Calibration platform and surgical instrument calibration system

Abstract

The invention provides a calibration platform and a surgical instrument calibration system. The surgical instrument calibration system comprises an optical navigation system, a calculation unit and the calibration platform. The calibration platform comprises a main body and a pressing plate movably arranged on one side of the main body; a first positioning structure is arranged on the side, facing the pressing plate, of the body, a second positioning structure is arranged on the side, facing the body, of the pressing plate, and the second positioning structure is used for being matched with the first positioning structure to position the surgical instrument during calibration; a first tracing element is arranged on the main body; the optical navigation system is used for capturing the first tracing element and the second tracing element so as to obtain pose information of the calibration platform and the surgical instrument, and the second tracing element is arranged on the surgical instrument; and the calculation unit is used for calculating parameters of the surgical instrument according to the pose information so as to realize instrument calibration. The second positioning structure on the pressing plate is matched with the first positioning structure on the main body to limit the surgical instrument, so that the calibration precision of the surgical instrument is improved.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and more specifically, to a calibration platform and a surgical instrument calibration system. Background Art

[0002] Before surgical navigation, surgical instruments need to be calibrated. Surgical instrument calibration refers to the precise measurement and calibration of surgical instruments, which aims to make a preliminary judgment on whether the surgical instruments are usable before surgery, and to accurately measure the relevant information of surgical instruments to provide a basis for subsequent navigation. Surgical instruments are usually rod-shaped instruments, which can be subdivided into pointed rod-shaped instruments and blunt rod-shaped instruments. The diameter, axial position, and terminal tip or blunt tip position of surgical instruments need to be calibrated.

[0003] The surgical instrument calibration system is used to calibrate surgical instruments. The surgical instrument calibration system generally includes a calibration platform, a navigation array, an optical navigation system and a computing unit. The navigation array is installed on the surgical instrument, and the surgical instrument is installed on the calibration platform. The calibration platform is provided with a plurality of first tracing elements, and the navigation array is provided with a plurality of second tracing elements. Each first tracing element and each second tracing element can be captured by the optical navigation system respectively. The computing unit determines the axial vector, diameter size and tip position of the surgical instrument according to the position and posture of the calibration platform and the position and posture of the surgical instrument.

[0004] The calibration platforms on the market generally use V-shaped grooves to limit the two degrees of freedom of movement and two degrees of freedom of rotation of surgical instruments. During calibration, the shaft of the surgical instrument is placed in the V-shaped groove, and the surgical instrument is pressed by hand to limit the surgical instrument in the V-shaped groove. During the calibration process, the rotation calibration of the surgical instrument is achieved by pressing the surgical instrument with one hand and rotating the surgical instrument with the other hand. This type of calibration platform, on the one hand, is unstable in limiting the surgical instrument, resulting in low calibration accuracy, and on the other hand, it is inconvenient for users to operate. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a calibration platform and a surgical instrument calibration system to solve the technical problem in the prior art that the calibration platform has unstable restrictions on surgical instruments, resulting in low calibration accuracy.

[0006] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: a calibration platform is provided for calibrating surgical instruments, the calibration platform includes a main body and a pressure plate movably arranged on one side of the main body; a first positioning structure is provided on the side of the main body facing the pressure plate, and a second positioning structure is provided on the side of the pressure plate facing the main body, the second positioning structure is used to cooperate with the first positioning structure to position the surgical instrument during calibration; a first tracing element is provided on the main body.

[0007] In one embodiment, the first positioning structure includes a V-shaped groove, and the second positioning structure includes a pressing surface; the length extension direction of the pressing surface is parallel to the length extension direction of the V-shaped groove.

[0008] In one embodiment, the second positioning structure includes a protrusion facing the V-shaped groove, and the pressing surface is a plane of the protrusion facing the V-shaped groove.

[0009] In one embodiment, the calibration platform further includes a guide rod;

[0010] One end of the guide rod is fixedly connected to the pressing plate, and the other end of the guide rod is slidably matched with the main body;

[0011] Alternatively, one end of the guide rod is slidably matched with the pressure plate, and the other end of the guide rod is fixedly connected to the main body.

[0012] In one embodiment, a slide groove is formed on the main body, and the calibration platform further includes a guide rod and a reset member, one end of the guide rod is fixedly connected to the pressure plate, and the other end of the guide rod is slidably matched with the slide groove;

[0013] The reset member is received in the slide groove, and the reset member is arranged between the other end of the guide rod and the bottom wall of the slide groove;

[0014] Alternatively, the reset member is sleeved on the guide rod, and the reset member is arranged between the pressing plate and the main body.

[0015] In one embodiment, the first positioning structure includes two V-shaped grooves arranged side by side in parallel.

[0016] In one embodiment, at least one conical marking hole is formed on the main body; the conical marking hole is formed on a side surface of the main body along a length extension direction of the first positioning structure.

[0017] In one embodiment, a blunt tip calibration groove is formed on the main body, and the blunt tip calibration groove has two first limiting planes arranged opposite to each other and a calibration surface connected between the two first limiting planes.

