A multifunctional navigation surgical instrument calibration instrument and calibration method thereof

Abstract

The present invention discloses a multifunctional navigation surgical instrument calibration instrument and a calibration method thereof, which comprises: a calibration bracket, comprising a first reference plane, a second reference plane and a third reference plane; an angle less than 90° exists between the first reference plane and the second reference plane; an angle less than 90° exists between the second reference plane and the third reference plane; a calibration ball, comprising at least three calibration units; the calibration units are all arranged on the first reference plane; the projection of the calibration unit on the second reference plane is at least three calibration points; the projection of the calibration unit on the third reference plane is at least three calibration points; a first calibration part, comprising a calibration hole and a first calibration plane; the calibration hole extends into the interior of the calibration bracket on the second reference plane until it reaches the first calibration plane; a second calibration part, comprising a calibration column; the calibration column is arranged on the third reference plane, and the axis of the calibration column is perpendicular to the third reference plane. Through the above arrangement, the present invention can conveniently determine the axis and tip position of columnar and needle-shaped instruments in use.

Description

Technical Field

[0001] The invention belongs to the technical field of medical instruments, and in particular relates to a multifunctional navigation surgical instrument calibration instrument. Background Art

[0002] At present, in the clinic, various reference frames with NDI balls in surgical navigation systems are usually non-adjustable reference frames. However, in some complex surgical environments, single-angle reference frames cannot meet the needs of navigation and tracking. The complex surgical environment often blocks the space between the NDI ball on the reference frame and the navigation and tracking system, resulting in failure to track. Therefore, various reference frames with adjustable positions have emerged, and the adjustment of the reference frame is usually not a one-dimensional adjustment, but a multi-dimensional adjustment. Once the position is adjusted, the spatial posture of the instrument and the NDI ball will be adjusted; how to determine the adjusted posture.

[0003] The calibration instruments in the prior art are mostly used to calibrate a type of surgical instrument to understand the positional relationship between the adjusted navigation reference frame and the surgical instrument, so as to ensure that the movement path of the surgical instrument is understood by tracking the position of the navigation reference frame. Currently, the calibration of the hollow rod-shaped surgical instruments and the locking holes at the front end of the intramedullary nails involved in long bone surgery requires multiple surgical instruments to complete, and cannot be completed quickly with one instrument.

[0004] In view of the above problems, the present invention provides a multifunctional navigation surgical instrument calibration instrument. Summary of the invention

[0005] In order to solve the problems existing in the background technology, the present invention provides a multifunctional calibration instrument for a navigation surgical instrument with adjustable angles.

[0006] The instrument is provided with calibration parts for navigation surgical instruments of different shapes on different faces of a polyhedron, and a calibration unit recognized by a navigation system is provided on one face; the positional relationship between the calibration part and the calibration unit is known; and after the surgical instrument with the calibration unit is set to the calibration part, the position of the surgical instrument can be made equal to the position of the calibration part, and the relationship between the calibration unit on the surgical instrument and the calibration unit on the calibration instrument can be known by the navigation system, and the positional relationship between the surgical instrument and the calibration unit on the surgical instrument can be known by combining the known positional relationship between the calibration part and the calibration unit on the calibration instrument, so as to track the surgical instrument during the subsequent operation; by providing a variety of different calibration parts on different faces, the types of calibration instruments can be greatly reduced, and the time for changing the calibration device can be saved, which greatly improves the accuracy and efficiency of calibration, and can be well applied in clinical practice. The specific technical scheme is as follows:

[0007] A multifunctional navigation surgical instrument calibration instrument, characterized in that it comprises:

[0008] A calibration bracket including a plurality of reference surfaces;

[0009] The calibration sphere can be identified by the navigation system and is arranged on the first reference plane of the calibration bracket, and the center of each calibration sphere coincides with a plane 1; the calibration sphere includes at least three calibration units; and the calibration units are all arranged on the first reference plane;

[0010] Calibration countersinks, the starting plane of the calibration countersinks is the second reference plane of the calibration bracket, and the number of the calibration countersinks is at least three, the central axes of each calibration countersink are parallel to each other, the bottom end of the calibration countersink located inside the calibration bracket is the first calibration plane, each of the first calibration planes coincides, and the apertures of different calibration countersinks are consistent with the outer diameter of the end cylindrical portion of the surgical instrument;

