Photomagnetic integrated positioning and tracking device

Abstract

The invention discloses a photomagnetic integrated positioning and tracking device, the photomagnetic integrated positioning and tracking device comprises a reference frame, an electromagnetic sensor and a quick mounting mechanism, the reference frame is provided with at least three positioning identifiers and at least four positioning balls, the at least three positioning identifiers are not on the same straight line, and the at least four positioning balls are not on the same plane; the electromagnetic sensor is installed on the reference frame, and the reference frame is connected with the quick mounting mechanism. The technical problems that in a surgical robot positioning and tracking device, due to the fact that the positioning and tracking device can only recognize one of electromagnetism and optics, the use scene is limited, the positioning and tracking device is not practical, and the positioning and tracking device cannot be used at the same time are solved. Electromagnetic and optical tracking and positioning modes can be used at the same time, the use scene is wider, and the device can be rapidly installed on a surgical robot.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to an optical-magnetic integrated positioning and tracking device. Background Art

[0002] The development of surgical robots has made minimally invasive surgery possible. In minimally invasive surgery, the position of surgical instruments can be tracked by positioning trackers to obtain relevant surgical site location information. Optical trackers use optical principles for tracking, which have high accuracy, but are also easily interfered by light, which affects the accuracy, such as when there are obstructions or weak surrounding light; while electromagnetic trackers use electromagnetic principles for positioning and tracking. Electromagnetic positioning is easily interfered by the environment, resulting in insufficient positioning accuracy or the inability to achieve electromagnetic positioning. At present, when surgical robots assist patients in surgery, only one tracker can be used for tracking, and its application is limited.

[0003] In summary, the present invention will solve the technical problems that the positioning and tracking device of the surgical robot can only recognize one of electromagnetic or optical, resulting in limited usage scenarios, impracticality, and inability to use both at the same time. Summary of the invention

[0004] In order to solve the above technical problems, the present application provides an integrated optical-magnetic positioning and tracking device to at least solve the technical problems that the positioning and tracking device in the surgical robot can only identify one of the electromagnetic or optical methods, which leads to limited usage scenarios, impracticality, and inability to use both methods at the same time. The present invention can use both electromagnetic and optical tracking and positioning methods at the same time, with a wider range of usage scenarios, without the need for frequent changes, and can calculate the spatial position of another tracking and positioning method by identifying one tracking and positioning method.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, an optical-magnetic integrated positioning and tracking device is provided, which can be adhered to the human body, installed on a fixing device on the human body, or on the end of the robotic arm of a surgical robot, so as to broaden the use scenarios of the surgical robot and improve its practicality. The optical-magnetic integrated positioning and tracking device includes: a reference frame, an electromagnetic sensor, and a quick-release mechanism, wherein the reference frame is provided with at least three positioning marks and at least four positioning balls, at least three of the positioning marks are not on the same straight line, and at least four of the positioning balls are not on the same plane;

[0006] The electromagnetic sensor is mounted on the reference frame, and the reference frame is connected to the quick-install mechanism.

[0007] Preferably, the reference frame is provided with a first positioning mechanism, a first limiting mechanism and a first buckle, and the reference frame clamps the electromagnetic sensor through the buckle; the electromagnetic sensor is provided with a shape matching the first positioning mechanism for positioning the electromagnetic sensor; the first limiting mechanism is close to the electromagnetic sensor.

[0008] Preferably, the first positioning mechanism is a positioning cylinder, and the first limiting mechanism is an arc-shaped ring.

[0009] Preferably, the quick-release mechanism includes a quick-release cover and a quick-release seat, the quick-release cover and the quick-release seat are connected by a second buckle, and the second buckle is arranged on the quick-release cover and is integrally formed. The optical-magnetic integrated positioning and tracking device can be installed on a surgical robot, for example: installed at the end of the robotic arm of the surgical robot to assist doctors in performing surgery, or installed on a fixing device on the human body of the patient's head. The quick-release mechanism can effectively and quickly realize installation in a variety of usage scenarios of the surgical robot, such as the end of the robotic arm of the surgical robot, or installed on a fixing device on the human body.