[0018] In one embodiment, a scale line is formed on the main body adjacent to an outer edge of the calibration surface.

[0019] In one embodiment, at least three supporting portions for mounting at least three first tracing elements are provided at corners of the main body, and each of the supporting portions extends away from the main body.

[0020] The beneficial effect of the calibration platform provided by the present application is that: the calibration platform provided by the embodiment of the present application, by setting a pressure plate on one side of the main body, by setting a first positioning structure on the side of the main body facing the pressure plate, and by setting a second positioning structure on the side of the pressure plate facing the main body, and by cooperating with the first positioning structure to position the surgical instrument during calibration, the uniformity of the pressure distribution on the surgical instrument is improved, and the situation of the surgical instrument tilting due to uneven force is reduced, thereby improving the installation stability and installation accuracy of the surgical instrument in the first positioning structure, improving the relative position accuracy of the surgical instrument and each first tracing element, and then improving the axial vector and diameter calibration accuracy of the surgical instrument, improving the surgical navigation accuracy, and improving the success rate of the operation. At the same time, by setting the pressure plate, operations such as calibration and verification are made more convenient, and the device is easy to use.

[0021] On the other hand, the present application also provides a surgical instrument calibration system, including an optical navigation system, a computing unit and the above-mentioned calibration platform; the optical navigation system is used to capture the first tracking element and the second tracking element to obtain the posture information of the calibration platform and the surgical instrument respectively, wherein the second tracking element is arranged on the surgical instrument; the computing unit is used to calculate the parameters of the surgical instrument according to each posture information to realize instrument calibration.

[0022] The beneficial effect of the surgical instrument calibration system provided in the present application is that the surgical instrument calibration system provided in the embodiment of the present application has high calibration accuracy through the setting of the above-mentioned calibration platform, thereby improving the navigation accuracy of the surgical instrument and improving the success rate of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 A schematic diagram of the structure of a surgical instrument calibration system provided in an embodiment of the present application;

[0025] Figure 2 A schematic diagram of the three-dimensional structure of a calibration platform provided in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of the side structure of the calibration platform provided in the embodiment of the present application;

[0027] Figure 4A schematic diagram of the assembly of a calibration platform provided in an embodiment of the present application for calibrating a surgical instrument with a smaller diameter;

[0028] Figure 5 A schematic diagram of the assembly of a calibration platform provided in an embodiment of the present application for calibrating a surgical instrument with a larger diameter;

[0029] Figure 6 A schematic diagram of marking a surgical instrument with a larger diameter using the calibration platform provided in an embodiment of the present application;

[0030] Figure 7 A schematic longitudinal cross-sectional view of a calibration platform provided in an embodiment of the present application;

[0031] Figure 8 A schematic diagram of the three-dimensional structure of a calibration platform provided in another embodiment of the present application;

[0032] Fig. 9 A schematic diagram of the side structure of a calibration platform provided in another embodiment of the present application;

[0033] Fig.10 A schematic top view of a calibration platform provided in an embodiment of the present application;

[0034] Fig.11 A schematic diagram of the calibration of a blunt-tip surgical instrument using the calibration platform provided in an embodiment of the present application.

[0035] Among them, the reference numerals in the figure are:

[0036] 1. Calibration platform; 11. Main body; 111. Scale line; 112. Slide groove; 113. V-shaped groove; 1131. Second surface; 114. First limiting part; 115. Conical calibration hole; 116. Blunt calibration groove; 1161. First limiting plane; 1162. Calibration surface; 117. Second holding surface; 12. Pressure plate; 121. Bump; 1211. First surface; 122. Pressing surface; 123. First holding surface; 13. Guide rod; 131. Second limiting part; 14. Resetting member; 15. First tracing element; 16. Support part; 161. Connecting rod; 162. Mounting block; 17. Support foot; 2. Navigation array; 21. Second tracing element; 3. Optical navigation system; 4. Surgical instrument. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application 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 application and are not used to limit the present application.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0039] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do 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 should not be understood as a limitation on the present application.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0041] As described in the background technology, the calibration platform generally defines two degrees of freedom of movement and two degrees of freedom of rotation of the surgical instrument through a V-shaped groove. During calibration, the shaft of the surgical instrument is placed in the V-shaped groove, and the surgical instrument is pressed by hand to confine the surgical instrument in the V-shaped groove. During the calibration process, the rotation calibration of the surgical instrument is achieved by pressing the surgical instrument with one hand and rotating the surgical instrument with the other hand. This calibration platform, on the one hand, is unstable in limiting the surgical instrument, resulting in low calibration accuracy, and on the other hand, it is inconvenient for the user to operate.

[0042] To this end, an embodiment of the present application provides a calibration platform 1 and a surgical instrument calibration system for calibrating a surgical instrument 4 during navigation surgery. A pressure plate 12 is provided on the calibration platform 1, and the pressure plate 12 is used to press the surgical instrument 4, thereby ensuring that the surgical instrument 4 is evenly stressed and does not warp, thereby improving the calibration accuracy of the surgical instrument 4.

