Surgical instrument calibration method, surgical instrument calibration device and computer equipment

Abstract

The invention relates to a surgical instrument calibration method, a surgical instrument calibration device and computer equipment. The surgical instrument calibration method comprises the following steps: acquiring position information of a first locator, a second locator, a registration part and a third locator through navigation equipment; enabling the positioning part to be in contact with the reference part, and obtaining first position information of the positioning part relative to the second positioner through the first positioner; enabling the positioning part to be in contact with the registration part, and obtaining second position information of the registration part relative to the first positioner through the second positioner; third position information of the calibration part is obtained through the registration part, the working part makes contact with the calibration part, and fourth position information of the working part relative to the third positioner is obtained through the registration part; acquiring position information of the target part through navigation equipment, and converting the position information into target position information of the working part relative to the target part. According to the surgical instrument calibration method, the position information of the working part of the surgical instrument relative to the target part can be accurately obtained.

Description

Technical Field

[0001] The present application relates to the technical field of surgical instruments, and in particular to a surgical instrument calibration method, a surgical instrument calibration device and a computer device. Background Art

[0002] Traditional endodontic treatment includes a variety of root canal surgical procedures. With the widespread use of dental surgical microscopes, the shape, position and direction of the root canal can be observed visually and accurately. However, because the direction of the root canal of human teeth is perpendicular to the alveolar bone, during endodontic treatment, the apex cannot be seen directly, whether through direct vision or microscope. Only a 45° oblique view can be achieved with the help of a mouth mirror. In the invisible area, the doctor can only operate by feel, which is prone to mistakes and leads to a high risk of surgery.

[0003] In order to reduce the risk of doctors touching the target part of the patient during the operation, the use of optical navigation equipment for dental implants is becoming more and more widespread. In related technologies, specific optical feature points are usually fixed on the surgical instrument, and the optical navigation equipment is set to track the corresponding optical feature points on the surgical instrument, so as to obtain the position information of the surgical instrument relative to the target part of the patient.

[0004] However, the optical navigation device tracks the position of the optical feature points, not the actual position of the working part of the surgical instrument. It is necessary to obtain the positional relationship between the optical feature points and the working part of the surgical instrument in order to obtain the accurate position information of the working part of the surgical instrument. However, the working part of the surgical instrument has an irregular shape, and it is impossible to accurately obtain the position information of the working part of the surgical instrument relative to the target part. Summary of the invention

[0005] Based on this, it is necessary to provide a surgical instrument calibration method, a surgical instrument calibration device and a computer device, aiming to solve the problem that when the shape of the working part of the surgical instrument is irregular, it is impossible to accurately obtain the position information of the working part of the surgical instrument relative to the target part.

[0006] In a first aspect, a surgical instrument calibration method is implemented by a surgical instrument calibration device for obtaining a relative position between a surgical instrument and a target part, wherein the surgical instrument calibration device includes a navigation device, a reference component, and a positioning component;

[0007] The reference assembly includes a reference piece, a first locator, a reference portion, a registration portion, and a calibration portion; the first locator, the reference portion, the registration portion, and the calibration portion are arranged on the reference piece at intervals;

[0008] The positioning assembly includes a positioning member, a second positioning device and a positioning portion; the second positioning device and the positioning portion are spaced apart on the positioning member;

[0009] The surgical instrument comprises a surgical instrument body, a third positioner and a working part; the third positioner and the working part are arranged on the surgical instrument body at intervals;

[0010] Surgical instrument calibration methods include:

[0011] Acquire position information of the first locator, the second locator, the registration unit and the third locator through a navigation device;

[0012] The positioning part is brought into contact with the reference part, and first position information of the positioning part relative to the second positioning part is obtained by the first positioning device;

[0013] The positioning part is brought into contact with the registration part, and second position information of the registration part relative to the first locator is obtained through the second locator;

[0014] Acquiring third position information of the calibration part through the registration part, bringing the working part into contact with the calibration part, and acquiring fourth position information of the working part relative to the third locator through the registration part;

[0015] The position information of the target part is obtained through the navigation device and converted into the target position information of the working part relative to the target part.

[0016] In some embodiments, the navigation device configures a navigation coordinate system, the first locator configures a first coordinate system, the second locator configures a second coordinate system, the registration unit configures a third coordinate system, and the third locator configures a fourth coordinate system;

[0017] The method for obtaining position information of a first locator, a second locator, a registration unit, and a third locator by a navigation device includes:

[0018] Acquire, by means of a navigation device, first navigation position information, second navigation position information, third navigation position information and fourth navigation position information of the first locator, the second locator, the registration unit and the third locator in a navigation coordinate system respectively;

[0019] The method of bringing the positioning part into contact with the reference part and obtaining first position information of the positioning part relative to the second positioning part by the first positioning device comprises:

[0020] The positioning part is brought into contact with the reference part, first preset position information of the positioning part in the first coordinate system is obtained by a first locator, and the first preset position information, the first navigation position information and the second navigation position information are converted into the first position information of the positioning part in the second coordinate system;

[0021] The method of bringing the positioning part into contact with the registration part and obtaining second position information of the registration part relative to the first positioner through the second positioner includes:

[0022] The positioning portion is brought into contact with the registration portion, the first position information is converted into second preset position information of the registration portion in the second coordinate system, and the second preset position information, the first navigation position information, and the second navigation position information are converted into second position information of the registration portion in the first coordinate system;

[0023] The method of obtaining third position information of the calibration part through the registration part, contacting the working part with the calibration part, and obtaining fourth position information of the working part relative to the third locator through the registration part includes:

[0024] Acquire third position information of the calibration part in the third coordinate system through the registration part, contact the working part with the calibration part, convert the third position information into third preset position information of the working part in the third coordinate system, and convert the third preset position information, the second position information, the second navigation position information, the third navigation position information and the fourth navigation position information into fourth position information of the working part in the fourth coordinate system;

[0025] The method of obtaining the position information of the target part by the navigation device and converting it into the target position information of the working part relative to the target part includes:

[0026] The fifth navigation position information of the target part in the navigation coordinate system is obtained by the navigation device, and the fourth position information, the fourth navigation position information and the fifth navigation position information are converted into the target position information of the working part relative to the target part in the navigation coordinate system.

[0027] In some embodiments, before the positioning portion is brought into contact with the reference portion and the first position information of the positioning portion relative to the second positioner is acquired by the first positioner, the surgical instrument calibration method further includes:

[0028] The positioning part is brought into contact with the reference part, first reference position information of the reference part in the second coordinate system is acquired by a second positioning device, and the first reference position information, the first navigation position information and the second navigation position information are converted into second reference position information of the reference part in the first coordinate system.

[0029] In some embodiments, the surgical instrument calibration device further comprises a fixture, the fixture comprises a fourth positioner, and the fixture is configured with a fifth coordinate system;

[0030] Acquiring sixth navigation position information of the fourth locator in the navigation coordinate system through the navigation device;

[0031] After obtaining third position information of the calibration part in the third coordinate system through the registration part, contacting the working part with the calibration part, converting the third position information into third preset position information of the working part in the third coordinate system, converting the third preset position information, the second position information, the second navigation position information, the third navigation position information and the fourth navigation position information into fourth position information of the working part in the fourth coordinate system, obtaining fifth navigation position information of the target part in the navigation coordinate system through the navigation device, and converting the fourth position information, the fourth navigation position information and the fifth navigation position information into target position information of the working part relative to the target part in the navigation coordinate system, the surgical instrument calibration method further includes:

[0032] The fixing part is arranged at the target part, the fifth position information of the target part in the fifth coordinate system is obtained by the fourth locator, and the fifth position information and the sixth navigation position information are converted into the fifth navigation position information of the target part in the navigation coordinate system.

