angle accuracy, providing a test tool for the implementation of AR navigation and daily accuracy maintenance.

[0005] However, in actual production operations, universal wheels are installed at the bottom of the CT scanner body. The universal wheels are used to drive the CT scanner body to move, and manual pushing is required during the movement. The movement accuracy is not high, and manual repeated movement and positioning are required, which is relatively cumbersome. At the same time, in the process of measuring the error of model puncture, nylon thread, etc. is needed to position the puncture needle. Nylon thread, etc. will be affected by touch, which affects the accuracy of the puncture needle. In addition, the puncture needle needs to be manually punctured, which is easily affected and the accuracy will be reduced. Summary of the invention

[0006] In view of the problems in the prior art that the CT scanner needs to be pushed manually during movement, the movement accuracy is not high, and it needs to be repeatedly moved and positioned manually, which is cumbersome. At the same time, in the process of measuring the error of model puncture, the puncture needle positioning needs to use nylon thread, etc., nylon thread, etc. will be affected by touch, affecting the accuracy of the puncture needle, and the puncture needle needs to be manually punctured, which is easily affected and the accuracy will be reduced. The purpose of the present invention is to provide a trauma orthopedic surgery navigation error measurement device based on AR technology.

[0007] To solve the above problems, the present invention adopts the following technical solutions.

[0008] A trauma orthopedic surgery navigation error measurement device based on AR technology comprises a table base frame, the top of the table base frame is fixedly connected to an operating table, one side of the operating table is provided with an arc-shaped side frame, the top of the arc-shaped side frame is fixedly connected to a C-type fluoroscopy machine, one side of the C-type fluoroscopy machine is provided with a camera, the top of the operating table is provided with a puncture needle body, one side of the operating table is provided with a translation mechanism, the translation mechanism comprises a side fixing frame, a transmission motor and a left threaded rod, one side of the operating table is fixedly connected to the side fixing frame, the top of the side fixing frame is fixedly connected to the transmission motor, the output shaft of the transmission motor is fixedly connected to the left threaded rod, the bottom of the operating table is fixedly connected to a side rail, one side of the side rail is slidably connected to an I-shaped slide groove, one side of the I-shaped slide groove is fixedly connected to a bottom reinforcement plate, the top of the bottom reinforcement plate is fixedly connected to a left sliding support plate, and the surface of the left sliding support plate is provided with a left threaded hole.

[0009] Optionally, a laser mechanism is provided on one side of the C-type fluoroscopy machine, and the laser mechanism includes a top electric push rod, a connecting top frame and a side sliding block. One side of the C-type fluoroscopy machine is fixedly connected to a top sliding rail, one side of the top sliding rail is slidably connected to a side sliding block, one side of the side sliding block is fixedly connected to a connecting top frame, one side of the connecting top frame is fixedly connected to a laser locator, the other side of the connecting top frame is fixedly connected to a top electric push rod, and one side of the top electric push rod is fixedly connected to one side of the arc-shaped side frame.

[0010] Optionally, a limiting mechanism is provided on the other side of the operating table, and the limiting mechanism includes a left toothed disc, a toothed belt and a right toothed disc. The surface of the left threaded rod is fixedly sleeved with a left toothed disc, one side of the left toothed disc is meshedly connected with a toothed belt, one side of the toothed belt is meshedly connected with a right toothed disc, one side of the right toothed disc is fixedly connected with a right threaded rod, one side of the right threaded rod is provided with a right sliding support plate, and the surface of the right sliding support plate is provided with a right threaded groove.

[0011] Optionally, a supporting mechanism is provided on the outer side of the operating table, and the supporting mechanism includes side support plates, side bearing plates and sliding side plates. Inner sliding rails are provided on both sides of the operating table, and the surfaces of the inner sliding rails are slidably connected to sliding side plates. There are two sliding side plates, and one side of the two sliding side plates is fixedly connected to one side of the left sliding support plate and one side of the right sliding support plate.

[0012] Optionally, one end of the left threaded rod and one end of the right threaded rod are both movably connected to a side bearing disk, and one side of the side bearing disk is movably connected to a side supporting plate.

[0013] Optionally, an adjusting mechanism is provided at the top of the right sliding support plate, and the adjusting mechanism comprises a servo motor, a transmission push rod and an adjusting base, the output shaft of the servo motor is fixedly connected with the transmission push rod, the top of the transmission push rod is fixedly connected with the adjusting base, the top of the adjusting base is fixedly connected with a top limit plate, the top of the top limit plate is provided with an arc-shaped limit groove, the top of the top limit plate is fixedly connected with a transmission top frame, the top of the transmission top frame is fixedly connected with a sleeve plate, the top of the sleeve plate is fixedly connected with a square base frame, the inner side of the square base frame is slidably sleeved with a square top frame, the top of the square top frame is fixedly connected with a top connecting frame, one side of the top connecting frame is fixedly connected with a side electric push rod, one side of the side electric push rod is fixedly connected with a lifting plate, one side of the lifting plate is fixedly connected with an annular sleeve, the inner side of the annular sleeve is provided with an inner annular rail, the bottom of the annular sleeve is fixedly connected with a limiting rod, the sleeve plate is fixedly connected with a sliding shaft disc, and the surface of the sliding shaft disc is slidably connected to the inner side of the inner annular rail.