[0043] See also Figure 1The surgical instrument calibration system includes a calibration platform 1, an optical navigation system 3 and a computing unit (not shown). The calibration platform 1 is provided with at least three first tracing elements 15; the surgical instrument 4 is provided with a second tracing element 21; the calibration platform 1 is used to limit the shaft of the surgical instrument 4 to cooperate with the optical navigation system 3 to calibrate the surgical instrument 4. The optical navigation system 3 is used to capture each first tracing element 15 to determine the first position information of the calibration platform 1 in space, and the optical navigation system 3 is used to capture each second tracing element 21 to determine the second position information of the surgical instrument 4 in space. The computing unit is connected to the optical navigation system 3 for communication, and the computing unit is used to calculate the parameters of the surgical instrument 4 according to the first position information and the second position information, specifically, the axial vector, diameter size and tip position of the surgical instrument 4 to achieve instrument calibration.

[0044] In one embodiment, see Figure 1 The surgical instrument calibration system also includes a navigation array 2 , which is mounted on the surgical instrument 4 , and a second tracking element 21 is mounted on the navigation array 2 .

[0045] In one embodiment, see Figures 2 to 5 The calibration platform 1 is used for calibrating the surgical instrument 4. The calibration platform 1 includes a main body 11 and a pressure plate 12 movably arranged on one side of the main body 11; a first positioning structure is provided on the side of the main body 11 facing the pressure plate 12, and a second positioning structure is provided on the side of the pressure plate 12 facing the main body 11. The second positioning structure is used to cooperate with the first positioning structure to position the surgical instrument 4 during calibration; a first tracing element 15 is installed on the main body 11.

[0046] The calibration platform 1 is a calibration platform based on optical navigation, which can be used to calibrate the surgical instrument 4 before or during navigation surgery.

[0047] The calibration platform 1 provided in the embodiment of the present application reduces human intervention by providing a pressure plate 12 on one side of the main body 11, providing a first positioning structure on the side of the main body 11 facing the pressure plate 12, and providing a second positioning structure on the side of the pressure plate 12 facing the main body 11, and cooperating with the first positioning structure to position the surgical instrument 4 during calibration, thereby improving the uniformity of pressure distribution on the surgical instrument 4, reducing the situation where the surgical instrument 4 is lifted due to uneven force, and then improving the installation stability and installation accuracy of the surgical instrument 4 in the main body 11, improving the relative position accuracy of the surgical instrument 4 and each first tracing element 15, and then improving the axial vector calibration accuracy of the surgical instrument 4, improving the surgical navigation accuracy, and improving the success rate of the operation. At the same time, by providing the pressure plate 12, operations such as calibration and verification are made more convenient, and the device is easy to use.

[0048] In one embodiment, see Figures 2 to 5 The first positioning structure includes a V-shaped groove 113, and the second positioning structure includes a pressing surface 122. The V-shaped groove 113 accommodates and limits the surgical instrument 4, and the pressing surface 122 abuts against the outer wall of the surgical instrument 4 to ensure the abutment flatness of the pressure plate 12 against the surgical instrument 4, thereby improving the positioning accuracy of the pressure plate 12 against the surgical instrument 4.

[0049] When calibrating the surgical instrument 4, the shaft of the surgical instrument 4 can be set on the V-groove 113, and the pressing plate 12 can be pressed by hand so that the pressing surface 122 of the pressing plate 12 presses the outer wall of the surgical instrument 4, so that the three degrees of freedom of movement and three degrees of freedom of rotation of the surgical instrument 4 can be jointly defined by the V-groove 113 and the pressing surface 122, that is, the positioning of the surgical instrument 4 on the calibration platform 1 is completed. When the surgical instrument 4 needs to be rotated, the pressing plate 12 can be slightly loosened so that the user can rotate the surgical instrument 4, thereby obtaining the movement trajectory of the second tracing element 21 on the surgical instrument 4 along the circumferential direction. Specifically, when the surgical instrument 4 rotates, each second tracing element 21 on the surgical instrument 4 also rotates around the shaft, and each second tracing element 21 has a circular trajectory. The axial vector of the surgical instrument 4 is obtained by connecting the center of the movement trajectory of each second tracing element 21.

[0050] Also, see Figure 6 According to the first position information of each first tracing element 15 and the position relationship between the tip of each first tracing element 15 and the V-shaped groove 113, the tip vector of the V-shaped groove 113 can be determined. Then, according to the second position information of each second tracing element 21, the axial vector of the surgical instrument 4 can be determined; according to the tip vector of the V-shaped groove 113 and the axial vector of the surgical instrument 4, the Figure 6 The value of L. According to the formula D = 2*L*sin(ɑ / 2), the diameter D of the shaft of the surgical instrument 4 can be calculated, where ɑ is the angle of the V-shaped groove, and ɑ is determined during the design.

