Repeated positioning device and surgical navigation system

Abstract

The invention belongs to the technical field of medical navigation, and particularly relates to a repeated positioning device and a surgical navigation system. The repeated positioning device comprises a positioning base and a positioning block, the positioning base comprises a positioning disc, at least three positioning grooves are formed in the upper surface of the positioning disc, the positioning grooves are arranged in a radial shape in the radial direction of the positioning disc, and the two side walls of each positioning groove are inclined planes which incline towards the outside of the groove and are symmetrical; the lower surface of the positioning block is provided with a positioning protrusion corresponding to the positioning groove, the surface of the positioning protrusion is a spherical cambered surface, and the surface of the positioning protrusion abuts against the two side walls of the positioning groove. The positioning block abuts against the positioning disc through the at least three positioning protrusions and the inclined groove walls of the at least three positioning grooves, the positioning protrusions can be automatically centered through the at least three positioning grooves, rapid positioning of the positioning block can be achieved through the positioning protrusions in at least six directions, and the positioning disc is simple in structure and convenient to use. Not only can the mounting efficiency be improved, but also the positioning accuracy can be ensured.

Description

Technical Field

[0001] The present invention relates to the field of medical navigation technology, and in particular to a repeated positioning device and a surgical navigation system. Background Art

[0002] Among medical devices, the CT machine is a device that uses X-ray beams, gamma rays, ultrasound, etc. to perform tomographic scans of the human body, and then obtains cross-sectional or stereoscopic images of the scanned area through computer processing. The CT machine can be used to examine a variety of diseases.

[0003] Since the accuracy of images obtained by a single CT machine is limited, some inspections require the combination of CT technology with other navigation technologies to improve the accuracy of the inspection. During routine inspections, the navigation component is removed from the CT machine, and the scanning mechanism in the CT machine is used to scan the human body to meet the inspection requirements; during precision inspections, the navigation component needs to be installed on the CT machine to combine CT technology with navigation technology to meet more precise inspection requirements.

[0004] Since the CT machine needs to repeatedly disassemble and assemble the navigation component, in order to facilitate the repeated installation of the navigation component on the CT machine and ensure the relative position of the repeatedly installed navigation component and the CT machine, it is urgent to design a repeated positioning device to accurately and quickly install the navigation component on the CT machine. Summary of the invention

[0005] Based on this, the present invention provides a repeatable positioning device and a surgical navigation system. The navigation component of the navigation system can be installed on the CT machine through the repeatable positioning device. The repeatable positioning device has a simple structure and is easy to install, and can ensure the installation efficiency and accuracy of the navigation component.

[0006] According to an embodiment of the present invention, a first aspect provides a repeated positioning device, comprising:

[0007] A positioning base, comprising a disc-shaped positioning plate, wherein at least three positioning grooves are arranged on the upper surface of the positioning plate, wherein the positioning grooves are radially arranged along the radial direction of the positioning plate, and the two side walls of the positioning grooves are inclined surfaces inclined toward the outside of the groove and symmetrical;

[0008] A positioning block is arranged above the positioning base, a positioning protrusion is arranged on the lower surface of the positioning block corresponding to the positioning groove, the surface of the positioning protrusion is a spherical arc surface, and the surface of the positioning protrusion abuts against the two side walls of the positioning groove.

[0009] In some embodiments, the positioning plate and the positioning block are connected by a locking bolt, a first threaded hole is opened in the middle of the positioning plate, and a first avoidance hole is opened in the middle of the positioning block corresponding to the first thread, and the locking bolt passes through the first avoidance hole and extends into the first threaded hole to lock the positioning plate and the positioning block.

[0010] In some embodiments, a guide column is disposed on the lower surface of the positioning block, and a guide hole is correspondingly provided on the positioning plate. The guide column is passed through the guide hole to guide the positioning block to move smoothly relative to the positioning plate.

[0011] In some embodiments, the positioning block is detachably connected to the guide column, a second threaded hole is provided on the lower surface of the positioning block, a screw rod adapted to the second threaded hole is provided on the top of the guide column, and the screw rod is inserted into the second threaded hole.

[0012] In some embodiments, the bottom of the guide column is semi-spherical, and a milled flat surface is provided on the outer peripheral wall of the guide column.