[0033] In a second aspect, a surgical instrument calibration device is used to obtain the relative position between the surgical instrument and the target part, the surgical instrument comprising a surgical instrument body, a third locator and a working part; the third locator and the working part are arranged on the surgical instrument body at intervals;

[0034] The surgical instrument calibration device includes:

[0035] Navigation equipment, reference components and positioning components;

[0036] The reference assembly includes a reference piece, a first locator, a reference portion, a registration portion, and a calibration portion; the first locator, the reference portion, the registration portion, and the calibration portion are arranged on the reference piece at intervals;

[0037] The positioning assembly includes a positioning member, a second positioning device and a positioning portion; the second positioning device and the positioning portion are spaced apart on the positioning member;

[0038] The positioning part is used to contact with the reference part and the registration part; the working part is used to contact with the calibration part;

[0039] The first locator is used to obtain first position information of the locating portion relative to the second locator;

[0040] The second locator is used to obtain second position information of the registration part relative to the first locator;

[0041] The navigation device is used to obtain the target position information of the working part relative to the target part.

[0042] In some embodiments, the first positioner includes at least three first luminous balls, and among any three first luminous balls, the centers of the three first luminous balls are not in the same plane; and / or

[0043] The second positioner includes at least three second luminous balls, and among any three second luminous balls, the centers of the three second luminous balls are not in the same plane; and / or

[0044] The third positioner includes at least three third luminous balls, and among any three third luminous balls, the centers of the three third luminous balls are not in the same plane; and / or

[0045] The registration part comprises at least three registration units, which are recessed in the surface of the reference piece. Among any three registration units, the centers of the three registration units are not in the same plane.

[0046] In some embodiments, the surgical instrument includes a first surgical instrument, the first surgical instrument includes a first surgical instrument body, a first surgical instrument positioner and a first working portion, the first working portion includes a working tip, and the working tip and the first surgical instrument positioner are spaced apart and arranged on the first surgical instrument body;

[0047] The calibration part includes a first calibration unit and a second calibration unit. The first calibration unit and the second calibration unit are arranged on the reference part at intervals. The first calibration unit is used to cooperate with the first surgical instrument locator to obtain the tip position information of the working tip; the second calibration unit is used to cooperate with the first surgical instrument locator to obtain the axial position information of the working tip.

[0048] In some embodiments, the surgical instrument further comprises a second surgical instrument, the second surgical instrument comprises a second surgical instrument body, a second surgical instrument positioner, and a second working portion, the second working portion comprises a scalpel;

[0049] The calibration part further includes a third calibration unit, which is arranged on the reference piece and spaced apart from the first calibration unit and the second calibration unit;

[0050] The third calibration unit includes a supporting block and a snap-fit ​​block, which are arranged to form a receiving cavity for receiving the scalpel. The supporting block includes a supporting surface, and the snap-fit ​​block includes a snap-fit ​​surface. The supporting surface and the snap-fit ​​surface are used to contact different surfaces of the scalpel, and cooperate with the second surgical instrument locator to obtain the feature point position information of the scalpel.

[0051] In some embodiments, the registration portion includes a first recessed unit, and the first recessed unit is recessed in the surface of the reference piece;

[0052] The reference portion includes a second recessed unit, and the second recessed unit is recessed in the surface of the reference piece;

[0053] The first recessed unit and the second recessed unit have the same shape.

[0054] In a third aspect, a computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the surgical instrument calibration method in the first aspect when executing the computer program.

[0055] The surgical instrument calibration method of the present application can convert the first position information of the positioning part relative to the second locator into the second position information of the registration part relative to the first locator by respectively contacting the positioning part with the reference part and the alignment part. At the same time, the third position information of the calibration part is obtained by the alignment part, and combined with the contact between the working part and the calibration part, the second position information of the registration part relative to the first locator and the third position information of the calibration part can be converted into the fourth position information of the working part relative to the third locator. Finally, the position information of the target part is obtained by the navigation device, and the fourth position information is converted into the target position information of the working part relative to the target part.

[0056] Since the present application finally obtains the target position information of the working part relative to the target part through the conversion between multiple relative position information, and since both the registration part and the calibration part are located on the reference part, that is, even if the shape of the calibration part is irregular, the registration part can still obtain the third position information of the irregular calibration part. Furthermore, since the working part is in contact with the calibration part, even if the shape of the working part is irregular, as long as the working part and the calibration part are matched, the position information of the working part can be obtained through the calibration part, so that when the shape of the working part of the surgical instrument is irregular, the position information of the working part of the surgical instrument relative to the target part can be accurately obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A schematic diagram of a flow chart of a surgical instrument calibration method in one embodiment of the present application.

[0058] Figure 2 Another flowchart of a surgical instrument calibration method in an embodiment of the present application is shown.

[0059] Figure 3 This is another flowchart of a surgical instrument calibration method in an embodiment of the present application.

[0060] Figure 4 Schematic diagram of another flow chart of the surgical instrument calibration method in one embodiment of the present application.

[0061] Figure 5 Schematic diagram of the structure of a surgical instrument calibration device in one embodiment of the present application.

[0062] Figure 6 for Figure 5 Schematic diagram of the structure of the reference component.

[0063] Figure 7A schematic diagram of the structure of a surgical instrument calibration device in one embodiment of the present application for obtaining position information of a surgical instrument.

[0064] Figure 8 Another structural schematic diagram of a surgical instrument calibration device in one embodiment of the present application for obtaining position information of a surgical instrument.

[0065] Fig. 9 Another structural schematic diagram of a surgical instrument calibration device in one embodiment of the present application.

[0066] Fig.10 It is a partial structural diagram of the third calibration unit in one embodiment of the present application.

[0067] Fig.11 It is a partial structural schematic diagram of the second surgical instrument in one embodiment of the present application.

[0068] Fig.12 It is a partial structural diagram of a first calibration unit in one embodiment of the present application.

[0069] Fig.13 It is a partial structural schematic diagram of a reverse preparation working tip in one embodiment of the present application.

[0070] Fig.14 It is a partial structural schematic diagram of a positive preparation working tip in one embodiment of the present application.