[0010] Preferably, a first V-shaped groove is provided on the quick-release seat, and the second buckle is clamped on the first V-shaped groove.

[0011] Preferably, the quick-release cover is provided with a second positioning mechanism for positioning when the quick-release seat is installed.

[0012] Preferably, the second positioning mechanism is three triangular prisms, the three triangular prisms intersect at one point, the quick-release seat is provided with a second V-shaped groove matching the shape of the triangular prism, the number of the second V-shaped grooves is 3, and the triangular prisms on the quick-release cover are clamped in the second V-shaped groove.

[0013] Preferably, the edge of the quick-release cover is further provided with a threaded through hole, the reference frame is provided with a connecting column, and the quick-release cover and the reference frame are connected and fixed to the connecting column after screws penetrate the through hole.

[0014] Preferably, the positioning ball is a positioning ball. The reference frame has a positioning mark on the top and a positioning ball on the bottom, and the positioning mark is a corner point formed by the intersection of black and white blocks; the electromagnetic sensor is electrically connected to the magnetic field generator through wires, and the magnetic field generator transmits the signal to the system control unit for signal analysis and processing, and transmits the signal position of the electromagnetic sensor to the positioning navigation system host, so as to obtain the spatial position of the electromagnetic sensor.

[0015] Preferably, the reference frame is further provided with at least four positioning cylinders, and the positioning balls are fixedly mounted on the positioning cylinders. The number of positioning cylinders is greater than or equal to the number of positioning balls.

[0016] In an embodiment of the present application, a reference frame, an electromagnetic sensor and a quick-loading mechanism are used. The reference frame is provided with three positioning marks and four positioning balls for identifying positioning. The three positioning marks are not on the same straight line, and the four positioning balls are not on the same plane. The electromagnetic sensor is installed on the reference frame, and the reference frame is connected to the quick-loading mechanism.

[0017] The optical-magnetic integrated positioning and tracking device of the present invention realizes that only one of the optical and electromagnetic sensors needs to be registered, and the other one can be calculated, without the need to register twice separately. After simultaneous registration in the positioning and navigation system, in the subsequent surgical process, whether it is electromagnetic or optical surgical tools, as well as optical-magnetic combined surgical tools, can be tracked and located through the optical-magnetic integrated positioning and tracking device. Optical and electromagnetic combined surgical tools can also be tracked separately. The present invention solves the technical problem that the positioning and tracking device of the surgical robot can only identify one of the electromagnetic or optical, which leads to limited use scenarios and impracticality. The present invention can use both electromagnetic and optical tracking and positioning methods, with a wider range of use scenarios, without the need for frequent replacement, and can calculate the spatial position of another tracking and positioning method by identifying one tracking and positioning method. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The schematic embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0019] Figure 1 The explosive disassembly of an optical-magnetic integrated positioning and tracking device according to an embodiment of the present application is Figure 1 ;

[0020] Figure 2 The explosive disassembly of an optical-magnetic integrated positioning and tracking device according to an embodiment of the present application is Figure 2 ;

[0021] Figure 3 This is a diagram of an assembled optical-magnetic integrated positioning and tracking device according to an embodiment of the present application (slanting from top to bottom);

[0022] Figure 4 This is a diagram of an assembled optical-magnetic integrated positioning and tracking device according to an embodiment of the present application (from an oblique angle from bottom to top);

[0023] Figure 5 This is a usage scenario state diagram of an optical-magnetic integrated positioning and tracking device installed in different scenarios according to an embodiment of the present application;