[0011] The second calibration part includes a calibration column and a limit groove, the axes of each calibration column are parallel to each other, and the calibration column is arranged on the third reference plane of the calibration bracket; the diameter of the calibration column is consistent with the aperture of the surgical instrument, and the axis of the calibration column is perpendicular to the third reference plane. There is an angle of less than 90° between the first reference plane and the second reference plane; there is an angle of less than 90° between the second reference plane and the third reference plane;

[0012] The first calibration part includes a calibration countersunk hole and a first calibration plane; the calibration countersunk hole extends into the interior of the calibration bracket at the second reference plane until it reaches the first calibration plane; the first calibration plane is parallel to the second reference plane and the distance between them is fixed; wherein the positions of the first reference plane, the second reference plane, the third reference plane, and the first calibration plane are fixed.

[0013] Furthermore, the second reference surface or the third reference surface is defined as a horizontal outer surface, the first reference surface is arranged opposite to the horizontal outer surface, and the angle between the first reference surface and the horizontal outer surface is in the range of 30-60°, so that the two sets of calibration balls can be better identified.

[0014] Furthermore, the starting plane of the calibration countersunk hole is the two outer side surfaces on the calibration bracket, and its main purpose is to meet the calibration needs of multiple groups of instruments. The appropriate calibration countersunk hole can also be selected for calibration according to the position of the calibration ball.

[0015] A limiting structure and a calibration structure are also arranged inside the calibration bracket, and the limiting structure and the calibration structure constitute a third calibration part. The limiting structure has a limiting channel along a calibration direction, and the limiting channel cuts a V-shaped surface on the limiting structure. A calibration groove is opened on the outer wall of the calibration structure, and the limiting channel coincides with the calibration groove in the calibration direction.

[0016] Furthermore, the calibration bracket also includes a fourth reference plane; there is an angle less than 90° between the fourth reference plane and the second reference plane; the third calibration portion is arranged on the fourth reference plane; a limiting surface is provided at one end of the limiting structure away from the fourth reference plane; and the calibration groove is arranged at one end of the calibration structure facing the limiting structure.

[0017] Furthermore, the calibration bracket also includes a fifth reference plane; the fifth reference plane is perpendicular to the second reference plane; the first calibration portion also includes a calibration through hole and a second calibration plane; the calibration through hole extends into the interior of the calibration bracket at the fifth reference plane until it reaches the second calibration plane.

[0018] Furthermore, the calibration bracket is provided with a hollow space including at least one through-window penetrating to the outside of the calibration bracket, the side wall surface of the hollow space includes an internal horizontal surface parallel to the horizontal external surface, and the limiting structure and the calibration structure are arranged on the internal horizontal surface. This arrangement can ensure that the calibration instrument can penetrate into the limiting structure and the calibration structure in the hollow space through the through-window.

[0019] Furthermore, there is an angle less than 90° between the fourth reference plane and the second reference plane; and the projection of the calibration unit on the fourth reference plane is at least three calibration points.

[0020] Furthermore, the fifth reference plane is perpendicular to the second reference plane; and the projection of the calibration unit on the fifth reference plane is at least three calibration points.

[0021] Furthermore, the first calibration portion further includes at least two calibration through holes; the diameters of the calibration through holes are different.

[0022] Furthermore, the first calibration portion includes at least two calibration countersunk holes; the diameters of the calibration countersunk holes are different.

[0023] Furthermore, the second calibration portion includes at least two calibration columns; the calibration columns have different diameters.

[0024] Furthermore, the second calibration portion further includes a limiting groove; the limiting groove is recessed in the third reference surface; and the limiting groove corresponds to the calibration column one by one.

[0025] Furthermore, the second reference plane is perpendicular to the third reference plane.

[0026] Furthermore, the calibration method of the calibration device is to first capture the images of the calibration bracket and the calibration ball through the imaging system, then calibrate the calibration unit in the imaging system and obtain the calibration points, and then establish an image coordinate system according to the spatial position of the calibration points through the imaging system.