[0014] Optionally, a transmission mechanism is provided on the top of the operating table, and the transmission mechanism includes a top gear disk, a side gear disk and an inner bearing disk. The surface of the adjusting base is fixedly sleeved with a top gear disk, one side of the top gear disk is meshingly connected with a side gear disk, one side of the side gear disk is movably connected with an inner bearing disk, the other side of the side gear disk is fixedly connected with an externally threaded rod, the surface of the externally threaded rod is provided with a top connecting block, the surface of the top connecting block is provided with a top thread groove, one side of the top connecting block is fixedly connected with a top sliding block, one side of the top connecting frame is fixedly connected with an outer adjusting frame, one side of the outer adjusting frame is provided with an outer sliding rail, and the top of the top sliding block is fixedly connected with a top supporting frame.

[0015] Optionally, a puncture mechanism is provided at the top of the top support frame, and the puncture mechanism includes a top fixing frame, an external controller and an optical signal receiver, the top of the top support frame is fixedly connected to the top fixing frame, the top of the top fixing frame is fixedly connected to the external controller, an optical signal receiver is provided on one side of the external controller, a sliding inner rail is provided on the inner side of the top fixing frame, a sliding bar is slidably connected to the inner side of the sliding inner rail, a top fixing block is fixedly connected to one side of the sliding bar, a sliding top plate is fixedly connected to one side of the top fixing block, an external electric push rod is fixedly connected to one side of the sliding top plate, and the bottom of the top fixing block is fixedly connected to the top of the puncture needle body.

[0016] Optionally, a storage mechanism is provided on one side of the right sliding support plate, and the storage mechanism includes a side L support frame, a connecting vertical plate and a storage table. One side of the right sliding support plate is fixedly connected to the side L support frame, one side of the side L support frame is fixedly connected to the connecting vertical plate, and one side of the connecting vertical plate is fixedly connected to the storage table.

[0017] Optionally, the top of the top connecting frame is movably connected to a top bearing disk, the top of the top bearing disk is movably connected to a fixed side frame, and one side of the fixed side frame is fixedly connected to a main controller.

[0018] Compared with the prior art, the technical solution provided by the present invention has at least the following beneficial effects:

[0019] In the above scheme, by starting the transmission motor, the transmission motor drives the left threaded rod to rotate, and the rotating left threaded rod drives the left sliding support plate to move horizontally through the threaded connection with the left threaded hole. The horizontal movement of the left sliding support plate drives the arc-shaped side frame to adjust the horizontal position along one side of the operating table, without the need for the operator to manually push the arc-shaped side frame to adjust the position, thereby improving the accuracy and portability of the movement of the arc-shaped side frame;

[0020] The rotating right threaded rod is threadedly connected with the right threaded groove to drive the right sliding support plate to move horizontally. The horizontally moving right sliding support plate drives the puncture needle body to adjust the horizontal position, and the limit rod is driven to rotate synchronously by the rotation of the top limit plate. After one side of the top connecting frame is rotated to the side of the operating table, the puncture needle body is driven to move to the top of the operating table. The position of the puncture needle body is portable and the needle body is portable moved away when placed and moved to the surface of the operating table when used, thereby improving the automation of measurement.

[0021] The threaded connection between the external threaded rod and the top thread groove drives the top connecting block to move horizontally, and the movement of the top connecting block drives the top sliding block to move horizontally along the surface of the external sliding rail, thereby improving the stability of the movement of the top support frame. The position of the optical signal receiver can be adjusted portablely through the movement of the top support frame without the need for repeated manual adjustment and calibration.

[0022] After the laser locator is started, a horizontal laser is emitted to illuminate the surface of the operating table, and a laser positioning auxiliary line is formed on the surface of the operating table, which is convenient for the operator to locate the model on the surface of the operating table. By moving the position of the optical signal receiver on the surface of the operating table, the optical signal receiver is moved to the position of the laser emitted by the laser locator for calibration. When the groove of the optical signal receiver coincides with the laser emitted by the laser locator, the optical signal receiver is sensed by light and sends a signal through the external controller to maintain the position of the puncture needle. At the same time, through the stable descent of the top fixing block, the puncture needle body is driven to puncture the model on the surface of the operating table, thereby improving the accuracy and stability of the puncture needle body puncturing the operating table, and reducing the errors generated during the operation by repeatedly measuring the puncture error. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable those skilled in the relevant art to make and use the invention.