[0024] Among them, the numbers shown in the figure indicate: 1. reference frame; 11. positioning mark; 12. positioning ball; 13. first positioning mechanism; 14. first limiting mechanism; 15. first buckle; 16. connecting column; 17. positioning cylinder; 2. electromagnetic sensor; 3. quick-release mechanism; 31. quick-release cover; 311. second buckle; 312. second positioning mechanism; 313. threaded through hole; 32. quick-release seat; 321. first V-shaped slot; 322. second V-shaped slot; 4. screw; 5. wire; 6. operating trolley; 7. robotic arm; 8. guide; 9. three-nail head frame; 10. optical-magnetic integrated positioning and tracking device. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0026] It should be noted that the term "including" in the specification and claims of this application and the above-mentioned drawings is intended to cover non-exclusive inclusions. In this application, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated components to have specific orientations. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] like Figure 1-4As shown, the present application relates to an optical-magnetic integrated positioning and tracking device, which includes: a reference frame 1, an electromagnetic sensor 2 and a quick-install mechanism 3. The reference frame 1 is provided with three positioning marks 11 and four positioning balls 12. The three positioning marks are not on the same straight line, and the four positioning balls are not on the same plane. For example, the projection point of one of the four positioning balls vertically projected on the plane formed by the other three positioning balls does not coincide with the three positioning balls. Of course, this structural design is easier to install. In another way, the projection point of a positioning ball vertically projected on the plane formed by the other three positioning balls can also coincide with one of the three positioning balls; the positioning mark is set in the form of a black and white cross block, and the optical recognition and positioning device identifies the corner point position of the black and white cross to calculate the spatial position, thereby determining the posture state. The three black and white positioning marks can determine the plane position, and four positioning balls are used, and one of them is not on the same plane as the other three positioning balls. This can determine the position relationship in three-dimensional space. The vertical projection of one of the positioning balls does not overlap with the plane where the other three positioning balls are located. This is to improve accuracy, facilitate identification of the positioning ball, prevent occlusion, and facilitate calculation of the position relationship between the positioning mark, the positioning ball and the optical positioning device. The algorithm can ultimately determine the spatial position relationship between the patient's medical image and the optical-magnetic integrated positioning tracking device and the optical recognition and positioning device.

[0029] like Figure 1-4 As shown, the reference frame is a triangular plate (three corners are chamfered into an arc shape), the upper surface of the plate is three black and white cross positioning marks, the lower surface of the plate is four positioning balls, and the height of one positioning ball is different from the height of the other three balls, thus forming a non-coplanar three-dimensional spatial coordinate system. A single black and white cross positioning mark or electromagnetic sensor can be used for target tracking, robot arm registration or surgical navigation; a combination of a black and white cross positioning mark + 4 non-coplanar positioning balls can complete patient registration; an electromagnetic sensor + 4 non-coplanar positioning balls can complete patient registration; a combination of a black and white cross positioning mark + 4 non-coplanar positioning balls + an electromagnetic sensor can establish a spatial position conversion relationship between the positioning mark and the electromagnetic sensor, so that by identifying one (a positioning mark or an electromagnetic sensor), the spatial position of another can be calculated.

[0030] like Figure 1-4 As shown, the electromagnetic sensor 2 is installed on the upper surface of the reference frame, and the reference frame 1 is connected to the quick-install mechanism 3 below.

[0031] like Figure 1-4As shown, the lower surface of the reference frame is provided with a first positioning mechanism 13, a first limiting mechanism 14 and a first buckle 15. The reference frame clamps the electromagnetic sensor through the buckle, and the electromagnetic sensor is close to the lower surface of the reference frame; the electromagnetic sensor is provided with a shape matching the first positioning mechanism for positioning the electromagnetic sensor. In this embodiment, a circular hole is opened on the electromagnetic sensor, and the first positioning mechanism is a positioning cylinder for easy installation; the first limiting mechanism is close to the electromagnetic sensor. The first limiting mechanism is an arc-shaped ring body, and the first limiting mechanism can play a role in limiting the electromagnetic sensor.

[0032] like Figure 1-2 As shown, the quick-loading mechanism includes a quick-loading cover 31 and a quick-loading seat 32. The quick-loading cover and the quick-loading seat are connected by a second buckle 311. The second buckle is arranged on the quick-loading cover and the second buckle is integrally formed with the quick-loading cover. A first V-shaped groove 321 is arranged on the quick-loading seat, and the second buckle is arranged on the first V-shaped groove, so that the quick-loading cover and the quick-loading seat are detachably connected. The optical-magnetic integrated positioning and tracking device can be installed on a surgical robot, for example: the end of the robotic arm of the surgical robot is installed through the quick-loading mechanism to assist doctors in performing surgery, or it is installed on a three-nail head frame on the patient's head. The quick-loading mechanism can effectively and quickly realize installation in various usage scenarios of the surgical robot, such as the end of the robotic arm of the surgical robot, or it is installed on a three-nail head frame.