[0027] The embodiment of the present invention provides an intramedullary nail calibration method based on the use method of a multifunctional navigation surgical instrument calibration instrument. The calibration instrument used is the above-mentioned multifunctional navigation surgical instrument calibration instrument, and there is a constructed three-dimensional model of the multifunctional navigation surgical calibration instrument in the intraoperative navigation system. The calibration method steps include:

[0028] S1. Identifying the calibration unit of the multifunctional navigation surgical instrument calibration instrument through the optical tracking system to obtain the spatial position of the multifunctional navigation surgical instrument calibration instrument in the intraoperative navigation system;

[0029] S2, the vertex of the intramedullary nail of the connector reference frame is abutted against the first calibration plane of the multifunctional navigation surgical instrument calibration instrument to obtain the vertex position and axial direction of the intramedullary nail in the intraoperative navigation system;

[0030] S3. Place the locking nail hole of the intramedullary nail with the determined apex position in a calibration column to obtain the position and direction of the locking nail hole.

[0031] Beneficial effects of the present invention:

[0032] 1. The first calibration part can measure the tip position of a columnar or needle-shaped instrument and the axis position of the columnar or needle-shaped instrument; when in use, the distal end of the columnar or needle-shaped instrument is inserted into a suitable calibration countersunk hole or calibration through hole, and the columnar or needle-shaped instrument is tightly plugged into the calibration countersunk hole or calibration through hole, so that the axis position of the columnar or needle-shaped instrument can be determined; the distal end of the columnar or needle-shaped instrument contacts the first calibration plane or the second calibration plane, so that the tip position of the columnar or needle-shaped instrument can be determined;

[0033] 2. The calibration column can measure the position and axis of the distal through hole of the intramedullary nail. When in use, insert a suitable calibration column into the distal through hole of the intramedullary nail, and make the intramedullary nail close to the third reference surface. The calibration column and the distal through hole of the intramedullary nail are tightly plugged, so that the position and axis of the distal through hole of the intramedullary nail can be determined.

[0034] 3. The third calibration part is used to determine the tip position of the tap; when in use, the side wall of the tap is pressed against the limiting surface, and the tip of the tap contacts the inside of the calibration groove, so that the tip position of the tap can be determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of a surgical instrument calibration instrument implementing the present invention;

[0036] Figure 2 It is a front view of a surgical instrument calibration device implementing the present invention;

[0037] Figure 3 for Figure 2 AA section view;

[0038] Figure 4 A side view of a surgical instrument calibration device for implementing the present invention;

[0039] Figure 5 A bottom view of a surgical instrument calibration device implementing the present invention;

[0040] Figure 6 A top view of a surgical instrument calibration device for implementing the present invention;

[0041] Figure 7 It is a structural schematic diagram of another surgical instrument calibration device implementing the present invention;

[0042] Figure 8 A front view of another surgical instrument calibration device implementing the present invention;

[0043] Fig. 9 A side view of another surgical instrument calibration device implementing the present invention;

[0044] Fig.10 for Fig. 9 BB section view;

[0045] Fig.11 It is a structural schematic diagram of another embodiment of the fourth calibration unit of the present invention;

[0046] Fig.12 A bottom view of another surgical instrument calibration device implementing the present invention;

[0047] Fig.13 A top view of another surgical instrument calibration device implementing the present invention;

[0048] In the figure, 1. calibration bracket; 2. calibration ball; 3. first calibration part; 4. second calibration top; 5. third calibration part; 11. first reference surface; 12. second reference surface; 13. third reference surface; 14. fourth reference surface; 15. fifth reference surface; 31. calibration counterbore; 32. first calibration plane; 33. calibration through hole; 34. second calibration plane; 41. calibration column; 42. limit groove; 51. limit structure; 52. calibration structure; 511. limit surface; 521. calibration groove. DETAILED DESCRIPTION

[0049] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. The present invention can also be implemented or applied through other different specific implementation methods. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0050] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0051] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0052] Example 1

[0053] like Figure 1-6 A multifunctional navigation surgical instrument calibration instrument is shown, comprising:

[0054] The calibration bracket 1 comprises a first reference surface 11, a second reference surface 12 and a third reference surface 13; there is an angle less than 90° between the first reference surface 11 and the second reference surface 12; there is an angle less than 90° between the second reference surface 12 and the third reference surface 13;

[0055] The calibration sphere 2 includes M calibration units of the same diameter, where M is a natural integer and M is not less than 3; the calibration units are all arranged on the first reference surface 11; the calibration units are NDI balls arranged on the first reference surface;

[0056] The first calibration part 3 includes a calibration countersunk hole 31 and a first calibration plane 32; the calibration countersunk hole 31 extends into the interior of the calibration bracket 1 at the second reference surface 12 until it reaches the first calibration plane 32; the first calibration part 3 can measure the tip position of a columnar or needle-shaped instrument and the axial position of the columnar or needle-shaped instrument; when in use, the distal end of the columnar or needle-shaped instrument is inserted into a suitable calibration countersunk hole 31, and the columnar or needle-shaped instrument is tightly plugged into the calibration countersunk hole 31, so that the axial position of the columnar or needle-shaped instrument can be determined; the distal end of the columnar or needle-shaped instrument contacts the first calibration plane 32, so that the tip position of the columnar or needle-shaped instrument can be determined.

[0057] The calibration counterbore 31 and the first calibration plane 32 are fixed inside the calibration bracket 1. When the position of the calibration bracket 1 is determined, the positions of the calibration counterbore 31 and the first calibration plane 32 and the axis of the calibration counterbore 31 can be calculated. In this case, whether there is an angle between the first calibration plane 32 and the second reference plane 12 does not affect the use effect of the first calibration part 3. In this embodiment, for ease of understanding, the first calibration plane 32 and the second reference plane 12 are set to be parallel.

[0058] The second calibration part 4 includes a calibration column 41; the calibration column 41 is arranged on the third reference surface 13, and the axis of the calibration column 41 is perpendicular to the third reference surface 13. The second calibration part 4 can measure the position and axis of the distal through hole of the intramedullary nail; when in use, insert a suitable calibration column 41 into the distal through hole of the intramedullary nail, and make the intramedullary nail close to the third reference surface 13, and the calibration column 41 is tightly plugged into the distal through hole of the intramedullary nail, so that the position and axis of the distal through hole of the intramedullary nail can be determined. The number of calibration columns 41 is at least four, and the axes of each calibration column 41 are parallel to each other. The calibration column 41 is arranged on the third reference surface 13 of the calibration bracket 1; the diameter of the calibration column 41 is consistent with the aperture of the surgical instrument.

[0059] Specifically, the second reference plane 12 is perpendicular to the third reference plane 13 .

[0060] It can be seen from the above technical solution that the design of the calibration part can realize the calibration of multiple radial positions, so that the calibration range is diverse, thereby meeting the use requirements of various surgical instruments. At the same time, due to the setting of the calibration ball 2, the calibration of the three-axis coordinate system can be completed at only one fixed position, without repeatedly moving the position of the positioning device, which greatly improves the convenience of actual use and also greatly saves medical costs.

[0061] Furthermore, the calibration bracket 1 is fixed at a certain position, and the second reference plane 12 is kept in a vertical state, and the third reference bracket is kept in a horizontal state. Then, the position of the calibration bracket 1 is determined by the calibration ball 2. Since the first calibration part 3 and the second calibration part 4 are both fixed inside the calibration bracket 1, the positions of the first calibration part 3 and the second calibration part 4 can be obtained after the position of the calibration bracket 1 is determined, and the first calibration part 3 and the second calibration part 4 can be used to determine the position of the surgical instrument.

[0062] In some embodiments of the present application, Figure 1-6 As shown, the first calibration part 3 includes at least two calibration countersunk holes 31; the diameters of the calibration countersunk holes 31 are different. The purpose of this design is to increase the application range of the first calibration part 3, so that the first calibration part 3 can be closely connected with various types of columnar and needle-shaped instruments to determine the tip position of the columnar and needle-shaped instruments and the axis position of the columnar and needle-shaped instruments.