[0071] Description of reference numerals:

[0072] 100. Surgical instrument calibration device; 110. Surgical instrument;

[0073] 10. Navigation equipment; 20. Reference component; 30. Positioning component;

[0074] 21. reference member; 22. first locator; 23. reference part; 24. registration part; 25. calibration part;

[0075] 31. Positioning member; 32. Second positioner; 33. Positioning portion;

[0076] 251, a first calibration unit; 252, a second calibration unit; 253, a third calibration unit;

[0077] 2521, a first sub-calibration unit; 2522, a second sub-calibration unit;

[0078] 2531, bearing block; 2532, buckling block; 2533, torsion spring; 2534, connecting shaft;

[0079] 111. surgical instrument body; 112. third positioner; 113. working part;

[0080] 120. a first surgical instrument; 130. a second surgical instrument;

[0081] 121. a first surgical instrument body; 122. a first surgical instrument positioner; 123. a first working part;

[0082] 131. Second surgical instrument body; 132. Second surgical instrument positioner; 133. Second working part;

[0083] 1231, working tip; 1232, inverted preparation working tip; 1233, positive preparation working tip;

[0084] 1. Feature point of the front end of the blade cutting axis; 2. Feature point of the end of the blade cutting axis; 3. Feature point of the front end of the blade perpendicular to the axis; 4. Feature point of the end of the blade perpendicular to the axis;

[0085] 5. Axial tip feature point of the inverted preparation working tip; 6. Axial end feature point of the inverted preparation working tip; 7. Radial tip feature point of the inverted preparation working tip; 8. Radial end feature point of the inverted preparation working tip;

[0086] 11. Specific point of the axial tip of the positive preparation working tip; 12. Characteristic point of the axial end of the positive preparation working tip; 13. Characteristic point of the radial tip of the positive preparation working tip; 14. Characteristic point of the radial end of the positive preparation working tip. DETAILED DESCRIPTION

[0087] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0088] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0089] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0090] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0091] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0092] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0093] It should be noted that the surgical instrument in the present application can be a conventional surgical instrument of normal size or a special-shaped surgical instrument. Since the present application can solve the technical problem of accurately positioning the special-shaped surgical instrument relative to the target part, the present application can also solve the problem of accurately positioning the conventional surgical instrument relative to the target part. Exemplarily, the present application uses the surgical instrument as a special-shaped surgical instrument as an example for exemplary explanation. In addition, for the convenience of explanation, the working part in the present application refers to the working part of the surgical instrument, and the target part in the present application refers to the part of the patient that needs to be treated, which will not be repeated here.

[0094] In a first aspect, a surgical instrument calibration method is provided. Figure 1 As shown, it is implemented by a surgical instrument calibration device 100, and is used to obtain the relative position between a surgical instrument 110 and a target part. The surgical instrument calibration device 100 includes a navigation device 10, a reference component 20 and a positioning component 30; the reference component 20 includes a reference part 21, a first locator 22, a reference part 23, an alignment part 24 and a calibration part 25; the first locator 22, the reference part 23, the alignment part 24 and the calibration part 25 are spaced apart on the reference part 21; the positioning component 30 includes a positioning part 31, a second locator 32 and a positioning part 33; the second locator 32 and the positioning part 33 are spaced apart on the positioning part 31; the surgical instrument 110 includes a surgical instrument body 111, a third locator 112 and a working part 113; the third locator 112 and the working part 113 are spaced apart on the surgical instrument body 111.

[0095] The surgical instrument calibration method includes the following steps:

[0096] S100: Acquiring position information of the first locator 22, the second locator 32, the registration unit 24 and the third locator 112 through the navigation device 10;

[0097] S200: The positioning portion 33 is brought into contact with the reference portion 23, and first position information of the positioning portion 33 relative to the second positioning portion 32 is obtained through the first positioning device 22;

[0098] S300: The positioning portion 33 is brought into contact with the registration portion 24, and second position information of the registration portion 24 relative to the first locator 22 is obtained through the second locator 32;

[0099] S400: obtaining third position information of the calibration part 25 through the registration part 24, bringing the working part 113 into contact with the calibration part 25, and obtaining fourth position information of the working part 113 relative to the third locator 112 through the registration part 24;

[0100] S500: Acquire the position information of the target part through the navigation device 10, and convert it into the target position information of the working part 113 relative to the target part.

[0101] Specifically, since the navigation device 10 can obtain the position information of the first locator 22, the second locator 32, the alignment unit 24 and the third locator 112, when the positioning unit 33 contacts the reference unit 23, the position information of the reference unit 23 relative to the second locator 32 can be obtained through the second locator 32, and then combined with the position information of the first locator 22 and the second locator 32 obtained by the navigation device 10, it is converted into the first position information of the positioning unit 33 relative to the second locator 32.

[0102] Similarly, since the positioning part 33 is in contact with the alignment part 24, the position information of the alignment part 24 relative to the second locator 32 can be obtained through the positioning part 33, and then combined with the position information of the first locator 22 and the second locator 32 obtained by the navigation device 10, it is converted into the second position information of the alignment part 24 relative to the first locator 22.

[0103] Furthermore, since the alignment unit 24 can directly obtain the third position information of the calibration unit 25, it can be combined with the second position information of the alignment unit 24 relative to the first locator 22 to convert it into the position information of the calibration unit 25 relative to the first locator 22. When the working unit 113 and the calibration unit 25 are in contact, the position information of the first locator 22, the second locator 32, the alignment unit 24 and the third locator 112 obtained by the navigation device 10 can be further converted into the fourth position information of the working unit 113 relative to the third locator 112.

[0104] Finally, since the navigation device 10 can obtain the position information of the target part, the position information of the third locator 112 obtained by the navigation device 10 can be converted into the position information of the target part relative to the third locator 112, and finally combined with the fourth position information of the working part 113 relative to the third locator 112 to convert it into the target position information of the working part 113 relative to the target part.

[0105] It can be understood that since the alignment part 24 can directly obtain the third position information of the calibration part 25, and both the alignment part 24 and the calibration part 25 are arranged on the reference part 21, that is, even if the working part 113 of the surgical instrument 110 has an irregular shape, as long as the working part 113 is matched with the calibration part 25, the position information of the irregular working part 113 can be obtained through the calibration part 25. Therefore, when the working part 113 of the surgical instrument 110 has an irregular shape, the position information between the positioning part 33, the reference part 23, the alignment part 24 and the working part 113 can be converted to obtain the accurate target position information of the working part 113 of the surgical instrument 110 relative to the target part.

[0106] In addition, in the process of converting the position information of the working part 113 relative to the target part by the above surgical instrument calibration method, the working part 113 and the target part are finally referenced by the third locator 112, so as to obtain the target position information of the working part 113 relative to the target part. It can be understood that the third locator 112 is a part of the surgical instrument 110, which is arranged on the surgical instrument body 111. Since the surgical instrument 110 is always in a dynamic motion process during the operation of the surgical instrument 110, that is, through the conversion between multiple position information, multiple static position information is finally converted into the dynamic position information of the working part 113 relative to the target part when the surgical instrument 110 is in a dynamic motion process, that is, the target position information of the working part 113 relative to the target part is dynamic position information, so that the accuracy of the target position information of the working part 113 relative to the target part of the surgical instrument 110 can be further improved, and then the doctor can be guided to perform precise operations, provide accurate positioning and guidance for the surgical instrument 110, and improve the accuracy and safety of the surgical process.