[0051] It is understandable that in other embodiments of the present application, the first positioning structure may also include a pressing surface, the second positioning structure may include a V-shaped groove, or both the first positioning structure and the second positioning structure may include a V-shaped groove. Alternatively, in other embodiments, the V-shaped groove may be changed to a T-shaped groove, which is not limited here.

[0052] In one embodiment, see Figures 2 to 5, the calibration platform 1 can be placed on a desktop, tabletop or in an instrument box through the support feet 17 when not in use, and is held in the hand when in use, the pressing plate 12 is movably arranged above the main body 11, and the V-shaped groove 113 is formed on the top side of the main body 11. During installation, the shaft of the surgical instrument 4 is laterally supported and limited on the V-shaped groove 113, and then the pressing plate 12 is pressed by hand so that the pressing plate 12 is pressed on the outer side wall of the surgical instrument 4 facing upward. In this embodiment, the surgical instrument 4 is horizontally arranged in the V-shaped groove 113 through the horizontal extension of the V-shaped groove 113, and the gravity of the surgical instrument 4 is supported by the V-shaped groove 113, which can reduce the possibility of the surgical instrument 4 moving axially during the calibration process. It can be understood that in other embodiments of the present application, the above-mentioned V-shaped groove 113 can also be formed on other sides of the calibration platform 1. When in use, the V-shaped groove 113 may be arranged vertically, and the surgical instrument 4 can be vertically inserted into the V-shaped groove 113, which is not the only limitation here.

[0053] In one embodiment, see Figures 3 to 6 The length extension direction of the pressing surface 122 is parallel to the length extension direction of the V-shaped groove 113, so that the force exerted by the pressing surface 122 and the V-shaped groove 113 on the surgical instrument 4 is evenly distributed along the axial direction of the surgical instrument 4, ensuring that the force distribution of the surgical instrument 4 is even and the positioning accuracy is high.

[0054] In one embodiment, see Figures 3 to 6 The pressing surface 122 is perpendicular to the symmetric plane of the V-shaped groove 113. The symmetric plane of the V-shaped groove 113 refers to a plane that divides the angle of the V-shaped groove 113 in half, for example Figure 6 In this embodiment, by setting the pressing surface 122 to be perpendicular to the symmetric plane of the V-shaped groove 113, the force exerted by the pressing surface 122 on the surgical instrument 4 is symmetrically arranged relative to the two groove walls of the V-shaped groove 113, so as to ensure that the force distribution of the surgical instrument 4 is uniform and the positioning accuracy is high.

[0055] In one embodiment, see Figure 2, the two opposite ends of the pressing surface 122 along the length extension direction of the V-shaped groove 113 are respectively arranged flush with the two opposite ends of the V-shaped groove 113. In this way, the length of the pressing surface 122 acting on the surgical instrument 4 is equal to the length of the V-shaped groove 113 acting on the surgical instrument 4, and they are arranged correspondingly to each other, thereby ensuring that the pressure of the pressing surface 122 on the surgical instrument 4 is evenly distributed, avoiding the situation where the surgical instrument 4 is tilted after being pressed by the pressing plate 12, and improving the positioning accuracy of the surgical instrument 4 on the calibration platform 1. The V-shaped groove 113 is arranged through the front-to-back direction of the main body 11, and at this time, the length of the V-shaped groove 113 and the main body 11 are equal. It can be understood that in other embodiments of the present application, the relative ends of the above-mentioned pressure surface 122 along the length extension direction of the V-shaped groove 113 may not be arranged flush with the relative ends of the V-shaped groove 113. For example, the relative ends of the pressure surface 122 are symmetrically inwardly arranged relative to the relative ends of the V-shaped groove 113, or the relative ends of the pressure surface 122 are symmetrically outwardly arranged relative to the relative ends of the V-shaped groove 113. This is not a sole limitation here.

[0056] In one embodiment, see Figure 3 , the second positioning structure includes a protrusion 121 facing the V-shaped groove 113, and the pressing surface 122 is the plane of the protrusion 121 facing the V-shaped groove 113. Among them, the setting of the protrusion 121 increases the thickness of the pressing plate 12 at the position corresponding to the V-shaped groove 113, that is, the structural strength of the pressing plate 12 at the position corresponding to the V-shaped groove 113 is improved, thereby improving the pressing strength of the pressing plate 12 on the surgical instrument 4 without increasing the overall thickness of the pressing plate 12. It can be understood that in other embodiments of the present application, the protrusion 121 may not be formed on the pressing plate 12, and the pressing surface 122 is the plane of the pressing plate 12 facing the V-shaped groove 113, which is not the only limitation here.

[0057] In one embodiment, see Figure 4 The protrusion 121 has two first surfaces 1211 arranged opposite to each other, and the V-shaped groove 113 has a second surface 1131 arranged opposite to each other. The two first surfaces 1211 and the two second surfaces 1131 are arranged in parallel in a one-to-one correspondence. When the outer diameter of the shaft of the surgical instrument 4 is small, the protrusion 121 can be inserted into the V-shaped groove 113 through the joint guidance of the two first surfaces 1211 and the two second surfaces 1131, thereby achieving the function of positioning the surgical instrument 4 and avoiding mutual interference of the structures.