[0024] Figure 1 It is a schematic diagram of the overall appearance structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the structure of the operating table of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of a C-type fluoroscopy machine of the present invention;

[0027] Figure 4 It is a schematic diagram of the structure of the left threaded rod of the present invention;

[0028] Figure 5 It is a schematic diagram of the structure of the right threaded rod of the present invention;

[0029] Figure 6 It is a schematic diagram of the structure of the external threaded rod of the present invention;

[0030] Figure 7 It is a schematic diagram of the top connecting frame structure of the present invention;

[0031] Figure 8 It is a schematic diagram of the structure of the external adjustment frame of the present invention;

[0032] Fig. 9 It is a schematic diagram of the top support frame structure of the present invention.

[0033] [Reference Signs]

[0034] 1. Table base; 2. Operating table; 3. Curved side frame; 4. C-type fluoroscopy machine; 5. Camera; 6. Puncture needle body;

[0035] 7. Translation mechanism; 701. Side fixing frame; 702. Transmission motor; 703. Left threaded rod; 704. Left sliding support plate; 705. Left threaded hole; 706. Bottom reinforcement plate; 707. I-shaped slide groove; 708. Side rail;

[0036] 8. Limiting mechanism; 801. Left toothed disc; 802. Toothed belt; 803. Right toothed disc; 804. Right threaded rod; 805. Right sliding support plate; 806. Right threaded groove;

[0037] 9. Support mechanism; 901. Side support plate; 902. Side bearing plate; 903. Sliding side plate; 904. Inner sliding rail;

[0038] 10. Laser mechanism; 1001. Top electric push rod; 1002. Connecting top frame; 1003. Side sliding block; 1004. Top sliding rail; 1005. Laser locator;

[0039] 11. Adjustment mechanism; 1101. Servo motor; 1102. Transmission push rod; 1103. Adjustment base; 1104. Top limit plate; 1105. Arc limit groove; 1106. Transmission top frame; 1107. Socket plate; 1108. Sliding shaft plate; 1109. Square bottom frame; 1110. Square top frame; 1111. Top connecting frame; 1113. Side electric push rod; 1114. Lifting plate; 1115. Annular sleeve frame; 1116. Inner annular rail; 1117. Limit rod; 1118. Fixed side frame; 1119. Top bearing plate; 1120. Master controller;

[0040] 12. Transmission mechanism; 1201. Top gear plate; 1202. Side gear plate; 1203. Inner bearing plate; 1204. External threaded rod; 1205. External adjustment frame; 1206. Top connecting block; 1207. Top sliding block; 1208. Top threaded groove; 1209. Top support frame; 1210. External sliding rail;

[0041] 13. Puncture mechanism; 1301. Top fixing frame; 1302. External controller; 1303. Optical signal receiver; 1304. External electric push rod; 1305. Sliding top plate; 1306. Top fixing block; 1307. Sliding bar; 1308. Sliding inner rail;

[0042] 14. Storage mechanism; 1401. Side L-support frame; 1402. Connecting vertical board; 1403. Storage table.

[0043] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0044] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0045] It should be noted that the references to "one embodiment", "embodiment", "exemplary embodiments", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0046] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0047] It will be understood that the meanings of “on,” “over,” and “above” in the present invention should be interpreted in the broadest manner, so that “on” not only means “directly on” something, but also includes the meaning of being “on” something with intervening features or layers therebetween, and “on” or “over” not only means “on” or “above” something, but also includes the meaning of being “on” or “above” something with no intervening features or layers therebetween.

[0048] Additionally, spatially relative terms such as "under," "beneath," "lower," "above," "upper," and the like may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as shown in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein may be similarly interpreted accordingly.

[0049] like Figures 1 to 9As shown, an embodiment of the present invention provides a trauma orthopedic surgery navigation error measurement device based on AR technology, including a table base frame 1, the top of the table base frame 1 is fixedly connected to an operating table 2, one side of the operating table 2 is provided with an arc-shaped side frame 3, the top of the arc-shaped side frame 3 is fixedly connected to a C-type fluoroscopy machine 4, one side of the C-type fluoroscopy machine 4 is provided with a camera 5, the top of the operating table 2 is provided with a puncture needle body 6, one side of the operating table 2 is provided with a translation mechanism 7, the translation mechanism 7 includes a side fixing frame 701, a transmission motor 702 and a left threaded rod 703, the A side fixing frame 701 is fixedly connected to one side of the operating table 2, a transmission motor 702 is fixedly connected to the top of the side fixing frame 701, a left threaded rod 703 is fixedly connected to the output shaft of the transmission motor 702, a side rail 708 is fixedly connected to the bottom of the operating table 2, an I-shaped slide groove 707 is slidably connected to one side of the side rail 708, a bottom reinforcement plate 706 is fixedly connected to one side of the I-shaped slide groove 707, a left sliding support plate 704 is fixedly connected to the top of the bottom reinforcement plate 706, and a left threaded hole 705 is provided on the surface of the left sliding support plate 704;

[0050] By starting the transmission motor 702, the transmission motor 702 drives the left threaded rod 703 to rotate, and the rotating left threaded rod 703 is threadedly connected to the left threaded hole 705, thereby driving the left sliding support plate 704 to move horizontally. During the movement of the left sliding support plate 704, it will slide along the surface of the side rail 708 through the I-shaped slide groove 707 on one side of the bottom reinforcement plate 706, thereby supporting the left sliding support plate 704, thereby improving the stability of the horizontal movement of the left sliding support plate 704, and the horizontal movement of the left sliding support plate 704 drives the arc-shaped side frame 3 to adjust its horizontal position along one side of the operating table 2, without the operator having to manually push the arc-shaped side frame 3 to adjust its position, thereby improving the accuracy and portability of the movement of the arc-shaped side frame 3.