[0107] In some embodiments, see Figure 2 As shown, the navigation device 10 is configured with a navigation coordinate system, the first locator 22 is configured with a first coordinate system, the second locator 32 is configured with a second coordinate system, the registration unit 24 is configured with a third coordinate system, and the third locator 112 is configured with a fourth coordinate system;

[0108] The method for obtaining the position information of the first locator 22, the second locator 32, the registration unit 24 and the third locator 112 by the navigation device 10 comprises the following steps:

[0109] S110: Acquire, by means of the navigation device 10, first navigation position information, second navigation position information, third navigation position information and fourth navigation position information of the first locator 22, the second locator 32, the registration unit 24 and the third locator 112 in the navigation coordinate system respectively;

[0110] The method of bringing the positioning portion 33 into contact with the reference portion 23 and obtaining the first position information of the positioning portion 33 relative to the second positioning portion 32 through the first positioning device 22 comprises the following steps:

[0111] S210: The positioning unit 33 is brought into contact with the reference unit 23, and first preset position information of the positioning unit 33 in the first coordinate system is obtained through the first locator 22, and the first preset position information, the first navigation position information, and the second navigation position information are converted into the first position information of the positioning unit 33 in the second coordinate system;

[0112] The method of bringing the positioning portion 33 into contact with the registration portion 24 and obtaining the second position information of the registration portion 24 relative to the first locator 22 through the second locator 32 comprises the following steps:

[0113] S310: The positioning unit 33 is brought into contact with the registration unit 24, the first position information is converted into the second preset position information of the registration unit 24 in the second coordinate system, and the second preset position information, the first navigation position information and the second navigation position information are converted into the second position information of the registration unit 24 in the first coordinate system;

[0114] The method of obtaining the third position information of the calibration part 25 through the registration part 24, bringing the working part 113 into contact with the calibration part 25, and obtaining the fourth position information of the working part 113 relative to the third locator 112 through the registration part 24 comprises the following steps:

[0115] S410: obtaining third position information of the calibration unit 25 in the third coordinate system through the registration unit 24, bringing the working unit 113 into contact with the calibration unit 25, converting the third position information into third preset position information of the working unit 113 in the third coordinate system, and converting the third preset position information, the second position information, the second navigation position information, the third navigation position information and the fourth navigation position information into fourth position information of the working unit 113 in the fourth coordinate system;

[0116] The method of obtaining the position information of the target part by the navigation device 10 and converting it into the target position information of the working part 113 relative to the target part comprises the following steps:

[0117] S510: Acquire fifth navigation position information of the target part in the navigation coordinate system through the navigation device 10, and convert the fourth position information, the fourth navigation position information and the fifth navigation position information into target position information of the working part 113 relative to the target part in the navigation coordinate system.

[0118] Specifically, since the navigation device 10 can obtain the first navigation position information, the second navigation position information, the third navigation position information and the fourth navigation position information of the first locator 22, the second locator 32, the registration unit 24 and the third locator 112 in the navigation coordinate system. In step S210, the first preset position information, the first navigation position information and the second navigation position information can be converted into the first position information of the positioning unit 33 in the second coordinate system. Similarly, in step S310, the positioning unit 33 is in contact with the registration unit 24, and the second preset position information, the first navigation position information and the second navigation position information can be converted into the second position information of the registration unit 24 in the first coordinate system. Similarly, in step S410, since the registration unit 24 can obtain the third position information of the calibration unit 25, when the working unit 113 is in contact with the calibration unit 25, the third preset position information, the second position information, the second navigation position information, the third navigation position information and the fourth navigation position information can be converted into the fourth position information of the working unit 113 in the fourth coordinate system. Finally, in step S510, based on the fifth navigation position information of the target part acquired by the navigation device 10, the fourth position information, the fourth navigation position information and the fifth navigation position information can be combined to convert into the target position information of the working part 113 relative to the target part in the navigation coordinate system.

[0119] It can be understood that since the alignment part 24 can directly obtain the third position information of the calibration part 25 in the third coordinate system, and the alignment part 24 and the calibration part 25 are both arranged on the reference part 21, that is, the alignment part 24, the calibration part 25 and the reference part 21 are all in the third coordinate system. At the same time, since the alignment part 24, the calibration part 25, the first locator 22, the second locator 32 and the third locator 112 are all arranged in the navigation coordinate system, the target position information of the working part 113 relative to the target part can be finally obtained through the conversion relationship between multiple coordinate systems.

[0120] That is, even if the working part 113 of the surgical instrument 110 has an irregular shape, as long as the working part 113 is matched with the calibration part 25, the position information of the irregular working part 113 can be obtained through the calibration part 25. Therefore, when the working part 113 of the surgical instrument 110 has an irregular shape, the position information between the positioning part 33, the reference part 23, the alignment part 24 and the working part 113 can be converted to obtain the accurate target position information of the working part 113 of the surgical instrument 110 relative to the target part.

[0121] Optionally, the conversion relationship between coordinate position information of multiple coordinate systems can be realized by matrix transformation. Of course, the position information between coordinate systems can also be converted by other methods. The specific conversion relationship between coordinate position information is not limited in this application, and the conversion relationship will not be repeated here.

[0122] In some embodiments, see Figure 3 As shown, before the positioning portion 33 is brought into contact with the reference portion 23 and the first position information of the positioning portion 33 relative to the second positioner 32 is obtained by the first positioner 22, the surgical instrument calibration method further includes the following steps:

[0123] S120: The positioning part 33 is brought into contact with the reference part 23, and the first reference position information of the reference part 23 in the second coordinate system is obtained through the second locator 32, and the first reference position information, the first navigation position information and the second navigation position information are converted into the second reference position information of the reference part 23 in the first coordinate system.

[0124] Specifically, before obtaining the first position information of the positioning part 33 relative to the second locator 32, the second reference position information of the reference part 23 in the first coordinate system can be obtained in advance, and then the second reference position information of the reference part 23 in the first coordinate system can be directly converted into the position information of the positioning part 33 in the first coordinate system through the contact between the positioning part 33 and the reference part 23, and can be converted into the first position information of the positioning part 33 in the second coordinate system by combining the first navigation position information and the second navigation position information. Since the positioning part 33 is in contact with the reference part 23, the second reference position information of the reference part 23 in the first coordinate system can be accurately converted into the first preset position information of the positioning part 33 in the first coordinate system, and finally accurately converted into the first position information of the positioning part 33 in the second coordinate system, so that the accuracy of the confirmation of the first position information can be improved, and the accuracy and safety of the surgical process can be further improved.

[0125] Optionally, when the positioning portion 33 is in contact with the reference portion 23, obtaining the first reference position information of the reference portion 23 in the second coordinate system through the second locator 32 can be achieved by a shaking point fitting method, that is, the positioning portion 33 is in contact with the reference portion 23, and the second locator 32 is rotated and shaken with the positioning portion 33 as the center of the circle, so that the first reference position information of the reference portion 23 in the second coordinate system can be confirmed through the shaking trajectory of the second locator 32. Of course, the method of obtaining the first reference position information of the reference portion 23 in the second coordinate system through the second locator 32 is not restrictive, and the specific acquisition method will not be repeated here.

[0126] In some embodiments, see Figure 4 As shown, the surgical instrument calibration device 100 further includes a fixing member, the fixing member includes a fourth positioner, and the fixing member is configured with a fifth coordinate system;

[0127] Acquiring sixth navigation position information of the fourth locator in the navigation coordinate system through the navigation device 10;

[0128] After obtaining the third position information of the calibration part 25 in the third coordinate system through the registration part 24, contacting the working part 113 with the calibration part 25, converting the third position information into the third preset position information of the working part 113 in the third coordinate system, converting the third preset position information, the second position information, the second navigation position information, the third navigation position information and the fourth navigation position information into the fourth position information of the working part 113 in the fourth coordinate system, obtaining the fifth navigation position information of the target part in the navigation coordinate system through the navigation device 10, and converting the fourth position information, the fourth navigation position information and the fifth navigation position information into the target position information of the working part 113 relative to the target part in the navigation coordinate system, the surgical instrument calibration method further includes the following steps:

[0129] S520: Setting a fixing member at the target part, obtaining fifth position information of the target part in the fifth coordinate system through a fourth locator, and converting the fifth position information and the sixth navigation position information into fifth navigation position information of the target part in the navigation coordinate system.