[0058] In one embodiment, see Figure 2 and Figure 7The calibration platform 1 also includes a guide rod 13; one end of the guide rod 13 is fixedly connected to the pressure plate 12, and the other end of the guide rod 13 is slidably matched with the main body 11. The setting of the guide rod 13 can guide the sliding of the pressure plate 12, so as to ensure that the pressure plate 12 slides smoothly, and at the same time, it can ensure that each time the pressure plate 12 slides to the clamping state, it can be pressed flat on the surgical instrument 4, thereby ensuring the positioning accuracy of the surgical instrument 4. It can be understood that in other embodiments of the present application, the installation method of the above-mentioned guide rod 13 can be other situations, such as slidingly matching one end of the guide rod 13 with the pressure plate 12, and fixing the other end of the guide rod 13 to the main body 11, and the guide rod 13 can also realize the movement guiding effect of the pressure plate 12.

[0059] In one embodiment, see Figure 7 A slide groove 112 is formed on the main body 11, and the calibration platform 1 also includes a guide rod 13 and a reset member 14. One end of the guide rod 13 is fixedly connected to the pressure plate 12, and the other end of the guide rod 13 is slidably matched with the slide groove 112; the reset member 14 is accommodated in the slide groove 112, and the reset member 14 is arranged between the other end of the guide rod 13 and the bottom wall of the slide groove 112. Among them, the setting of the slide groove 112 can not only realize the sliding cooperation between the guide rod 13 and the main body 11, and hide the movable end of the guide rod 13 in the slide groove 112, but also can cover the guide rod 13 through the pressure plate 12, thereby improving the surface neatness and aesthetics of the calibration platform 1; the slide groove 112 can also accommodate the reset member 14 to limit the reset member 14, and at the same time can also hide the reset member 14 to avoid exposure of the reset member 14, to avoid the reset member 14 from clamping the operator's gloves during operation and the possible rupture of the gloves and loss of protection, and to avoid exposure of the reset member 14 to affect the appearance, and also to avoid the reset member 14 from being easily damaged due to exposure. In addition, through the setting of the reset member 14, the pressure plate 12 can be suspended and supported on the main body 11 by the reset member 14 when pressing the surgical instrument 4, so that the pressure plate 12 can be easily switched from the pressing state to the released state, which is convenient for the rotation operation of the surgical instrument 4. At the same time, the pressure plate 12 can be supported to keep the pressure plate 12 balanced, thereby ensuring the uniform distribution of the pressure of the pressure plate 12 on the surgical instrument 4.

[0060] In one embodiment, see Figure 7 The bottom of the chute 112 also includes a water guide hole, which is a through hole that runs from the bottom of the chute 112 to the bottom of the support foot 17. The provision of the water guide hole facilitates water conduction during the cleaning of the calibration platform 1 before sterilization. In other embodiments, the chute 112 is not provided in the area where the support foot 17 is located. In this case, the water guide hole runs from the bottom of the chute 112 to the side of the main body 11 away from the pressure plate.

[0061] In the initial state, the reset member 14 is in a naturally stretched state, and the pressure plate 12 is supported by the reset member 14 in the highest position. When the user presses the pressure plate 12, the pressure plate 12 presses the reset member 14 through the guide rod 13, and the reset member 14 is compressed and accumulates energy. When the user releases the pressure plate 12, the pressure plate 12 is reset to the highest position under the action of the reset member 14. In another embodiment of the present application, please refer to Figure 8 and Fig. 9 The reset member 14 can also be installed in other ways. Specifically, the reset member 14 is sleeved on the guide rod 13, and the reset member 14 is arranged between the pressing plate 12 and the main body 11. In this embodiment, the reset member 14 is arranged between the pressing plate 12 and the main body 11, and the reset member 14 is limited by the guide rod 13, so as to ensure that the reset member 14 can be extended and retracted along the axial direction of the guide rod 13, so that the force direction of the reset member 14 on the pressing plate 12 is in the axial direction of the guide rod 13, thereby improving the sliding stability of the pressing plate 12.

[0062] In one embodiment, see Figure 7 The reset member 14 is a cylindrical compression spring, and the pressure plate 12 is reset by the cylindrical compression spring. It can be understood that in other embodiments of the present application, the reset member 14 can also be other elastic structures, such as a bent spring sheet, a clip spring, or an elastic pad, which is not limited here.

[0063] In one embodiment, see Figure 7 The main body 11 is provided with a first limiting portion 114, and the guide rod 13 is provided with a second limiting portion 131. The first limiting portion 114 and the second limiting portion 131 cooperate to limit the sliding stroke of the guide rod 13. For example, when the user releases the pressing plate 12, the pressing plate 12 and the guide rod 13 are reset to a direction away from the main body 11 under the action of the reset member 14. The first limiting portion 114 and the second limiting portion 131 cooperate with each other to prevent the guide rod 13 from sliding beyond the moving stroke, so as to prevent the guide rod 13 from falling off the main body 11.