[0051] In this embodiment, a laser mechanism 10 is provided on one side of the C-type fluoroscopy machine 4, and the laser mechanism 10 includes a top electric push rod 1001, a connecting top frame 1002 and a side sliding block 1003. A top sliding rail 1004 is fixedly connected to one side of the C-type fluoroscopy machine 4, and a side sliding block 1003 is slidably connected to one side of the top sliding rail 1004. One side of the side sliding block 1003 is fixedly connected to the connecting top frame 1002, and one side of the connecting top frame 1002 is fixedly connected to a laser locator 1005. The other side of the connecting top frame 1002 is fixedly connected to a top electric push rod 1001, and one side of the top electric push rod 1001 is fixedly connected to one side of the arc-shaped side frame 3. At the same time, during the scanning process of the C-type fluoroscopy machine 4;

[0052] After being started by the top electric push rod 1001, the connecting top frame 1002 is pushed to move horizontally along one side of the C-type fluoroscopy machine 4, and the side sliding block 1003 slides along the top sliding rail 1004 to support the connecting top frame 1002 and improve the stability of the movement of the connecting top frame 1002. By adjusting the position of the mobile connecting top frame 1002, the position of the laser locator 1005 is adjusted according to the position of the model on the surface of the operating table 2. After the laser locator 1005 is moved to a suitable position, the laser locator 1005 is started to emit a horizontal laser to irradiate the surface of the operating table 2, and form a laser positioning auxiliary line on the surface of the operating table 2, which is convenient for the operator to position the model on the surface of the operating table 2.

[0053] In this embodiment, a limiting mechanism 8 is provided on the other side of the operating table 2, and the limiting mechanism 8 includes a left toothed disc 801, a toothed belt 802 and a right toothed disc 803. The surface of the left threaded rod 703 is fixedly sleeved with the left toothed disc 801, one side of the left toothed disc 801 is meshedly connected with the toothed belt 802, one side of the toothed belt 802 is meshedly connected with the right toothed disc 803, one side of the right toothed disc 803 is fixedly connected with a right threaded rod 804, one side of the right threaded rod 804 is provided with a right sliding support plate 805, and the right sliding A right thread groove 806 is provided on the surface of the support plate 805. When the left threaded rod 703 rotates, the left toothed disc 801 is driven to rotate. Through the engagement of the left toothed disc 801 with the toothed belt 802, the right toothed disc 803 is driven to rotate synchronously. After the rotation, the right toothed disc 803 drives the right threaded rod 804 to rotate. The rotating right threaded rod 804 is threadedly connected with the right thread groove 806, thereby driving the right sliding support plate 805 to move horizontally. The horizontally moving right sliding support plate 805 drives the puncture needle body 6 to adjust its horizontal position.

[0054] In this embodiment, a supporting mechanism 9 is provided on the outer side of the operating table 2, and the supporting mechanism 9 includes a side support plate 901, a side bearing plate 902 and a sliding side plate 903. Inner sliding rails 904 are provided on both sides of the operating table 2. The surface of the inner sliding rails 904 is slidably connected with the sliding side plates 903, and the number of the sliding side plates 903 is two, and one side of the two sliding side plates 903 is fixedly connected to one side of the left sliding support plate 704 and one side of the right sliding support plate 805. Through the sliding of the sliding side plates 903 and the inner sliding rails 904, the stability of the movement of the left sliding support plate 704 and the right sliding support plate 805 is improved.

[0055] In this embodiment, one end of the left threaded rod 703 and one end of the right threaded rod 804 are both movably connected to a side bearing plate 902, and one side of the side bearing plate 902 is movably connected to a side support plate 901, so that the rotating left threaded rod 703 and the right threaded rod 804 are stably supported and limited by the side bearing plate 902.

[0056] In this embodiment, an adjustment mechanism 11 is provided at the top of the right sliding support plate 805, and the adjustment mechanism 11 includes a servo motor 1101, a transmission top rod 1102 and an adjustment base 1103. The output shaft of the servo motor 1101 is fixedly connected with the transmission top rod 1102, and the top of the transmission top rod 1102 is fixedly connected with the adjustment base 1103. The top of the adjustment base 1103 is fixedly connected with a top limit plate 1104, and the top of the top limit plate 1104 is provided with an arc-shaped limit groove 1105. The top of the top limit plate 1104 is fixedly connected with a transmission top frame 1106, and the top of the transmission top frame 1106 is fixedly connected with a socket plate 1107, and the top of the socket plate 1107 is fixedly connected with a square A square bottom frame 1109 is provided, and a square top frame 1110 is slidably sleeved on the inner side of the square bottom frame 1109. A top connecting frame 1111 is fixedly connected to the top of the square top frame 1110. A side electric push rod 1113 is fixedly connected to one side of the top connecting frame 1111. A lifting plate 1114 is fixedly connected to one side of the side electric push rod 1113. A lifting plate 1114 is fixedly connected to one side of the lifting plate 1114. An annular sleeve 1115 is fixedly connected to the inner side of the annular sleeve 1115. A limiting rod 1117 is fixedly connected to the bottom of the annular sleeve 1115. A sliding shaft disc 1108 is fixedly connected to the sleeve disc 1107. The surface of the sliding shaft disc 1108 is slidably connected to the inner side of the inner annular rail 1116.