[0130] Specifically, by setting the fixing part at the target part, since the fixing part configures its own fifth coordinate system, and since the fixing part is set at the target part, the fifth position information of the target part in the fifth coordinate system can be obtained through the fourth locator, and then the fifth position information and the sixth navigation position information can be converted into the fifth navigation position information of the target part in the navigation coordinate system, and finally the fourth position information, the fourth navigation position information and the fifth navigation position information can be converted into the target position information of the working part 113 relative to the target part in the navigation coordinate system. In this way, the target position information of the working part 113 relative to the target part can be accurately obtained, thereby improving the accuracy and safety of the surgical process.

[0131] It should be understood that in the embodiments of the present application, at least part of the steps in the drawings may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but may be performed at different times. The execution order of these steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0132] In a second aspect, a surgical instrument calibration device 100 is provided. Figure 5 , Figure 6 As shown in FIG. 7 , the surgical instrument calibration device 100 is used to obtain the relative position between the surgical instrument 110 and the target part. The surgical instrument 110 includes a surgical instrument body 111, a third locator 112 and a working part 113; the third locator 112 and the working part 113 are arranged on the surgical instrument body 111 at intervals;

[0133] The surgical instrument calibration device 100 includes a navigation device 10, a reference component 20 and a positioning component 30. The reference component 20 includes a reference part 21, a first locator 22, a reference part 23, a registration part 24 and a calibration part 25; the first locator 22, the reference part 23, the registration part 24 and the calibration part 25 are arranged on the reference part 21 at intervals; the positioning component 30 includes a positioning part 31, a second locator 32 and a positioning part 33; the second locator 32 and the positioning part 33 are arranged on the positioning part 31 at intervals.

[0134] The positioning part 33 is used to contact the reference part 23 and the alignment part 24; the working part 113 is used to contact the calibration part 25; the first locator 22 is used to obtain the first position information of the positioning part 33 relative to the second locator 32; the second locator 32 is used to obtain the second position information of the alignment part 24 relative to the first locator 22; the navigation device 10 is used to obtain the target position information of the working part 113 relative to the target part.

[0135] In this way, since the alignment part 24 can directly obtain the third position information of the calibration part 25, and the alignment part 24 and the calibration part 25 are both arranged on the reference part 21, that is, even if the working part 113 of the surgical instrument 110 has an irregular shape, as long as the working part 113 is matched with the calibration part 25, the position information of the irregular working part 113 can be obtained through the calibration part 25. Therefore, when the working part 113 of the surgical instrument 110 has an irregular shape, the position information between the positioning part 33, the reference part 23, the alignment part 24 and the working part 113 can be converted to obtain the accurate target position information of the working part 113 of the surgical instrument 110 relative to the target part.

[0136] In some embodiments, the first locator 22 includes at least three first luminous balls, and among any three first luminous balls, the centers of the three first luminous balls are not in the same plane; and / or the second locator 32 includes at least three second luminous balls, and among any three second luminous balls, the centers of the three second luminous balls are not in the same plane; and / or the third locator 112 includes at least three third luminous balls, and among any three third luminous balls, the centers of the three third luminous balls are not in the same plane; and / or the alignment part 24 includes at least three alignment units, which are recessed in the surface of the reference part 21, and among any three alignment units, the centers of the three alignment units are not in the same plane.

[0137] Thus, on the one hand, the accuracy of the target position information of the working part 113 relative to the target part can be improved by increasing the number of the first locator 22, the second locator 32, the third locator 112 and the registration part 24. On the other hand, a first coordinate system can be established by any three first luminous balls, a second coordinate system can be established by any three second luminous balls, a third coordinate system can be established by any three registration units, and a fourth coordinate system can be established by any three third luminous balls, so that the first locator 22, the second locator 32, the third locator 112 and the registration part 24 can have relative position information in different orientations, so that the accuracy of the target position information of the working part 113 relative to the target part can be further improved, and then accurate positioning and guidance can be provided for the surgical instrument 110, which can improve the accuracy and safety during the operation.

[0138] Of course, it can be understood that the more the number of first locators 22, second locators 32, third locators 112 and alignment parts 24 in the present application, the higher the accuracy of the target position information of the working part 113 relative to the target part. Here, the number of first locators 22, second locators 32, third locators 112 and alignment parts 24 will not be repeated.

[0139] In some embodiments, see Figure 7 and Figure 8 As shown, the surgical instrument 110 includes a first surgical instrument 120, which includes a first surgical instrument body 121, a first surgical instrument positioner 122 and a first working part 123, the first working part 123 includes a working tip 1231, and the working tip 1231 and the first surgical instrument positioner 122 are spaced apart on the first surgical instrument body 121; the calibration part 25 includes a first calibration unit 251 and a second calibration unit 252, the first calibration unit 251 and the second calibration unit 252 are spaced apart on the reference part 21, the first calibration unit 251 is used to cooperate with the first surgical instrument positioner 122 to obtain the tip position information of the working tip 1231; the second calibration unit 252 is used to cooperate with the first surgical instrument positioner 122 to obtain the axial position information of the working tip 1231.

[0140] In some embodiments, see Fig. 9 and Fig.10As shown, the surgical instrument 110 also includes a second surgical instrument 130, which includes a second surgical instrument body 131, a second surgical instrument body locator 132 and a second working part 133, and the second working part 133 includes a scalpel; the calibration part 25 also includes a third calibration unit 253, and the third calibration unit 253 is arranged on the reference part 21, and is spaced apart from the first calibration unit 251 and the second calibration unit 252; the third calibration unit 253 includes a bearing block 2531 and a snap-fit ​​block 2532, and the bearing block 2531 and the snap-fit ​​block 2532 are arranged to form an accommodating cavity for accommodating the scalpel, the bearing block 2531 includes a bearing surface, and the snap-fit ​​block 2532 includes a snap-fit ​​surface, and the bearing surface and the snap-fit ​​surface are used to contact different surfaces of the scalpel, and cooperate with the second surgical instrument body locator 132 to obtain the characteristic point position information of the scalpel.

[0141] It should be noted that the first surgical instrument 120 and the second surgical instrument 130 are two different surgical instruments 110 during the surgical operation, and the specific difference is that the first working part 123 of the first surgical instrument 120 includes a working tip 1231, and the second working part 133 of the second surgical instrument 130 includes a scalpel. Among them, the working tip 1231 includes a positive preparation working tip 1233 and a negative preparation working tip 1232, and the positive preparation working tip 1233 may include an ET18D working tip, and the negative preparation working tip 1232 may include a 3D working tip, a 6D working tip, a 9D working tip, an LD working tip, and an RD working tip. Of course, the working tip 1231 may also include other types of working tips 1231, and the type of the working tip 1231 is not limited here.

[0142] It should be noted that the main surgical methods in clinical practice are mainly divided into scalpel window opening combined with inverted preparation working tip 1232, or trephine window opening combined with inverted preparation working tip 1232, or fissure drill pulp opening combined with positive preparation working tip 1233 according to the different lesion sites. Of course, the specific surgical method is selected according to the type of lesion site. Here, there is no restriction on the surgical method.