[0063] Whether a first calibration plane 32 different from other calibration countersunk holes 31 is provided in each calibration countersunk hole 31 inside the first calibration part 3 does not affect the use effect of the first calibration part 3. In this embodiment, for ease of understanding, the first calibration plane 32 is set as a uniform plane.

[0064] Specifically, scales are set on the second reference surface 12 to mark the diameters of different calibration counterbores 31 , so as to facilitate inserting columnar or needle-shaped instruments of different diameters into appropriate calibration counterbores 31 .

[0065] In the exemplary embodiment of the present application, Figure 1-6 As shown, the second marking part 4 includes at least two marking posts 41; the diameters of the marking posts 41 are different. The purpose of this design is to increase the application range of the second marking part 4, so that the second marking part 4 can be closely connected with the distal through holes of various models of intramedullary nails to confirm the position and axis of the distal through hole of the intramedullary nail.

[0066] Specifically, scales are provided on the first reference surface 11 to mark the apertures of different calibration posts 41 , so as to facilitate inserting positioning posts of different diameters into the appropriate distal through holes of the intramedullary nail.

[0067] In some embodiments of the present application, the second marking portion 4 further includes a limiting groove 42; the limiting groove 42 is recessed in the third reference surface 13; the limiting groove 42 corresponds one-to-one with the marking column 41. When in use, the positioning columns of different diameters are inserted into the distal through hole of the appropriate intramedullary nail, and then the intramedullary nail is pressed inside the limiting groove 42 to prevent the intramedullary nail from rotating around the positioning column as the axis.

[0068] In other embodiments of the present application, a hollow space including at least one through-window penetrating to the outside of the calibration bracket is provided in the calibration bracket, the side wall surface of the hollow space includes an internal horizontal surface parallel to the horizontal external surface, and the limiting structure and the calibration structure are provided on the internal horizontal surface. This arrangement can ensure that the calibration instrument can penetrate into the limiting structure and the calibration structure in the hollow space through the through-window.

[0069] The method of measuring the tip position of a columnar or needle-shaped instrument and the axis position of a columnar or needle-shaped instrument in this embodiment is as follows:

[0070] 1. Fix the calibration bracket 1 at a certain position, and keep the second reference surface 12 in a vertical state and the third reference frame in a horizontal state;

[0071] 2. Determine the position of the calibration bracket 1 by the calibration ball 2;

[0072] 3. Calculate the positions of the calibration counterbore 31 and the first calibration plane 32, and calculate the axis of the calibration counterbore 31;

[0073] 4. Insert the cylindrical or needle-shaped instrument into the appropriate calibrated countersunk hole 31;

[0074] 5. Based on the positional relationship between the calibration sphere 2 and the reference frame fixedly mounted on the surgical instrument, the axial position of the appropriate calibration countersunk hole 31, and the position of the first calibration plane 32, the positional relationship between the tip of the columnar or needle-shaped instrument and the reference frame fixedly mounted on the surgical instrument is calculated to confirm the tip position of the columnar or needle-shaped instrument and the axial position of the columnar or needle-shaped instrument.

[0075] The method for measuring the position and axis of the distal through hole of the intramedullary nail in this embodiment is as follows:

[0076] 1. Fix the calibration bracket 1 at a certain position, and keep the second reference surface 12 in a vertical state and the third reference frame in a horizontal state;

[0077] 2. Determine the position of the calibration bracket 1 by the calibration ball 2;

[0078] 3. Calculate the position and axis of the calibration column 41;

[0079] 4. Insert the positioning column into a suitable distal through hole of the intramedullary nail, and place the intramedullary nail close to the third reference surface 13;

[0080] 5. According to the positional relationship between the calibration ball 2 and the reference frame fixedly installed on the surgical instrument, the position and axis of the appropriate calibration column 41, the positional relationship between the distal through hole of the intramedullary nail and the reference frame fixedly installed on the surgical instrument is calculated, and the position and axis of the distal through hole of the intramedullary nail are confirmed. The locking hole of the intramedullary nail is sleeved on the outside of the calibration column 41 to complete the determination of the position, direction and diameter of the locking hole.