[0057] After the servo motor 1101 is started, the transmission top rod 1102 is driven to rotate by the servo motor 1101. By adjusting the connection of the base 1103, the top limit plate 1104 is driven to move synchronously when the transmission top rod 1102 rotates. Before the top limit plate 1104 moves, the lifting plate 1114 is driven to descend after the side electric push rod 1113 is started. The lowered lifting plate 1114 drives the limit rod 1117 at the bottom of the annular sleeve 1115 to descend. At the same time, the inner annular rail 1116 is connected with the sliding shaft disk 1108, and the sleeve disk 1107 and the square shaft disk 1108 are synchronously driven when the annular sleeve 1115 descends. The square base frame 1109 descends, and the square base frame 1109 will slide downward along the inner side of the square top frame 1110, and after the limit rod 1117 descends, it will enter the arc-shaped limit groove 1105 opened on the surface of the top limit plate 1104. At this time, when the top limit plate 1104 rotates, it will drive the limit rod 1117 to rotate synchronously, and drive the square top frame 1110 and the side electric push rod 1113 to rotate synchronously, and at this time drive the top connecting frame 1111 to rotate along the inner side of the top bearing plate 1119, and after rotating one side of the top connecting frame 1111 to one side of the operating table 2, drive the puncture needle body 6 to move to the top of the operating table 2.

[0058] In this embodiment, a transmission mechanism 12 is provided on the top of the operating table 2, and the transmission mechanism 12 includes a top gear disc 1201, a side gear disc 1202 and an inner bearing disc 1203. The surface of the adjustment base 1103 is fixedly sleeved with the top gear disc 1201, one side of the top gear disc 1201 is meshedly connected with the side gear disc 1202, one side of the side gear disc 1202 is movably connected with the inner bearing disc 1203, and the other side of the side gear disc 1202 is fixedly connected with the external threaded rod 1 204, a top connecting block 1206 is provided on the surface of the external threaded rod 1204, a top thread groove 1208 is provided on the surface of the top connecting block 1206, a top sliding block 1207 is fixedly connected to one side of the top connecting block 1206, an outer adjustment frame 1205 is fixedly connected to one side of the top connecting frame 1111, an outer sliding rail 1210 is provided on one side of the outer adjustment frame 1205, and a top supporting frame 1209 is fixedly connected to the top of the top sliding block 1207.

[0059] After the puncture needle body 6 is moved to the top of the operating table 2, the lifting plate 1114 is started to rise by the side electric push rod 1113, driving the limit rod 1117 to separate from the arc-shaped limit groove 1105. At this time, the top limit plate 1104 is controlled by the servo motor 1101 to rotate continuously, driving the top gear plate 1201 to rotate, and the top gear plate 1201 is meshed with the side gear plate 1202. When the top gear plate 1201 rotates, the side gear plate 1202 is driven to rotate continuously, and when the side gear plate 1202 rotates, it will be activated by the inner bearing plate 1203. The dynamic connection is supported on one side of the adjustment base 1103. When the side toothed disc 1202 rotates, the external threaded rod 1204 is driven to rotate. Through the threaded connection between the external threaded rod 1204 and the top thread groove 1208, the top connecting block 1206 is driven to move horizontally. The movement of the top connecting block 1206 drives the top sliding block 1207 to move horizontally along the surface of the outer sliding rail 1210, thereby improving the stability of the movement of the top support frame 1209. The position of the portable optical signal receiver 1303 can be adjusted through the movement of the top support frame 1209.

[0060] In this embodiment, a puncture mechanism 13 is provided at the top of the top support frame 1209, and the puncture mechanism 13 includes a top fixing frame 1301, an external controller 1302 and an optical signal receiver 1303. The top of the top support frame 1209 is fixedly connected to the top fixing frame 1301, the top of the top fixing frame 1301 is fixedly connected to the external controller 1302, and an optical signal receiver 1303 is provided on one side of the external controller 1302. A sliding inner rail 1308 is provided on the inner side of the top fixing frame 1301, and a sliding bar 1307 is slidably connected to the inner side of the sliding inner rail 1308. A top fixing block 1306 is fixedly connected to one side of the sliding bar 1307, and a sliding top plate 1305 is fixedly connected to one side of the top fixing block 1306. An external electric push rod 1304 is fixedly connected to one side of the sliding top plate 1305, and the bottom of the top fixing block 1306 is fixedly connected to the top of the puncture needle body 6.