[0143] Furthermore, since the first calibration unit 251 is used to cooperate with the first surgical instrument positioner 122 to obtain the tip position information of the working tip 1231, and the second calibration unit 252 is used to cooperate with the first surgical instrument positioner 122 to obtain the axial position information of the working tip 1231, the tip position information and the axial position information of the working tip 1231 can be respectively obtained by the first calibration unit 251 and the second calibration unit 252. On the one hand, it can ensure that the position information of different parts of the working tip 1231 is accurately obtained. On the other hand, it can avoid the interference between the first calibration unit 251 and the second calibration unit 252 when calibrating different parts of the working tip 1231, thereby further improving the accuracy of obtaining the position information of the working tip 1231, and then improving the accuracy and safety during the operation.

[0144] Similarly, since the shape of a scalpel is complex and there are usually multiple feature points on the scalpel that need to be acquired, by setting a third calibration unit 253, the bearing surface and the engaging surface of the third calibration unit 253 are in contact with the scalpel, so that the position information of multiple required feature points on the scalpel can be accurately acquired, thereby improving the accuracy of acquiring the position information of the scalpel, and further improving the accuracy and safety during the operation.

[0145] Optionally, the third calibration unit 253 further includes a torsion spring 2533 and a connecting shaft 2534, wherein the bearing block 2531 is provided with a first connecting hole, the snap-fit ​​block 2532 is provided with a second connecting hole, the torsion spring 2533 is sleeved on the connecting shaft 2534, and the connecting shaft 2534 is used to penetrate the first connecting hole and the second connecting hole to connect the bearing block 2531 and the snap-fit ​​block 2532. When the scalpel is set in the accommodating cavity, the position information of the characteristic point of the scalpel can be confirmed by pressing the snap-fit ​​block 2532. When the confirmation is completed, since the torsion spring 2533 is sleeved on the connecting shaft 2534, and the connecting shaft 2534 connects the bearing block 2531 and the snap-fit ​​block 2532, the snap-fit ​​block 2532 can be separated from the bearing block 2531 by the elastic force of the torsion spring 2533, thereby facilitating the removal of the scalpel. Of course, in the process of obtaining the position information of the scalpel through the third calibration unit 253, as long as the third calibration unit 253 matches the shape of the scalpel, different feature points of the scalpel can be obtained. Here, the method of obtaining the feature points of the scalpel will not be repeated.

[0146] For example, see Fig.11As shown, when the characteristic point position information of the scalpel is obtained by the third calibration unit 253, the characteristic point 1 of the front end of the axial cutting of the blade, the characteristic point 2 of the end of the axial cutting of the blade, the characteristic point 3 of the front end of the vertical axial cutting of the blade, and the characteristic point 4 of the end of the vertical axial cutting of the blade can be obtained respectively. At the same time, four planning paths can be pre-designed in the pre-operative plan design so that the scalpel can be controlled to move along the planned path during the operation. Among them, the planned path can be planned by four control parameters: the path starting point, the path end point, the offset point, and the depth point.

[0147] It should be noted that the blade cutting axial front end feature point 1, the blade cutting axial end feature point 2, the blade vertical axial front end feature point 3 and the blade vertical axial end feature point 4 are respectively Fig.11 1, 2, 3, 4 of the above.

[0148] Specifically, the four control parameters control the offset distance, offset angle, axial angle and cutting depth of the scalpel respectively. The axial angle is the angle between the line segment formed by the blade vertical axial front end feature point 3 and the blade vertical axial end feature point 4 and the window plane, the cutting depth is the length of the line segment formed by the blade vertical axial front end feature point 3 and the depth point, the offset angle is the angle between the line segment formed by the blade cutting axial front end feature point 1 and the blade cutting axial end feature point 2 and the path, and the offset distance is the vertical distance between the blade vertical axial front end feature point 3 and the 4 planned paths.

[0149] It should be noted that the working tip 1231 includes a positive preparation working tip 1233 and a negative preparation working tip 1232 , and the tip of the positive preparation working tip 1233 and the tip of the negative preparation working tip 1232 have different sizes.

[0150] As an optional implementation, see Fig.12 As shown, the first calibration unit 251 includes a third recessed unit, and the third recessed unit is recessed in the surface of the reference part. In this way, when the tip position information of the working tip 1231 is obtained through the first calibration unit 251, the tip of the positive preparation working tip 1233 or the tip of the negative preparation working tip 1232 is set in the third recessed unit, so that the tip of the positive preparation working tip 1233 or the tip of the negative preparation working tip 1232 is tangent to the inner wall of the third recessed unit, so that the tip position information of the positive preparation working tip 1233 or the tip position information of the negative preparation working tip 1232 is obtained through the first calibration unit 251 in cooperation with the first surgical instrument positioner 122.

[0151] Among them, since the third recessed unit is recessed in the surface of the reference part 21, and the tip of the positive preparation working tip 1233 is different from the tip of the negative preparation working tip 1232 in size, the tip of the positive preparation working tip 1233 and the tip of the negative preparation working tip 1232 are respectively tangent to the inner wall of the third recessed unit at different positions. On the one hand, the tip position information of the positive preparation working tip 1233 and the tip position information of the negative preparation working tip 1232 can be respectively obtained through only one first calibration unit 251, thereby facilitating the operation process of the operator; on the other hand, the accuracy of the tip position information of the positive preparation working tip 1233 and the negative preparation working tip 1232 can be ensured.

[0152] Optionally, the first marking unit 251 is in a conical shape, and the cone angle of the cone is 45°, so that the positive preparation working tip 1233 and the reverse preparation working tip 1232 can be tangent to the inner sidewalls of different parts of the first marking unit 251. Fig.12 The middle circle A is the tip profile of the positive preparation working tip 1233, and the circle B is the tip profile of the reverse preparation working tip 1232. The center of circle A is the center of curvature of the tip profile of the positive preparation working tip 1233, and the center of circle B is the center of curvature of the tip profile of the reverse preparation working tip 1232. Since circle A and circle B are always in contact with the conical surface, it can be ensured that the position of the center of curvature does not shift, so that when the tip of the working tip 1231 rotates around the surface of the conical surface, it can be ensured that the tip of the working tip 1231 rotates fully, and it can be ensured that the working tip 1231 does not separate from the first calibration unit 251 during the process of collecting multiple sets of tip position information of the working tip 1231, thereby improving the accuracy of obtaining the tip position information of the working tip 1231.

[0153] Optionally, in the process of obtaining the tip position information of the positive preparation working tip 1233 or the tip position information of the inverted preparation working tip 1232 by the first calibration unit 251 in cooperation with the first surgical instrument locator 122, it can also be achieved by the shaking point fitting method. Regarding the specific implementation method of the shaking point fitting, it is similar to the process of obtaining the first reference position information of the reference part 23 in the second coordinate system by the second locator 32 by the shaking point fitting method, and the specific process of the shaking point fitting will not be repeated here.