[0033] like Figure 1-4 As shown, the quick-release cover is provided with a second positioning mechanism 312 for positioning when installing the quick-release seat. The second positioning mechanism is three triangular prisms, and the three triangular prisms intersect at one point. The angles between the three triangular prisms can be set to 60°, and of course other angles can also be set. The quick-release seat is provided with a second V-shaped groove 322 that matches the shape of the triangular prism. The number of the second V-shaped grooves is 3, and the triangular prisms on the quick-release cover are clamped in the second V-shaped groove. The edge of the quick-release cover is also provided with a threaded through hole 313, and the reference frame is provided with a connecting column 16. The quick-release cover and the reference frame are connected and fixed to the connecting column after the screw 4 passes through the through hole.

[0034] like Figure 1-4 As shown, there is a positioning mark on the reference frame, a positioning ball on the bottom of the reference frame, and the positioning mark is a corner point pattern composed of black and white blocks. The electromagnetic sensor 2 is connected to the magnetic field generator through the wire 5 and transmitted to the system control unit for signal analysis and processing, and the signal data of the electromagnetic sensor is transmitted to the positioning navigation system host.

[0035] like Figure 1-4 As shown, the reference frame is provided with four positioning cylinders, and the positioning balls are fixedly mounted on the positioning cylinders.

[0036] This embodiment can be applied to a positioning system, which includes: a positioning identification device, a positioning navigation system host, and an optical-magnetic integrated positioning tracking device. The positioning identification device identifies the positioning mark and / or electromagnetic sensor on the optical-magnetic integrated positioning tracking device, and transmits the identified signal to the positioning navigation system host for spatial registration, dynamic tracking, and tool navigation. The positioning identification device is connected to the positioning navigation system. The spatial position conversion relationship between the patient's medical image and the optical-magnetic integrated positioning tracking device and the optical identification device is obtained through calculation and algorithm processing by the software on the positioning navigation system host, so that spatial registration, dynamic tracking, and tool navigation can be completed, which is very convenient.

[0037] In an embodiment of the present application, a reference frame, an electromagnetic sensor and a quick-loading mechanism are used. The reference frame is provided with three positioning marks and four positioning balls for identifying positioning. The three positioning marks are not on the same straight line, and the four positioning balls are not on the same plane. The projection point of one of the four positioning balls vertically projected on the plane formed by the other three positioning balls does not coincide with the three positioning balls. The electromagnetic sensor is installed on the reference frame, and the reference frame is connected to the quick-loading mechanism.

[0038] like Figure 5 As shown, the optical-magnetic integrated positioning and tracking device 10 is installed on a surgical robot, a human head, and a three-nail head frame. The first case is a state effect diagram of the device being installed on the mechanical arm of the surgical robot: the surgical robot's operating trolley 6 controls the movement of the mechanical arm 7, and a guide 8 is installed at the end of the mechanical arm 7. The optical-magnetic integrated positioning and tracking device 10 is installed on the guide, and the registration and positioning operation is performed under the recognition of the navigation and positioning equipment. The second case is a state effect diagram of the device being installed on the patient's head. The optical-magnetic integrated positioning and tracking device 10 can also be installed on the patient's head and affixed to the patient's head position with medical adhesive materials. The third case is a use state diagram of the device being installed on a three-nail head frame. The optical-magnetic integrated positioning and tracking device 10 can also be installed on a three-nail head frame 9. The patient's head is fixed on the three-nail head frame 9, and a connecting frame 91 is installed on the three-nail head frame, and the optical-magnetic integrated positioning and tracking device 10 is installed on the connecting frame.