[0081] In some embodiments of the present application, a method for using a multifunctional navigation surgical instrument calibration instrument is provided, wherein the calibration instrument is the multifunctional navigation surgical instrument calibration instrument described above, and a three-dimensional model of the multifunctional navigation surgical calibration instrument is constructed in the intraoperative navigation system. The calibration method steps include:

[0082] S1. Identifying the calibration unit of the multifunctional navigation surgical instrument calibration instrument through the optical tracking system to obtain the spatial position of the multifunctional navigation surgical instrument calibration instrument in the intraoperative navigation system;

[0083] S2, the vertex of the intramedullary nail of the connector reference frame abuts against the first calibration plane 32 of the multifunctional navigation surgical instrument calibration instrument to obtain the vertex position and axial direction of the intramedullary nail in the intraoperative navigation system;

[0084] S3. Place the locking nail hole of the intramedullary nail with the determined apex position in the calibration column 41 to obtain the position and direction of the locking nail hole.

[0085] In some embodiments of the present application, a calibration unit of a multifunctional navigation surgical instrument calibration instrument is identified by an optical tracking system, and the spatial posture of the multifunctional navigation surgical instrument calibration instrument in the intraoperative navigation system is obtained by constructing a three-dimensional model of the multifunctional navigation surgical instrument calibration instrument and the calibration unit of the identified multifunctional navigation surgical instrument calibration instrument in the intraoperative navigation system; the intramedullary nail of the connector reference frame is identified by an optical tracking system, and the position of the intramedullary nail of the connector reference frame is obtained in the intraoperative navigation system, and the vertex of the intramedullary nail of the connector reference frame is abutted against the first calibration plane 32 of the multifunctional navigation surgical instrument calibration instrument, and the three-dimensional model of the multifunctional navigation surgical instrument calibration instrument in the intraoperative navigation system gives the vertex position and axial direction of the intramedullary nail; the intramedullary nail of the connector reference frame is placed in the calibration column 41, and the three-dimensional model of the multifunctional navigation surgical instrument calibration instrument in the intraoperative navigation system gives the locking nail hole diameter and the locking nail hole position of the intramedullary nail.

[0086] The connector reference frame includes an optical ball, and the optical tracking system obtains the position of the intramedullary nail of the connector reference frame by identifying the optical ball, and the position is a spatial coordinate.

[0087] In some embodiments of the present application, the intramedullary nail includes L locking nail holes, where L is a natural number greater than or equal to 2, and the L locking nail holes are in different directions but are located on the same axis.

[0088] In some embodiments of the present application, the calibrated multifunctional navigation surgical instrument calibration instrument includes calibration countersunk holes 31 and calibration columns 41 of different sizes, and the calibrated intramedullary nail selects calibration countersunk holes 31 and calibration columns 41 of matching sizes for parameter acquisition.

[0089] Example 2

[0090] like Figure 1-6 As shown, the difference between this embodiment and embodiment 1 is that:

[0091] Furthermore, the calibration bracket 1 also includes a fourth reference plane 14; there is an angle less than 90° between the fourth reference plane 14 and the second reference plane 12; the limiting structure 51 and the calibration structure 52 constitute a third calibration part 5, and the third calibration part 5 is arranged on the fourth reference plane 14; a limiting surface 511 is provided at one end of the limiting structure 51 away from the fourth reference plane 14; and a calibration groove 521 is arranged at one end of the calibration structure 52 facing the limiting structure 51.

[0092] Specifically, the limiting surface 511 is a V-shaped surface, and the setting of the V-shaped surface can be used to limit the position of the tap, prevent the tap from rotating, and prevent the tap from accidentally falling off during use.

[0093] Furthermore, the calibration groove 521 is a V-shaped groove, and the tip of the tap is pressed against the inflection point of the V-shaped groove to determine the position of the tip of the tap.

[0094] The third calibration portion 5 is used to determine the tip position of the tap; when in use, the side wall of the tap is pressed against the limiting surface 511, and the tip of the tap contacts the inside of the calibration groove 521, so that the tip position of the tap can be determined.

[0095] Furthermore, there is an angle of less than 90° between the fourth reference plane 14 and the second reference plane 12; the projection of the calibration unit on the fourth reference plane 14 is at least three calibration points. The purpose of this design is to effectively ensure that when this component is installed on the corresponding surgical instrument support, any position of the component in the three-dimensional space has a corresponding calibration point provided to the positioning system for detection and calculation.