[0154] As an optional implementation, when acquiring the axial position information of the working tip 1231 through the second calibration unit 252, similarly, since the working tip 1231 includes a positive preparation working tip 1233 and a negative preparation working tip 1232, and the shape of the positive preparation working tip 1233 is different from that of the negative preparation working tip 1232, in order to better acquire the axial position information of the positive preparation working tip 1233 and the axial position information of the negative preparation working tip 1232 respectively, the second calibration unit 252 includes a first sub-calibration unit 2521 and a second sub-calibration unit 2522, wherein the first sub-calibration unit 2521 is used to acquire the axial position information of the negative preparation working tip 1232, and the second sub-calibration unit 2522 is used to acquire the axial position information of the positive preparation working tip 1233.

[0155] For example, see Fig.13 As shown, when the axial position information of the inverted preparation working tip 1232 is obtained through the first sub-calibration unit 2521, the axial tip specific point 5 of the inverted preparation working tip, the axial end characteristic point 6 of the inverted preparation working tip, the radial tip characteristic point 7 of the inverted preparation working tip and the radial end characteristic point 8 of the inverted preparation working tip can be obtained respectively.

[0156] It should be noted that the axial tip specific point 5 of the inverted preparation working tip, the axial end characteristic point 6 of the inverted preparation working tip, the radial tip characteristic point 7 of the inverted preparation working tip and the radial end characteristic point 8 of the inverted preparation working tip are respectively Fig.13 5, 6, 7, and 8.

[0157] Specifically, similar to the method of the third calibration unit 253 for obtaining the position information of the characteristic points of the scalpel, four points are reserved on the first sub-calibration unit 2521. When the inverted preparation working tip 1232 is inserted into the first sub-calibration unit 2521, point 5, point 6, point 7 and point 8 respectively occupy the positions of the reserved four points. The four points can obtain the axial position information of the inverted preparation working tip 1232 through the built-in algorithm and the conversion between multiple coordinate systems.

[0158] Furthermore, the target part includes a target plane C and a target part center point C1. The relative positions of the inverted preparation working tip axial tip specific point 5, the inverted preparation working tip axial end characteristic point 6, the inverted preparation working tip radial tip characteristic point 7 and the inverted preparation working tip radial end characteristic point 8 and the target plane and the target part center point C1 can confirm multiple data such as the offset distance, axial angle and inverted preparation depth of the inverted preparation working tip 1232 relative to the target part.

[0159] Among them, the offset distance is the vertical distance between the specific point 5 of the axial tip of the inverted preparation working tip and the center line of the target plane C; the axial angle is the angle formed by the connecting line formed by the specific point 5 of the axial tip of the inverted preparation working tip and the characteristic point 6 of the axial end of the inverted preparation working tip and the target plane C; the inverted preparation depth is the length of the line segment formed by the specific point 5 of the axial tip of the inverted preparation working tip and the characteristic point 6 of the axial end of the inverted preparation working tip.

[0160] For example, see Fig.14 As shown, when the axial position information of the positive preparation working tip 1233 is obtained through the second sub-calibration unit 2522, the axial tip specific point 11 of the positive preparation working tip, the axial end characteristic point 12 of the positive preparation working tip, the radial tip characteristic point 13 of the positive preparation working tip and the radial end characteristic point 14 of the positive preparation working tip can be obtained respectively.

[0161] It should be noted that the axial tip specific point 11 of the positive preparation working tip, the axial end characteristic point 12 of the positive preparation working tip, the radial tip characteristic point 13 of the positive preparation working tip and the radial end characteristic point 14 of the positive preparation working tip are respectively Fig.14 11, 12, 13, 14. It should be noted that the axial tip specific point 11 of the positive preparation working tip and the radial tip characteristic point 13 of the positive preparation working tip are the same point.

[0162] Specifically, similar to the method of the first sub-calibration unit 2521 for obtaining the position information of the axial tip characteristic point of the inverted preparatory working tip, three points are reserved on the first sub-calibration unit 2521. When the inverted preparatory working tip 1232 is inserted into the first sub-calibration unit 2521, point 11, point 12, point 13 and point 14 occupy the positions of the reserved three points respectively, among which point 11 and point 13 occupy the same point. The three points can obtain the axial position information of the positive preparatory working tip 1233 through the built-in algorithm and the conversion between multiple coordinate systems.

[0163] Furthermore, the target part includes a target plane D and a target part center point D1. Through the relative positions of the positive preparation working tip axial tip specific point 11, the positive preparation working tip axial end characteristic point 12, the positive preparation working tip radial tip characteristic point 13 and the positive preparation working tip radial end characteristic point 14 and the target plane D and the target part center point D1, multiple data such as the offset distance, axial angle and positive preparation depth of the positive preparation working tip 1233 relative to the target part can be confirmed.

[0164] Among them, the offset distance is the vertical distance between the specific point 11 of the axial tip of the positive preparation working tip and the center line of the target plane D; the axial angle is the angle formed by the connecting line formed by the specific point 11 of the axial tip of the positive preparation working tip and the characteristic point 12 of the axial end of the positive preparation working tip and the target plane D; the positive preparation depth is the length of the line segment formed by the specific point 11 of the axial tip of the positive preparation working tip and the characteristic point 12 of the axial end of the positive preparation working tip.

[0165] In some embodiments, the alignment portion 24 includes a first recessed unit recessed in the surface of the reference piece 21; the reference portion 23 includes a second recessed unit recessed in the surface of the reference piece 21; wherein the first recessed unit and the second recessed unit have the same shape.

[0166] Since the positioning portion 33 is in contact with the alignment portion 24, the second position information of the alignment portion 24 relative to the first locator 22 obtained by the second locator 32 is based on the contact between the positioning portion 33 and the reference portion 23, that is, the first recessed unit and the second recessed unit have the same shape, which can ensure that the first position information of the positioning portion 33 relative to the second locator 32 obtained by the first locator 22 is accurate, and further ensure that after the positioning portion 33 is in contact with the alignment portion 24, the second position information of the alignment portion 24 relative to the first locator 22 obtained by the second locator 32 is accurate, thereby further improving the accuracy of the target position information of the working portion 113 of the surgical instrument 110 relative to the target part, thereby improving the accuracy and safety during the operation.

[0167] In a third aspect, a computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the surgical instrument calibration method in the first aspect when executing the computer program.

[0168] In this way, the accuracy of the surgical instrument calibration method can be ensured by computer equipment, thereby improving the accuracy and safety of the surgical process. In addition, the computer equipment can provide an operation interface to facilitate user control and adjustment.

[0169] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0170] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A surgical instrument calibration method, characterized in that: It is achieved by a surgical instrument calibration device, which is used to obtain the relative position between the surgical instrument and the target part, and the surgical instrument calibration device includes a navigation device, a reference component and a positioning component; The reference assembly comprises a reference piece, a first locator, a reference portion, a registration portion and a calibration portion; the first locator, the reference portion, the registration portion and the calibration portion are arranged on the reference piece at intervals; The positioning assembly includes a positioning member, a second positioning device and a positioning portion; the second positioning device and the positioning portion are arranged on the positioning member at intervals; The surgical instrument comprises a surgical instrument body, a third positioner and a working part; the third positioner and the working part are arranged on the surgical instrument body at intervals; The surgical instrument calibration method comprises: Acquire position information of the first locator, the second locator, the registration unit and the third locator through the navigation device; The positioning portion is brought into contact with the reference portion, and first position information of the positioning portion relative to the second positioning device is obtained through the first positioning device; The positioning portion is brought into contact with the registration portion, and second position information of the registration portion relative to the first locator is acquired through the second locator; Acquiring third position information of the calibration part through the registration part, bringing the working part into contact with the calibration part, and acquiring fourth position information of the working part relative to the third locator through the registration part; The position information of the target part is acquired by the navigation device and converted into the target position information of the working part relative to the target part.