[0061] By moving the optical signal receiver 1303 on the surface of the operating table 2, the optical signal receiver 1303 is moved to the position of the laser emitted by the laser locator 1005 for calibration. When the groove of the optical signal receiver 1303 coincides with the laser emitted by the laser locator 1005, the optical signal receiver 1303 is induced by light and sends a signal through the external controller 1302. The signal is received by the main controller 1120 and controls the servo motor 1101 to stop and maintain the position of the top fixing frame 1301. At this time, after the position of the puncture needle body 6 is determined, The external electric push rod 1304 is used to start and drive the sliding top plate 1305 to descend. The descent of the sliding top plate 1305 will drive the top fixed block 1306 and the sliding bar 1307 to descend. The sliding connection of the sliding bar 1307 along the sliding inner rail 1308 improves the stability of the movement of the top fixed block 1306. The stable descent of the top fixed block 1306 drives the puncture needle body 6 to puncture the model on the surface of the operating table 2, thereby improving the accuracy and stability of the puncture needle body 6 puncturing the operating table 2. By repeatedly measuring the puncture error, the error generated during the operation is reduced.

[0062] In this embodiment, a storage mechanism 14 is provided on one side of the right sliding support plate 805, and the storage mechanism 14 includes a side L support frame 1401, a connecting vertical plate 1402 and a storage table 1403. One side of the right sliding support plate 805 is fixedly connected to the side L support frame 1401, one side of the side L support frame 1401 is fixedly connected to the connecting vertical plate 1402, and one side of the connecting vertical plate 1402 is fixedly connected to the storage table 1403. The multiple storage tables 1403 on one side of the side L support frame 1401 are used to place surgical instruments for error measurement without repeatedly taking them up, thereby improving the efficiency of error measurement.

[0063] In this embodiment, the top of the top connecting frame 1111 is movably connected to a top bearing disk 1119, and the top of the top bearing disk 1119 is movably connected to a fixed side frame 1118, and one side of the fixed side frame 1118 is fixedly connected to a main controller 1120; when the top limit disk 1104 rotates, it will drive the limit rod 1117 to rotate synchronously, and drive the square top frame 1110 and the side electric push rod 1113 to rotate synchronously, and at this time drive the top connecting frame 1111 to rotate along the inner side of the top bearing disk 1119, and after rotating one side of the top connecting frame 1111 to one side of the operating table 2, it drives the puncture needle body 6 to move to the top of the operating table 2.

[0064] The working process of the technical solution of the present invention is as follows:

[0065] When in use, the transmission motor 702 is started to drive the left threaded rod 703 to rotate. The rotating left threaded rod 703 is threadedly connected to the left threaded hole 705, thereby driving the left sliding support plate 704 to move horizontally. The horizontal movement of the left sliding support plate 704 drives the arc-shaped side frame 3 to adjust its horizontal position along one side of the operating table 2. There is no need for the operator to manually push the arc-shaped side frame 3 to adjust its position, thereby improving the accuracy and portability of the movement of the arc-shaped side frame 3.

[0066] After the arc-shaped side frame 3 moves to the specified position, the C-type fluoroscopy machine 4 on one side of the arc-shaped side frame 3 is started, and the model placed on the surface of the operating table 2 is scanned by the C-type fluoroscopy machine 4, and the scanned data is image-constructed. At the same time, the camera 5 is used to continuously shoot the model on the surface of the operating table 2, and the C-type fluoroscopy machine 4 is used to construct a three-dimensional image.

[0067] At the same time, during the scanning process of the C-type fluoroscopy machine 4, the position of the laser locator 1005 is adjusted after the top electric push rod 1001 is started. After the laser locator 1005 is moved to a suitable position, the laser locator 1005 is started to emit a horizontal laser to illuminate the surface of the operating table 2, and a laser positioning auxiliary line is formed on the surface of the operating table 2, which is convenient for the operator to position the model on the surface of the operating table 2.

[0068] At the same time, during the rotation of the left threaded rod 703, the left toothed disc 801 will be driven to rotate, and through the engagement of the left toothed disc 801 and the toothed belt 802, the right toothed disc 803 will be driven to rotate synchronously. After the rotation, the right toothed disc 803 will drive the right threaded rod 804 to rotate, and the rotating right threaded rod 804 is threadedly connected with the right thread groove 806, thereby driving the right sliding support plate 805 to move horizontally, and the horizontally moving right sliding support plate 805 drives the puncture needle body 6 to adjust its horizontal position.