[0096] The method of determining the tip position of the wire tap in this embodiment:

[0097] 1. Fix the calibration bracket 1 at a certain position, and keep the fifth reference plane 15 in a horizontal state and the third reference frame in a vertical state;

[0098] 2. Determine the position of the calibration bracket 1 by the calibration ball 2;

[0099] 3. Calculate the positions of the limiting structure 51 and the calibration structure 52, and determine the positions of the limiting surface 511 and the calibration groove 521;

[0100] 4. Place the tap inside the limiting surface 511 and make the tip of the tap rest on the calibration groove 521;

[0101] 5. According to the positional relationship between the calibration ball 2 and the reference frame fixedly mounted on the surgical instrument, and the position of the limit surface 511 and the calibration groove 521, the positional relationship between the tip of the tap and the reference frame fixedly mounted on the surgical instrument is calculated.

[0102] In the specific example of the present application, the calibration bracket 1 further includes a fifth reference plane 15; the fifth reference plane 15 is perpendicular to the second reference plane 12; the first calibration portion 3 further includes a calibration through hole 33 and a second calibration plane 34; the calibration through hole 33 extends into the interior of the calibration bracket 1 at the fifth reference plane 15 until it reaches the second calibration plane 34. The number of the calibration through holes 33 is at least three, and the calibration through holes 33 do not interfere with the calibration counterbore 31. The inner diameter of each calibration through hole 33 is different; the central axis of each calibration through hole 33 is parallel to each other.

[0103] The calibration through hole 33 and the second calibration plane 34 are fixed inside the calibration bracket 1. When the position of the calibration bracket 1 is determined, the positions of the calibration through hole 33 and the second calibration plane 34 and the axis of the calibration counterbore 31 can be calculated. In this case, whether there is an angle between the second calibration plane 34 and the fifth reference plane 15 does not affect the use effect of the first calibration part 3. In this embodiment, for ease of understanding, the first calibration plane 32 and the fifth reference plane 15 are set to be parallel.

[0104] The first calibration part 3 can measure the tip position of the columnar or needle-shaped instrument and the axial position of the columnar or needle-shaped instrument; when in use, the distal end of the columnar or needle-shaped instrument is inserted into a suitable calibration countersunk hole 31 or calibration through hole 33, and the columnar or needle-shaped instrument is tightly plugged into the calibration countersunk hole 31 or calibration through hole 33, so that the axial position of the columnar or needle-shaped instrument can be determined; the distal end of the columnar or needle-shaped instrument contacts the first calibration plane 32 or the second calibration plane 34, so that the tip position of the columnar or needle-shaped instrument can be determined.

[0105] Specifically, the fifth reference plane 15 is perpendicular to the second reference plane 12; the projection of the calibration unit on the fifth reference plane 15 is at least three calibration points.

[0106] Specifically, the first calibration portion 3 further includes at least two calibration through holes 33; the calibration through holes 33 have different diameters.

[0107] Furthermore, whether a second calibration plane 34 different from other calibration countersunk holes 31 is provided in each calibration countersunk hole 31 inside the first calibration part 3 does not affect the use effect of the first calibration part 3. In this embodiment, for ease of understanding, the second calibration plane 34 is set as a uniform plane.

[0108] The calibration through hole 33 and the second calibration plane 34 further improve the applicability of the first calibration portion 3 and increase the types of columnar and needle-shaped instruments that can be adapted.

[0109] Preferably, a scale is set on the fifth reference surface 15 to mark the apertures of different calibration counterbores 31, so as to facilitate the insertion of columnar or needle-shaped instruments of different diameters into appropriate calibration counterbores 31, thereby completing the calibration of the apex position, axial direction and diameter of the intramedullary nail.