[0013] In some embodiments, the positioning base also includes a mounting seat body, which includes two support arms arranged at intervals and a connecting arm for connecting the two support arms, and the two ends of the connecting arm are connected to the rear ends of the two support arms, so that the mounting seat body is U-shaped; the positioning plate is installed at the front ends of the two support arms.

[0014] In some embodiments, the front ends of the two support arms are upwardly tilted, and the upper surfaces of the two support arms are provided with annular grooves for accommodating the positioning plates, and the annular grooves are provided with positioning through holes that penetrate through to the lower surfaces of the support arms; the lower surface of the positioning plate is provided with positioning columns, and the positioning columns are passed through the positioning through holes.

[0015] In some embodiments, the positioning plate is connected to the support arm by a fixing bolt, a third threaded hole is arranged on the lower surface of the positioning plate, and a second avoidance hole is arranged on the lower surface of the support arm, and the fixing bolt passes through the second avoidance hole from the bottom of the support arm and then extends into the third threaded hole.

[0016] According to an embodiment of the present invention, a second aspect provides a surgical navigation system, the surgical navigation system comprising a CT machine and a navigation component, the CT machine comprising an examination bed and a scanning device arranged outside the examination bed;

[0017] The navigation component is installed on the examination bed through the aforementioned repeated positioning device, the positioning block of the repeated positioning device is connected to the navigation component, and the positioning base of the repeated positioning device is connected to the examination bed.

[0018] In some embodiments, the navigation component includes a light-emitting panel, and a limb limiting seat is provided on the examination bed; the positioning base includes a mounting seat body, and the mounting seat body includes two support arms arranged at intervals and a connecting arm for connecting the two support arms;

[0019] The two ends of the connecting arm are connected to the rear ends of the two supporting arms, the limb limiting seat is accommodated between the two supporting arms, and the front ends of the two supporting arms are connected to the positioning plate; the light-emitting panel is connected to the positioning block and is located on the outside of the two supporting arms.

[0020] In the repeated positioning device of the present invention, the positioning block and the positioning plate are abutted by at least three positioning protrusions and at least three inclined groove walls of the positioning grooves. The at least three positioning grooves can not only make the positioning protrusions automatically align, but also limit the positioning block by the positioning protrusions in at least six directions, thereby ensuring the accuracy of the relative position of the positioning block and the positioning plate. The repeated positioning device realizes rapid positioning only by the positioning grooves and the positioning protrusions, has a simple structure, can not only improve the installation efficiency but also ensure the accuracy of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure in which the navigation component is installed on the examination bed through a repeatable positioning device;

[0022] Figure 2 It is a structural schematic diagram of a repeated positioning device;

[0023] Figure 3 It is a schematic diagram of the cross-sectional structure of the positioning block and the positioning base;

[0024] Figure 4 It is a structural schematic diagram of the positioning plate;

[0025] Figure 5 It is a structural diagram of the positioning block;

[0026] Figure 6 is a schematic structural diagram of the front end of the support arm;

[0027] Figure 7 Schematic diagram of the structure of the guide column.

[0028] In the figure: an examination bed 10; a limb limiting seat 11; a positioning plate 20; a positioning column 21; a positioning groove 22; a first threaded hole 23; a guide hole 24; a positioning block 30; a positioning protrusion 31; a first avoidance hole 32; a second threaded hole 33; a mounting seat body 40; a support arm 41; a connecting arm 42; an annular groove 43; a positioning through hole 44; a second avoidance hole 45; a third avoidance hole 46; a guide column 50; a milled flat surface 51; a locking bolt 60; a washer 61; a tightening bolt 62; an angle bracket 63; a light-emitting panel 70. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0030] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology, and are not used to limit the conditions under which the present invention can be implemented. Any structural modification, change in proportion or adjustment of size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0031] The directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "middle", "longitudinal", "lateral", "horizontal", "inner", "outer", "radial", "circumferential" and the like in this specification are based on the directions or positional relationships shown in the drawings and are only for the convenience of simplifying the description. They do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0032] like Figure 1 As shown, this embodiment provides a surgical navigation system, which includes a CT machine and a navigation component, wherein the CT machine includes an examination bed 10 for a person to lie flat on and a scanning device (not shown in this embodiment) arranged outside the examination bed 10, the scanning device is usually in a door shape or annular, and the examination bed 10 can drive the person lying flat to enter the inside of the scanning device, so that the scanning device can scan the human body in multiple directions. The navigation component is detachably mounted on the examination bed 10 through a repeated positioning mechanism.