[0064] For details, please refer to Figure 7 The first limiting portion 114 is formed at the exit of the slide groove 112, and the first limiting portion 114 is protruded on the inner wall of the slide groove 112. The second limiting portion 131 is a top protrusion of the guide rod 13. When the guide rod 13 slides in a direction away from the slide groove 112, the second limiting portion 131 can be blocked by the first limiting portion 114 to prevent the end of the guide rod 13 from sliding out of the slide groove 112.

[0065] In one embodiment, see Figure 7The first limiting portion 114 is a pin installed on the main body 11 and at least part of the outer wall protrudes from the inner wall of the slide groove 112 into the slide groove 112. The second limiting portion 131 is a flange formed on the edge of the end of the guide rod 13. When the flange abuts against the pin, the guide rod 13 and the pressure plate 12 are reset to the initial state. When designing, the inner diameter of the slide groove 112 can be set to match the outer diameter of the flange of the guide rod 13, and the sliding fit between the flange and the slide groove 112 is realized. When assembling, the flange of the guide rod 13 can be inserted into the slide groove 112, and then the pin is assembled, so that the flange can be limited in the slide groove 112 by the pin, which is convenient for assembly and the slide groove 112 is easy to manufacture. In other embodiments of the present application, the first limiting portion 114 may also be a protrusion directly protruding from the inner wall of the slide groove 112, or the first limiting portion 114 may be a step formed at the exit of the slide groove 112. In this case, the guide rod 13 may be installed into the slide groove 112 from the bottom side of the main body 11, and after the guide rod 13 is installed, the top end of the guide rod 13 is fixedly connected to the pressure plate 12. This is not a sole limitation here.

[0066] In one embodiment, there are multiple guide rods 13. For example, see Figure 2 , the number of guide rods 13 is 4, and the 4 guide rods 13 are respectively installed at the four corners of the pressing plate 12 to ensure the sliding balance and stability of the pressing plate 12. It can be understood that in other embodiments of the present application, the number of guide rods 13 can also be 1, 2, 3, 5 or more than 5, and when the number of guide rods 13 is multiple, the guide rods 13 are evenly distributed.

[0067] In one embodiment, the number of the reset members 14 is the same as the number of the guide rods 13 , and each reset member 14 is respectively received in each slide groove 112 , or each reset member 14 is respectively sleeved on each guide rod 13 .

[0068] In one embodiment, the pressing plate 12 is integrally connected to the guide rod 13. In other embodiments of the present application, the pressing plate 12 and the guide rod 13 are separately provided and fixedly connected, for example, the pressing plate 12 and the guide rod 13 are locked, welded, crimped, riveted or bonded. In addition, the guide rod 13 is made of a material with good sliding properties to prevent the guide rod 13 from sliding and getting stuck.

[0069] In one embodiment, see Figures 3 to 6The first positioning structure includes two V-grooves 113 arranged in parallel. The two V-grooves 113 can be used to calibrate the axial vector and diameter of the surgical instrument 4 through one of the V-grooves 113, and verify the axial vector and diameter of the surgical instrument 4 through the other V-groove 113. When the measurement results of the two V-grooves 113 differ greatly, it means that the shaft of the surgical instrument 4 is bent and deformed, and the surgical instrument 4 is unusable and needs to be replaced. Since the V-groove 113 only partially abuts the shaft of the surgical instrument 4, it can be applied to surgical instruments 4 with continuous diameters, and has a wider range of applications.

[0070] Determine whether the shaft of the surgical instrument 4 is bent by the following method:

[0071] 1. Determine in which V-groove 113 the surgical instrument 4 is located. According to the second coordinate position of each second tracing element 21 on the navigation array 2, calculate on which side of the middle plane of the calibration platform 1 the surgical instrument 4 is located, thereby calculating in which V-groove 113 the surgical instrument 4 is located.

[0072] 2. Calculate the actual axis of each second tracing element 21. Each second tracing element 21 performs circular motion around the axis. By taking at least three second tracing elements 21, the center of the circular motion of each second tracing element 21 can be calculated. By connecting the centers of the motion of each second tracing element 21, the axial vector of the surgical instrument 4 can be obtained.

[0073] 3. Move the surgical instrument 4. The two V-shaped grooves 113 are close to each other, so the movement is fast and convenient, and the surgical instrument can be moved from one V-shaped groove 113 to the other V-shaped groove 113 .

[0074] 4. Checking the axial vector deviation: According to the axial vectors obtained by the two V-shaped grooves 113, the axial vector deviation is calculated to determine whether the shaft of the surgical instrument 4 is bent or deformed.

[0075] In one embodiment, see Figures 3 to 6 The two V-shaped grooves 113 are symmetrically arranged with the center line therebetween for easy processing. It can be understood that in other embodiments of the present application, the two V-shaped grooves 113 may not be completely the same, as long as the extension straightness of the V-shaped grooves 113 is ensured.