[0039] The optical-magnetic integrated positioning and tracking device implemented in this embodiment realizes the function of simultaneous registration of optical and electromagnetic sensors, and does not require two registrations. After simultaneous registration in the positioning and navigation system, in the subsequent surgical process, whether it is electromagnetic or optical surgical tools, as well as optical-magnetic combined surgical tools, can be tracked and located through the optical-magnetic integrated positioning and tracking device. For the optical-magnetic combined surgical tools, optical and electromagnetic simultaneous tracking can also be used. Through the present invention, the technical problems that the positioning and tracking device of the surgical robot can only identify one of electromagnetic or optical, resulting in limited usage scenarios, impracticality, and inability to be used simultaneously are solved. The present invention can use both electromagnetic and optical tracking and positioning methods at the same time, with a wider range of usage scenarios, without the need for frequent changes, and the spatial position of another tracking and positioning method can be calculated by identifying one tracking and positioning method. The optical-magnetic integrated positioning and tracking device can be applied to neurosurgery robots, spinal surgery robots, trauma surgery robots, and oral surgery robots 、 It is widely used in various surgical robots such as percutaneous puncture surgical robots.

[0040] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An optical-magnetic integrated positioning and tracking device, characterized in that: include: A reference frame (1), an electromagnetic sensor (2) and a quick-installation mechanism (3), wherein the reference frame (1) is provided with at least three positioning marks (11) and at least four positioning balls (12), at least three of the positioning marks are not arranged on the same straight line, and at least four of the positioning balls are not arranged on the same plane; The electromagnetic sensor (2) is mounted on the reference frame (1), and the reference frame (1) is connected to the quick-install mechanism (3).

2. The optical-magnetic integrated positioning and tracking device according to claim 1, characterized in that: The reference frame (1) is provided with a first positioning mechanism (13), a first limiting mechanism (14) and a first buckle (15), and the reference frame clamps the electromagnetic sensor through the buckle; the electromagnetic sensor is provided with a shape matching the first positioning mechanism for positioning the electromagnetic sensor; the first limiting mechanism is close to the electromagnetic sensor.

3. The optical-magnetic integrated positioning and tracking device according to claim 2, characterized in that: The first positioning mechanism (13) is a positioning cylinder, and the first limiting mechanism (14) is an arc-shaped ring.

4. The optical-magnetic integrated positioning and tracking device according to claim 1, characterized in that: The quick-install mechanism (3) comprises a quick-install cover (31) and a quick-install seat (32); the quick-install cover and the quick-install seat are connected via a second buckle (311); the second buckle is arranged on the quick-install cover and is integrally formed.

5. The optical-magnetic integrated positioning and tracking device according to claim 4, characterized in that: The quick-release seat (32) is provided with a first V-shaped slot (321), and the second buckle is clamped on the first V-shaped slot.

6. The optical-magnetic integrated positioning and tracking device according to claim 4, characterized in that: The quick-install cover (31) is provided with a second positioning mechanism (312) for positioning when the quick-install seat is installed.

7. The optical-magnetic integrated positioning and tracking device according to claim 6, characterized in that: The second positioning mechanism (312) is three triangular prisms, which intersect at one point. The quick-release seat is provided with a second V-shaped groove (322) matching the shape of the triangular prism. The number of the second V-shaped grooves is three, and the triangular prism on the quick-release cover is clamped in the second V-shaped groove.

8. The optical-magnetic integrated positioning and tracking device according to any one of claims 1 to 4, characterized in that: The edge of the quick-release cover (31) is also provided with a threaded through hole (313), and the reference frame is provided with a connecting column (16). The quick-release cover and the reference frame are connected and fixed to the connecting column after screws (4) penetrate the threaded through hole.

9. The optical-magnetic integrated positioning and tracking device according to claim 1, characterized in that: The positioning ball (12) is a positioning ceramic ball.

10. The optical-magnetic integrated positioning and tracking device according to claim 1, characterized in that: The reference frame (1) is also provided with at least four positioning cylinders (17), and the positioning balls are fixedly mounted on the positioning cylinders.

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