[0033] See Figure 2-5 The repeated positioning device of this embodiment includes a positioning base and a positioning block 30. The positioning base includes a disc-shaped positioning disk 20. At least three positioning grooves 22 are arranged on the upper surface of the positioning disk 20. The positioning grooves 22 are arranged radially along the radial direction of the positioning disk 20. It should be noted that the positioning grooves 22 of this embodiment are arranged radially, which specifically means that the positioning grooves 22 are arranged on the upper end surface of the positioning disk 20 with the center of the positioning disk 20 as the origin, and the longitudinal direction of the positioning grooves 22 is arranged radially along the positioning disk 20. The two side walls of the positioning groove 22 of this embodiment are inclined surfaces that are inclined and symmetrical toward the outside of the groove, so that the cross section of the positioning groove 22 is an inverted isosceles trapezoidal shape with a large top and a small bottom, or an inverted isosceles triangle shape.

[0034] The positioning block 30 of this embodiment is arranged above the positioning plate 20, and the lower surface of the positioning block 30 corresponds to at least three positioning protrusions 31 arranged in the positioning groove 22. The surface of each positioning protrusion 31 is a spherical arc surface, and is preferably semi-spherical. The positioning protrusions 31 correspond one-to-one to the positioning groove 22 and extend into the positioning groove 22. The surface of the positioning protrusion 31 can abut against the two side walls of the positioning groove 22.

[0035] When the positioning block 30 is placed on the positioning plate 20, the positioning protrusion 31 on the positioning block 30 extends into the positioning groove 22, and the spherical arc surface of the positioning protrusion 31 abuts against the inclined two side walls of the positioning groove 22, and each side wall limits the positioning protrusion 31 along the normal of the contact position, that is, each positioning groove 22 can limit the positioning protrusion 31 from two directions.

[0036] Since the number of the positioning grooves 22 in this embodiment is at least three, and the longitudinal directions of the at least three positioning grooves 22 are all different, the at least three positioning grooves 22 can limit the positioning block 30 in at least six directions through the positioning protrusions 31, thereby ensuring the accuracy of the relative position of the positioning block 30 and the positioning plate 20. The number of the positioning grooves 22 in this embodiment is preferably three, which can meet the positioning requirements with a simple structural form.

[0037] The inclined side walls of the positioning groove 22 of this embodiment make the opening of the positioning groove 22 flared, which not only facilitates the positioning protrusion 31 to extend into the positioning groove 22, but also facilitates the positioning protrusion 31 to automatically center, so that the positioning block 30 moves to the target position. This solution only realizes rapid positioning through the structure of the positioning groove 22 and the positioning protrusion 31, and its structure is simple, which can not only improve the installation efficiency but also ensure the accuracy of positioning.

[0038] The positioning plate 20 and the positioning block 30 of this embodiment are preferably connected by a locking bolt 60, wherein a first threaded hole 23 is provided in the middle of the positioning plate 20, and a first avoidance hole 32 is provided in the middle of the positioning block 30, and the locking bolt 60 passes through the first avoidance hole 32 and extends into the first threaded hole 23 to lock the positioning plate 20 and the positioning block 30. A washer 61 can also be provided between the locking bolt 60 and the positioning block 30 to prevent loosening. It should be noted that the positioning plate 20 and the positioning block 30 can be connected by conventional means such as a buckle or a locking pin according to actual needs, which will not be described in detail in this embodiment.

[0039] In this embodiment, a guide post 50 is disposed on the lower surface of the positioning block 30, and a guide hole 24 is correspondingly provided in the positioning plate 20. The guide post 50 is inserted into the guide hole 24 to guide the positioning block 30 to move stably relative to the positioning plate 20. The guide post 50 is preferably connected to the positioning block 30 in a detachable manner, so that the positioning block 30 and the guide post 50 can be processed separately.

[0040] See Figure 7 , the guide column 50 of this embodiment is preferably connected to the positioning block 30 by a thread, wherein the lower surface of the positioning block 30 is provided with a second threaded hole 33, and the top of the guide column 50 is provided with a screw rod adapted to the second threaded hole 33, and the screw rod is inserted into the second threaded hole 33, so that the guide column 50 and the positioning block 30 are detachable. The bottom of the guide column 50 of this embodiment is in a smooth semi-spherical shape, so that the guide column 50 can be inserted into the guide hole 24. A milled flat surface 51 is provided on the outer peripheral wall of the guide column 50, and the milled flat surface 51 facilitates the clamping of the guide column 50 for assembly. It should be noted that the guide column 50 of this embodiment can be detachable by selecting conventional connection methods such as buckles and pins, and the number of guide columns 50 and guide holes 24 can be set according to actual needs, which will not be repeated in this embodiment.