[0076] The positions of the pressure plate 12 corresponding to the two V-shaped grooves 113 are both provided with protruding blocks 121 . The two protruding blocks 121 are arranged at an interval, and both of the two protruding blocks 121 have a pressing surface 122 .

[0077] In one embodiment, see Figures 3 to 5At least one conical calibration hole 115 is formed on the main body 11. The conical calibration hole 115 is designed to calibrate the tip position of the surgical instrument 4 having a tip. Specifically, when in use, the calibration platform 1 is first moved into the field of view of the optical navigation system 3 to ensure that it can be recognized by the optical navigation system 3, and the tip of the surgical instrument 4 is pressed against the bottom of the conical calibration hole 115, and the surgical instrument 4 is rotated to complete the calibration of the tip of the surgical instrument 4. During the rotation process, the tip should always be pressed against the bottom of the conical calibration hole 115.

[0078] In one embodiment, see Figures 3 to 5 A conical calibration hole 115 is formed on the side surface of the main body 11 along the length extension direction of the first positioning structure. It is arranged in this way so that after the axial vector and diameter calibration of the surgical instrument 4 are completed, the surgical instrument 4 can be directly withdrawn from the first positioning structure and the tip of the surgical instrument 4 can be set in the conical calibration hole 115 for tip calibration.

[0079] In one embodiment, see Figures 3 to 5 Two conical marking holes 115 are formed on the main body 11 . The two conical marking holes 115 are formed on the same side of the main body 11 . The two conical marking holes 115 are located on opposite sides of the two V-shaped grooves 113 in the transverse direction.

[0080] In one embodiment, see Figures 3 to 5 The main body 11 is formed with a blunt tip calibration groove 116, which has two first limiting planes 1161 arranged opposite to each other and a calibration surface 1162 connected between the two first limiting planes 1161. Fig.11 When the surgical instrument 4 is a blunt-tip surgical instrument 4, the blunt tip of the surgical instrument 4 can be inserted into the blunt-tip calibration groove 116, and then the blunt tip is moved from one first limiting plane 1161 to another first limiting plane 1161, and during the movement, the top side of the blunt tip is always in contact with the calibration surface 1162. In this embodiment, multiple position information of the surgical instrument 4 is obtained by moving the blunt tip, so that the position information of the blunt tip can be obtained according to each position information.

[0081] In one embodiment, see Figures 3 to 6 , a scale line 111 is formed on the outer edge of the main body 11 adjacent to the calibration surface 1162. The scale lines 111 are sequentially distributed between the two first limit planes 1161. When the blunt tip of the surgical instrument 4 is placed in the blunt tip calibration groove 116, the width of the blunt tip can be read through the scale lines 111. For example, when the head of the surgical instrument 4 is connected to different trial molds and screws, the scale lines 111 can help the doctor know the size of the current trial mold and screw head.

[0082] In one embodiment, see Figures 3 to 6 The blunt tip calibration groove 116 is formed on one side surface of the main body 11 along the length extension direction of the V-shaped groove 113. This arrangement allows the surgical instrument 4 to be directly withdrawn from the V-shaped groove 113 after the axial vector and diameter calibration of the surgical instrument 4 is completed, and the tip of the surgical instrument 4 is placed in the blunt tip calibration groove 116 for blunt tip calibration, which is easy to operate.

[0083] In one embodiment, see Figure 2 At least three supporting parts 16 for mounting at least three first tracing elements 15 are provided at the corners of the main body 11, and each supporting part 16 extends in a direction away from the main body 11. In this way, each first tracing element 15 can be distributed, which is convenient for installation and can reduce the installation requirements of each first tracing element 15. In addition, by extending each supporting part 16 in a direction away from the main body 11, the position of the hand holding the pressing plate 12 can avoid the first tracing element 15, and the first tracing element 15 is not blocked, so that the first tracing element 15 can be identified by the optical navigation system 3 at all times.

[0084] Specifically, the main body 11 includes support portions 16 distributed on the top edge of the main body 11, and each first tracing element 15 is installed on each support portion 16, and each support portion 16 is arranged around the periphery of the pressing plate 12. The support portion 16 extends upward from the main body 11 in a direction away from the pressing plate 12, and the installation plane of each first tracing element 15 is higher than the pressing plate 12. In this embodiment, the first tracing element 15 is supported at a position avoiding the pressing plate 12 by the support portion 16, and the installation plane of the first tracing element 15 is ensured to be higher than the pressing plate 12, so that the first tracing element 15 is higher than the V-shaped groove 113 and higher than other structures on the entire calibration platform 1, and the position of the hand holding the pressing plate 12 can avoid the first tracing element 15, and does not block the first tracing element 15, so that the first tracing element 15 can be recognized by the optical navigation system 3 at all times.