[0110] The method of measuring the tip position of a columnar or needle-shaped instrument and the axis position of a columnar or needle-shaped instrument in this embodiment is as follows:

[0111] 1. Fix the calibration bracket 1 at a certain position, and keep the second reference surface 12 in a horizontal state and the third reference frame in a vertical state;

[0112] 2. Determine the position of the calibration bracket 1 by the calibration ball 2;

[0113] 3. Calculate the positions of the calibration through hole 33 and the second calibration plane 34, and calculate the axis of the calibration through hole 33;

[0114] 4. Insert the columnar or needle-shaped instrument into the appropriate calibrated through hole 33;

[0115] 5. Based on the positional relationship between the calibration sphere 2 and the reference frame fixedly mounted on the surgical instrument, the axial position of the appropriate calibration through hole 33, and the position of the second calibration plane 34, the positional relationship between the tip of the columnar or needle-shaped instrument and the reference frame fixedly mounted on the surgical instrument is calculated to confirm the tip position of the columnar or needle-shaped instrument and the axial position of the columnar or needle-shaped instrument.

[0116] In the description of this specification, the description with reference to the terms "embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", "some examples", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0117] The embodiments described in this application are only some embodiments of the present invention, not all embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation methods. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

Claims

1. A multifunctional navigation surgical instrument calibration instrument, characterized in that: It includes: A calibration bracket including a plurality of reference surfaces; Calibration balls, which are arranged on the first reference surface of the calibration bracket, and the number of the calibration balls is at least three, and the center of each calibration ball coincides with a plane one; Calibration countersinks, the starting plane of the calibration countersinks is the second reference plane of the calibration bracket, and the number of the calibration countersinks is at least four, the central axes of each calibration countersink are parallel to each other, the bottom end of the calibration countersink located inside the calibration bracket is the first calibration plane, each of the first calibration planes coincides, and the apertures of different calibration countersinks are consistent with the outer diameter of the end cylindrical portion of the surgical instrument; There are at least four calibration posts, the axes of each calibration post are parallel to each other, and the calibration posts are arranged on the third reference surface of the calibration bracket; the diameter of the calibration posts is consistent with the aperture of the surgical instrument; A limiting structure and a calibration structure are also arranged inside the calibration bracket, the limiting structure has a limiting channel along a calibration direction, a calibration groove is opened on the outer wall of the calibration structure, and the limiting channel coincides with the calibration groove in the calibration direction; The calibration bracket is provided with a hollow space including at least one through window penetrating to the outside of the calibration bracket, the side wall surface of the hollow space includes an internal horizontal surface parallel to the horizontal external surface, and the limiting structure and the calibration structure are arranged on the internal horizontal surface.

2. The calibration device according to claim 1, characterized in that: The second reference plane or the third reference plane is defined as a horizontal outer side surface, the first reference plane is arranged opposite to the horizontal outer side surface, and the angle between the first reference plane and the horizontal outer side surface is in the range of 30-60°.

3. A multifunctional navigation surgical instrument calibration instrument according to claim 1, characterized in that: The calibration sphere includes M calibration units with the same diameter, where M is a natural integer.

4. The multifunctional navigation surgical instrument calibration instrument according to claim 1, characterized in that: It also includes calibration through holes, the number of which is at least four, and the calibration through holes do not interfere with the calibration countersunk holes.

5. A multifunctional navigation surgical instrument calibration instrument according to claim 4, characterized in that: The inner diameter of each calibration through hole is different; and the central axis of each calibration through hole is parallel to each other.

6. A method for intramedullary nail calibration based on a multifunctional navigation surgical instrument calibration instrument, characterized in that: The instrument used for calibration is a multifunctional navigation surgical instrument calibration instrument as described in claim 1, and there is a constructed three-dimensional model of the multifunctional navigation surgical calibration instrument in the intraoperative navigation system. The calibration method steps include: S1. Identifying the calibration unit of the multifunctional navigation surgical instrument calibration instrument through the optical tracking system to obtain the spatial position of the multifunctional navigation surgical instrument calibration instrument in the intraoperative navigation system; S2, the vertex of the intramedullary nail of the connector reference frame is abutted against the first calibration plane of the multifunctional navigation surgical instrument calibration instrument to obtain the vertex position and axial direction of the intramedullary nail in the intraoperative navigation system; S3. Place the locking nail hole of the intramedullary nail with the determined apex position in a calibration column to obtain the position and direction of the locking nail hole.

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