[0041] See Figure 1-3 The positioning base of this embodiment also includes a mounting seat body 40 for connecting to the examination bed 10, and the mounting seat body 40 includes two support arms 41 arranged at intervals and a connecting arm 42 for connecting the two support arms 41, wherein the connecting arm 42 is attached to the examination bed 10, and a limb limiting seat 11 is provided on the examination bed 10, and the limb limiting seat 11 is used to guide the human body to lie flat on the examination bed 10.

[0042] The connecting arm 42 of this embodiment is detachably connected to the examination bed 10, and the connecting arm 42 can be bolted to the examination bed 10. The rear ends of the two support arms 41 are connected to the two ends of the connecting arm 42, so that the mounting seat body 40 is U-shaped, and a space is left between the two support arms 41 to avoid the limb limit seat 11, and the front ends of the two support arms 41 are used to install the positioning plate 20. The front ends of the two support arms 41 of this embodiment are preferably tilted upward, so that the front ends of the two support arms 41 are at a certain distance from the table surface of the examination bed 10, so as to facilitate the installation of the positioning plate 20 to the front ends of the two support arms 41.

[0043] See Figure 3 and Figure 6In this embodiment, the upper surfaces of the two support arms 41 are provided with an annular groove 43 for accommodating the positioning plate 20, and a positioning through hole 44 is provided in the annular groove 43 and penetrates to the lower surface of the support arm 41; the lower surface of the positioning plate 20 is provided with a positioning column 21, and the positioning column 21 is penetrated in the positioning through hole 44 to ensure the relative position of the positioning plate 20 and the support arm 41. In this embodiment, a third threaded hole is preferably provided on the lower surface of the positioning plate 20, and a second avoidance hole 45 is provided on the lower surface of the support arm 41. The positioning plate 20 is fixed in the annular groove 43 by a fixing bolt 62 passing through the second avoidance hole 45 from the bottom of the support arm 41 and then extending into the third threaded hole. Since the front ends of the two support arms 41 are preferably tilted upward, it is convenient for the fixing bolt 62 to connect the positioning plate 20 from the bottom of the support arm 41. The setting method of the fixing bolt 62 can effectively prevent the fixing bolt 62 from interfering with the connection between the positioning block 30 and the positioning plate 20.

[0044] The support arm 41 of this embodiment is provided with a third avoidance hole 46 corresponding to the guide hole 24, and the third avoidance hole 46 can allow the guide post 50 to extend into, so as to prevent the relative movement of the positioning block 30 and the positioning plate 20 from being affected by the interference between the support arm 41 and the guide post 50. The number of the guide post 50 and the fixing bolt 62 of this embodiment is preferably three, and some embodiments can be set according to actual needs.

[0045] See Figure 1 In this embodiment, a navigation component is provided on the positioning block 30, and the navigation component is preferably a light-emitting board 70. The light-emitting board 70 is installed on the examination bed 10 through a repeated positioning device, so that the light-emitting board 70 always keeps a distance from the scanning mechanism during the movement of the examination bed 10, which can avoid interference between the light-emitting board 70 and the scanning mechanism and cause damage. The light-emitting board 70 is preferably fixed on the outward side of the two support arms 41, so that the light-emitting board 70 is at a certain distance from the limb limit seat 11, to prevent the light-emitting board 70 from interfering with the person lying flat.

[0046] The positioning block 30 of this embodiment is preferably provided with an angle bracket 63 to connect the light-emitting board 70. The angle bracket 63 includes a first arm arranged horizontally and a second arm arranged vertically. Bolts are passed through the first arm and the second arm to connect the light-emitting board 70, so that the light-emitting board 70 is stably installed and firmly connected. The angle bracket 63 of this embodiment can be selected to be integrally formed with the positioning block 30, thereby reducing the assembly steps.

[0047] It should be noted that the navigation components of some embodiments may also select other existing optical navigation components and / or electromagnetic navigation components according to needs. Since the means of using CT machines in combination with optical navigation components and / or electromagnetic navigation components for precise inspection is an existing technology, it will not be elaborated in this embodiment.