[0069] At this time, after the servo motor 1101 is started, the transmission top rod 1102 is driven to rotate through the servo motor 1101, and by adjusting the connection of the base 1103, the top limit plate 1104 is driven to move synchronously when the transmission top rod 1102 rotates. Before the top limit plate 1104 moves, the lifting plate 1114 is driven to descend after the side electric push rod 1113 is started, and the limiting rod 1117 at the bottom of the annular sleeve 1115 is driven to descend through the descending lifting plate 1114. At the same time, through the socket connection between the inner annular rail 1116 and the sliding shaft disk 1108, the socket disk 1107 and the sliding shaft disk 1108 are synchronously driven when the annular sleeve 1115 descends. The square base frame 1109 descends, and the square base frame 1109 will slide downward along the inner side of the square top frame 1110. After the limit rod 1117 descends, it will enter the arc-shaped limit groove 1105 opened on the surface of the top limit plate 1104. At this time, when the top limit plate 1104 rotates, it will drive the limit rod 1117 to rotate synchronously, and drive the square top frame 1110 and the side electric push rod 1113 to rotate synchronously. At this time, the top connecting frame 1111 is driven to rotate along the inner side of the top bearing plate 1119. After rotating one side of the top connecting frame 1111 to one side of the operating table 2, the puncture needle body 6 is driven to move to the top of the operating table 2.

[0070] After the puncture needle body 6 is moved to the top of the operating table 2, the lifting plate 1114 is started to rise by the side electric push rod 1113, driving the limit rod 1117 to separate from the arc-shaped limit groove 1105. At this time, the top limit plate 1104 is controlled by the servo motor 1101 to rotate continuously, driving the top gear plate 1201 to rotate, and the top gear plate 1201 is meshed with the side gear plate 1202. When the top gear plate 1201 rotates, the side gear plate 1202 is driven to rotate continuously, and when the side gear plate 1202 rotates, it will be activated by the inner bearing plate 1203. The dynamic connection is supported on one side of the adjustment base 1103. When the side toothed disc 1202 rotates, the external threaded rod 1204 is driven to rotate. Through the threaded connection between the external threaded rod 1204 and the top thread groove 1208, the top connecting block 1206 is driven to move horizontally. The movement of the top connecting block 1206 drives the top sliding block 1207 to move horizontally along the surface of the outer sliding rail 1210, thereby improving the stability of the movement of the top support frame 1209. The position of the portable optical signal receiver 1303 can be adjusted through the movement of the top support frame 1209.

[0071] By moving the optical signal receiver 1303 on the surface of the operating table 2, the optical signal receiver 1303 is moved to the position of the laser emitted by the laser locator 1005 for calibration. When the groove of the optical signal receiver 1303 coincides with the laser emitted by the laser locator 1005, the optical signal receiver 1303 is induced by light and sends a signal through the external controller 1302. The signal is received by the main controller 1120 and controls the servo motor 1101 to stop and maintain the position of the top fixing frame 1301. At this time, after the position of the puncture needle body 6 is determined, The external electric push rod 1304 is used to start and drive the sliding top plate 1305 to descend. The descent of the sliding top plate 1305 will drive the top fixed block 1306 and the sliding bar 1307 to descend. The sliding connection of the sliding bar 1307 along the sliding inner rail 1308 improves the stability of the movement of the top fixed block 1306. The stable descent of the top fixed block 1306 drives the puncture needle body 6 to puncture the model on the surface of the operating table 2, thereby improving the accuracy and stability of the puncture needle body 6 puncturing the operating table 2. By repeatedly measuring the puncture error, the error generated during the operation is reduced.

[0072] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0073] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A trauma orthopedic surgery navigation error measurement device based on AR technology, including a table frame, characterized in that: The top of the table base frame is fixedly connected to an operating table, one side of the operating table is provided with an arc-shaped side frame, the top of the arc-shaped side frame is fixedly connected to a C-type fluoroscopy machine, one side of the C-type fluoroscopy machine is provided with a camera, the top of the operating table is provided with a puncture needle body, one side of the operating table is provided with a translation mechanism, and the translation mechanism includes a side fixing frame, a transmission motor and a left threaded rod; A side fixing frame is fixedly connected to one side of the operating table, a transmission motor is fixedly connected to the top of the side fixing frame, a left threaded rod is fixedly connected to the output shaft of the transmission motor, a side rail is fixedly connected to the bottom of the operating table, an I-shaped slide groove is slidably connected to one side of the side rail, a bottom reinforcement plate is fixedly connected to one side of the I-shaped slide groove, a left sliding support plate is fixedly connected to the top of the bottom reinforcement plate, and a left threaded hole is opened on the surface of the left sliding support plate.

2. The trauma orthopedic surgery navigation error measurement device based on AR technology according to claim 1 is characterized in that: A laser mechanism is provided on one side of the C-type fluoroscopy machine, and the laser mechanism includes a top electric push rod, a connecting top frame and a side sliding block. One side of the C-type fluoroscopy machine is fixedly connected to a top sliding rail, one side of the top sliding rail is slidably connected to a side sliding block, one side of the side sliding block is fixedly connected to a connecting top frame, one side of the connecting top frame is fixedly connected to a laser locator, the other side of the connecting top frame is fixedly connected to a top electric push rod, and one side of the top electric push rod is fixedly connected to one side of the arc-shaped side frame.