2. The surgical instrument calibration method according to claim 1, characterized in that: The navigation device is configured with a navigation coordinate system, the first locator is configured with a first coordinate system, the second locator is configured with a second coordinate system, the registration unit is configured with a third coordinate system, and the third locator is configured with a fourth coordinate system; The method for obtaining the position information of the first locator, the second locator, the registration unit and the third locator by the navigation device includes: Acquire, by the navigation device, first navigation position information, second navigation position information, third navigation position information and fourth navigation position information of the first locator, the second locator, the registration unit and the third locator in the navigation coordinate system respectively; The method of bringing the positioning portion into contact with the reference portion and obtaining first position information of the positioning portion relative to the second positioning device through the first positioning device comprises: The positioning part is brought into contact with the reference part, first preset position information of the positioning part in the first coordinate system is obtained through the first locator, and the first preset position information, the first navigation position information and the second navigation position information are converted into the first position information of the positioning part in the second coordinate system; The method of bringing the positioning portion into contact with the registration portion and obtaining second position information of the registration portion relative to the first positioner through the second positioner comprises: contacting the positioning unit with the registration unit, converting the first position information into second preset position information of the registration unit in the second coordinate system, and converting the second preset position information, the first navigation position information and the second navigation position information into second position information of the registration unit in the first coordinate system; The method of obtaining the third position information of the calibration part through the registration part, contacting the working part with the calibration part, and obtaining the fourth position information of the working part relative to the third locator through the registration part includes: acquiring, by the registration unit, third position information of the calibration unit in the third coordinate system, bringing the working unit into contact with the calibration unit, converting the third position information into third preset position information of the working unit in the third coordinate system, and converting the third preset position information, the second position information, the second navigation position information, the third navigation position information and the fourth navigation position information into fourth position information of the working unit in the fourth coordinate system; The method of obtaining the position information of the target part through the navigation device and converting it into the target position information of the working part relative to the target part includes: The fifth navigation position information of the target part in the navigation coordinate system is obtained by the navigation device, and the fourth position information, the fourth navigation position information and the fifth navigation position information are converted into the target position information of the working part relative to the target part in the navigation coordinate system.

3. The surgical instrument calibration method according to claim 2, characterized in that: Before bringing the positioning portion into contact with the reference portion and obtaining first position information of the positioning portion relative to the second positioner through the first positioner, the surgical instrument calibration method further includes: The positioning part is brought into contact with the reference part, first reference position information of the reference part in the second coordinate system is obtained through the second positioning device, and the first reference position information, the first navigation position information and the second navigation position information are converted into second reference position information of the reference part in the first coordinate system.

4. The surgical instrument calibration method according to claim 2, characterized in that: The surgical instrument calibration device further comprises a fixing member, the fixing member comprises a fourth positioner, and the fixing member is configured with a fifth coordinate system; Acquiring, by the navigation device, sixth navigation position information of the fourth locator in the navigation coordinate system; After acquiring the third position information of the calibration part in the third coordinate system by the registration part, contacting the working part with the calibration part, converting the third position information into the third preset position information of the working part in the third coordinate system, converting the third preset position information, the second position information, the second navigation position information, the third navigation position information and the fourth navigation position information into the fourth position information of the working part in the fourth coordinate system, and before acquiring the fifth navigation position information of the target part in the navigation coordinate system by the navigation device, and converting the fourth position information, the fourth navigation position information and the fifth navigation position information into the target position information of the working part relative to the target part in the navigation coordinate system, the surgical instrument calibration method further includes: The fixing part is arranged at the target part, fifth position information of the target part in the fifth coordinate system is obtained through the fourth locator, and the fifth position information and the sixth navigation position information are converted into the fifth navigation position information of the target part in the navigation coordinate system.

5. A surgical instrument calibration device, characterized in that: Used to obtain the relative position between the surgical instrument and the target part, the surgical instrument comprises a surgical instrument body, a third locator and a working part; the third locator and the working part are arranged on the surgical instrument body at intervals; The surgical instrument calibration device comprises: Navigation equipment, reference components and positioning components; The reference assembly comprises a reference piece, a first locator, a reference portion, a registration portion and a calibration portion; the first locator, the reference portion, the registration portion and the calibration portion are arranged on the reference piece at intervals; The positioning assembly includes a positioning member, a second positioning device and a positioning portion; the second positioning device and the positioning portion are arranged on the positioning member at intervals; The positioning part is used to contact with the reference part and the registration part; the working part is used to contact with the calibration part; The first locator is used to obtain first position information of the locating portion relative to the second locator; The second locator is used to obtain second position information of the registration part relative to the first locator; The navigation device is used to obtain target position information of the working part relative to the target part.

6. The surgical instrument calibration device according to claim 5, characterized in that: The first positioner comprises at least three first luminous balls, and among any three of the first luminous balls, the centers of the three first luminous balls are not in the same plane; and / or The second positioner comprises at least three second luminous balls, and among any three of the second luminous balls, the centers of the three second luminous balls are not in the same plane; and / or The third positioner comprises at least three third luminous balls, and among any three of the third luminous balls, the centers of the three third luminous balls are not in the same plane; and / or The registration portion includes at least three registration units, and the registration units are recessed in the surface of the reference piece. Among any three of the registration units, the centers of the three registration units are not in the same plane.

7. The surgical instrument calibration device according to claim 5, characterized in that: The surgical instrument comprises a first surgical instrument, the first surgical instrument comprises a first surgical instrument body, a first surgical instrument positioner and a first working part, the first working part comprises a working tip, the working tip and the first surgical instrument positioner are arranged on the first surgical instrument body at intervals; The calibration part includes a first calibration unit and a second calibration unit, the first calibration unit and the second calibration unit are arranged on the reference part at intervals, the first calibration unit is used to cooperate with the first surgical instrument locator to obtain the tip position information of the working tip; the second calibration unit is used to cooperate with the first surgical instrument locator to obtain the axial position information of the working tip.

8. The surgical instrument calibration device according to claim 7, characterized in that: The surgical instrument further comprises a second surgical instrument, the second surgical instrument comprising a second surgical instrument body, a second surgical instrument positioner and a second working part, the second working part comprising a scalpel; The calibration part further includes a third calibration unit, which is disposed on the reference piece and spaced apart from the first calibration unit and the second calibration unit; The third calibration unit includes a supporting block and a snap-fit ​​block, the supporting block and the snap-fit ​​block are arranged to form a accommodating cavity for accommodating the scalpel, the supporting block includes a supporting surface, the snap-fit ​​block includes a snap-fit ​​surface, the supporting surface and the snap-fit ​​surface are used to contact different surfaces of the scalpel, and cooperate with the second surgical instrument locator to obtain the feature point position information of the scalpel.

9. The surgical instrument calibration device according to any one of claims 5 to 8, characterized in that: The registration portion comprises a first recessed unit, and the first recessed unit is recessed in the surface of the reference piece; The reference portion includes a second recessed unit, and the second recessed unit is recessed in the surface of the reference piece; The first recessed unit and the second recessed unit have the same shape.

10. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the surgical instrument calibration method according to any one of claims 1 to 4 when executing the computer program.

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