[0048] 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.

[0049] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A repeated positioning device, characterized in that: include: A positioning base, comprising a disc-shaped positioning plate (20), wherein at least three positioning grooves (22) are arranged on the upper surface of the positioning plate (20), wherein the positioning grooves (22) are radially arranged along the radial direction of the positioning plate (20), and the two side walls of the positioning grooves (22) are inclined surfaces inclined toward the outside of the groove and symmetrically; A positioning block (30) is arranged above the positioning base, and a positioning protrusion (31) is arranged on the lower surface of the positioning block (30) corresponding to the positioning groove (22), and the surface of the positioning protrusion (31) is a spherical arc surface, and the surface of the positioning protrusion (31) abuts against the two side walls of the positioning groove (22).

2. The repeated positioning device according to claim 1, characterized in that: The positioning plate (20) and the positioning block (30) are connected by a locking bolt (60); a first threaded hole (23) is provided in the middle of the positioning plate (20); a first avoidance hole (32) is provided in the middle of the positioning block (30) corresponding to the first thread; the locking bolt (60) passes through the first avoidance hole (32) and extends into the first threaded hole (23) to lock the positioning plate (20) and the positioning block (30).

3. The repeated positioning device according to claim 2, characterized in that: A guide column (50) is arranged on the lower surface of the positioning block (30), and a guide hole (24) is correspondingly provided on the positioning plate (20). The guide column (50) is inserted into the guide hole (24) to guide the positioning block (30) to move smoothly relative to the positioning plate (20).

4. The repeated positioning device according to claim 3, characterized in that: The positioning block (30) is detachably connected to the guide column (50); a second threaded hole (33) is arranged on the lower surface of the positioning block (30); a screw rod adapted to the second threaded hole (33) is arranged on the top of the guide column (50); and the screw rod is inserted into the second threaded hole (33).

5. The repeated positioning device according to claim 4, characterized in that: The bottom of the guide column (50) is in a semi-spherical shape, and a milled flat surface (51) is provided on the outer peripheral wall of the guide column (50).

6. The repeated positioning device according to any one of claims 1 to 5, characterized in that: The positioning base also includes a mounting seat body (40), the mounting seat body (40) including two support arms (41) arranged at intervals and a connecting arm (42) for connecting the two support arms (41), the two ends of the connecting arm (42) connecting the rear ends of the two support arms (41), so that the mounting seat body (40) is U-shaped; the positioning plate (20) is installed at the front ends of the two support arms (41).

7. The repeated positioning device according to claim 6, characterized in that: The front ends of the two support arms (41) are tilted upwards, and the upper surfaces of the two support arms (41) are provided with annular grooves (43) for accommodating the positioning disk (20), and the annular grooves (43) are provided with positioning through holes (44) penetrating to the lower surfaces of the support arms (41); the lower surface of the positioning disk (20) is provided with positioning columns (21), and the positioning columns (21) are penetrated through the positioning through holes (44).

8. The repeated positioning device according to claim 7, characterized in that: The positioning plate (20) is connected to the support arm (41) via a fixing bolt (62); a third threaded hole is arranged on the lower surface of the positioning plate (20); a second avoidance hole (45) is arranged on the lower surface of the support arm (41); the fixing bolt (62) passes through the second avoidance hole (45) from the bottom of the support arm (41) and then extends into the third threaded hole.

9. A surgical navigation system, comprising a CT machine and a navigation component, wherein the CT machine comprises an examination bed (10) and a scanning device arranged outside the examination bed (10), characterized in that: The navigation component is installed on the examination bed (10) through the repeated positioning device described in claims 1-8, the positioning block (30) of the repeated positioning device is connected to the navigation component, and the positioning base of the repeated positioning device is connected to the examination bed (10).

10. The surgical navigation system according to claim 9, characterized in that: The navigation component comprises a light-emitting panel (70), and a limb limiting seat (11) is arranged on the examination bed (10); the positioning base also comprises a mounting seat body (40), and the mounting seat body (40) comprises two support arms (41) arranged at intervals and a connecting arm (42) for connecting the two support arms (41); The two ends of the connecting arm (42) are connected to the rear ends of the two supporting arms (41); the limb limiting seat (11) is accommodated between the two supporting arms (41); the front ends of the two supporting arms (41) are connected to the positioning plate (20); the light-emitting panel (70) is connected to the positioning block (30) and is located outside the two supporting arms (41).

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