3. The trauma orthopedic surgery navigation error measurement device based on AR technology according to claim 2 is characterized in that: A limiting mechanism is provided on the other side of the operating table, and the limiting mechanism includes a left toothed disc, a toothed belt and a right toothed disc. The surface of the left threaded rod is fixedly sleeved with the left toothed disc, one side of the left toothed disc is meshedly connected with the toothed belt, one side of the toothed belt is meshedly connected with the right toothed disc, one side of the right toothed disc is fixedly connected with a right threaded rod, one side of the right threaded rod is provided with a right sliding support plate, and the surface of the right sliding support plate is provided with a right threaded groove.

4. The trauma orthopedic surgery navigation error measurement device based on AR technology according to claim 3 is characterized in that: A supporting mechanism is arranged on the outer side of the operating table, and the supporting mechanism includes side support plates, side bearing plates and sliding side plates. Inner sliding rails are provided on both sides of the operating table, and sliding side plates are slidably connected to the surfaces of the inner sliding rails. There are two sliding side plates, and one side of the two sliding side plates is fixedly connected to one side of the left sliding support plate and one side of the right sliding support plate.

5. The trauma orthopedic surgery navigation error measurement device based on AR technology according to claim 4 is characterized in that: One end of the left threaded rod and one end of the right threaded rod are both movably connected to a side bearing disc, and one side of the side bearing disc is movably connected to a side supporting plate.

6. The trauma orthopedic surgery navigation error measurement device based on AR technology according to claim 5 is characterized in that: The top of the right sliding support plate is provided with an adjusting mechanism, and the adjusting mechanism comprises a servo motor, a transmission push rod and an adjusting base, the output shaft of the servo motor is fixedly connected with the transmission push rod, the top of the transmission push rod is fixedly connected with the adjusting base, the top of the adjusting base is fixedly connected with a top limit plate, the top of the top limit plate is provided with an arc-shaped limit groove, the top of the top limit plate is fixedly connected with a transmission top frame, the top of the transmission top frame is fixedly connected with a sleeve plate, the top of the sleeve plate is fixedly connected with a square bottom frame, the inner side of the square bottom frame is slidably sleeved with a square top frame, the top of the square top frame is fixedly connected with a top connecting frame, one side of the top connecting frame is fixedly connected with a side electric push rod, one side of the side electric push rod is fixedly connected with a lifting plate, one side of the lifting plate is fixedly connected with an annular sleeve, the inner side of the annular sleeve is provided with an inner annular rail, the bottom of the annular sleeve is fixedly connected with a limiting rod, the sleeve plate is fixedly connected with a sliding shaft disc, and the surface of the sliding shaft disc is slidably connected to the inner side of the inner annular rail.

7. The trauma orthopedic surgery navigation error measurement device based on AR technology according to claim 6 is characterized in that: A transmission mechanism is provided on the top of the operating table, and the transmission mechanism includes a top gear disk, a side gear disk and an inner bearing disk. The surface of the adjusting base is fixedly sleeved with a top gear disk, one side of the top gear disk is meshingly connected with a side gear disk, one side of the side gear disk is movably connected with an inner bearing disk, the other side of the side gear disk is fixedly connected with an externally threaded rod, the surface of the externally threaded rod is provided with a top connecting block, the surface of the top connecting block is provided with a top thread groove, one side of the top connecting block is fixedly connected with a top sliding block, one side of the top connecting frame is fixedly connected with an outer adjusting frame, one side of the outer adjusting frame is provided with an outer sliding rail, and the top of the top sliding block is fixedly connected with a top supporting frame.

8. The device for measuring navigation errors in trauma orthopedic surgery based on AR technology according to claim 7 is characterized in that: A puncture mechanism is arranged on the top of the top support frame, and the puncture mechanism includes a top fixing frame, an external controller and an optical signal receiver. The top of the top support frame is fixedly connected to the top fixing frame, the top of the top fixing frame is fixedly connected to the external controller, an optical signal receiver is arranged on one side of the external controller, a sliding inner rail is provided on the inner side of the top fixing frame, a sliding bar is slidably connected to the inner side of the sliding inner rail, a top fixing block is fixedly connected to one side of the sliding bar, a sliding top plate is fixedly connected to one side of the top fixing block, an external electric push rod is fixedly connected to one side of the sliding top plate, and the bottom of the top fixing block is fixedly connected to the top of the puncture needle body.

9. The trauma orthopedic surgery navigation error measurement device based on AR technology according to claim 8, characterized in that: A storage mechanism is provided on one side of the right sliding support plate, and the storage mechanism includes a side L support frame, a connecting vertical plate and a storage table. One side of the right sliding support plate is fixedly connected to the side L support frame, one side of the side L support frame is fixedly connected to the connecting vertical plate, and one side of the connecting vertical plate is fixedly connected to the storage table.

10. The trauma orthopedic surgery navigation error measurement device based on AR technology according to claim 9, characterized in that: The top of the top connecting frame is movably connected to a top bearing disc, the top of the top bearing disc is movably connected to a fixed side frame, and one side of the fixed side frame is fixedly connected to a general controller.

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