[0085] In one embodiment, see Figure 2 The support portion 16 includes a connecting rod 161 and a mounting block 162. The connecting rod 161 extends upward from the outer side of the top end of the main body 11 and is inclined away from the pressing plate 12. The mounting block 162 is formed on one end of the connecting rod 161 away from the main body 11, and the mounting block 162 and the main body 11 are respectively located on opposite sides of the connecting rod 161. The mounting block 162 is truncated cone-shaped, and the first tracer element 15 is mounted on the mounting block 162. The setting of the connecting rod 161 can install the first tracer element 15 at a position relatively far away from the main body 11 and the pressing plate 12. The setting of the mounting block 162 can not only install the first tracer element 15 away from the pressing plate 12, but also ensure the reliability of the installation of the first tracer element 15 on the support portion 16.

[0086] In one embodiment, see Fig.10 Two groups of support parts 16 are provided on the main body 11, and each group of support parts 16 includes two support parts 16 spaced apart along the length extension direction of the V-shaped groove 113, wherein the spacing between two support parts 16 in one group of support parts 16 is greater than 80 mm, so that the spacing between each support part 16 forms a receiving space for accommodating the palm, and the user's palm can be inserted into the receiving space to press the pressure plate 12, thereby preventing the palm from blocking the first tracing element 15 when pressing the pressure plate 12.

[0087] In one embodiment, the spacing between two support portions 16 in one group of support portions 16 is greater than 80 mm, and the spacing between two support portions 16 in another group of support portions 16 may be less than 80 mm, that is, the four support portions 16 are distributed in a trapezoidal shape. In other embodiments, the spacing between two support portions 16 in two groups of support portions 16 may be equal, which is not a sole limitation here.

[0088] In one embodiment, see Figure 2 A supporting foot 17 is also formed on the main body 11, and the main body 11 is supported at a certain height by the supporting foot 17.

[0089] In one embodiment, see Figure 7 , the side of the pressing plate 12 facing away from the V-shaped groove 113 has a first gripping surface 123, and the side of the main body 11 facing away from the pressing plate 12 has a second gripping surface 117. When in use, the user can press the palms on the first gripping surface 123 and the second gripping surface 117 respectively, so as to press the pressing plate 12 tightly against the surgical instrument 4 to position the surgical instrument 4. Among them, the first gripping surface 123 and the second gripping surface 117 can be flat, which is convenient for the user to place his hands and is easy to process and manufacture. In other embodiments, the first gripping surface 123 and the second gripping surface 117 can also be designed as curved surfaces to adapt to changes in the curvature of the palm, which is not the only limitation here.

[0090] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A calibration platform for calibrating surgical instruments, characterized in that: The calibration platform includes a main body and a pressure plate movably arranged on one side of the main body; A first positioning structure is provided on the side of the main body facing the pressure plate, and a second positioning structure is provided on the side of the pressure plate facing the main body. The second positioning structure is used to cooperate with the first positioning structure to position the surgical instrument during calibration; a first tracing element is provided on the main body.

2. The calibration platform according to claim 1, characterized in that: The first positioning structure includes a V-shaped groove, and the second positioning structure includes a pressing surface; the length extension direction of the pressing surface is parallel to the length extension direction of the V-shaped groove.

3. The calibration platform according to claim 2, characterized in that: The second positioning structure includes a convex block facing the V-shaped groove, and the pressing surface is a plane of the convex block facing the V-shaped groove.

4. The calibration platform according to claim 1, characterized in that: The calibration platform also includes a guide rod; One end of the guide rod is fixedly connected to the pressing plate, and the other end of the guide rod is slidably matched with the main body; Alternatively, one end of the guide rod is slidably matched with the pressure plate, and the other end of the guide rod is fixedly connected to the main body.

5. The calibration platform according to claim 1, characterized in that: A slide groove is formed on the main body, and the calibration platform further includes a guide rod and a reset member, one end of the guide rod is fixedly connected to the pressure plate, and the other end of the guide rod is slidably matched with the slide groove; The reset member is received in the slide groove, and the reset member is arranged between the other end of the guide rod and the bottom wall of the slide groove; Alternatively, the reset member is sleeved on the guide rod, and the reset member is arranged between the pressing plate and the main body.

6. The calibration platform according to any one of claims 1 to 5, characterized in that: The first positioning structure includes two V-shaped grooves arranged side by side in parallel.

7. The calibration platform according to any one of claims 1 to 5, characterized in that: At least one conical marking hole is formed on the main body; the conical marking hole is formed on the side surface of the main body along the length extension direction of the first positioning structure.

8. The calibration platform according to any one of claims 1 to 5, characterized in that: A blunt-tip calibration groove is formed on the main body, and the blunt-tip calibration groove has two first limiting planes arranged opposite to each other and a calibration surface connected between the two first limiting planes.

9. The calibration platform according to claim 8, characterized in that: Graduation lines are formed on the main body at the outer edge adjacent to the calibration surface.

10. The calibration platform according to any one of claims 1 to 5, characterized in that: At least three supporting parts for mounting at least three first tracing elements are provided at the corners of the main body, and each of the supporting parts extends in a direction away from the main body.

11. A surgical instrument calibration system, characterized in that: It comprises an optical navigation system, a computing unit and a calibration platform as described in any one of claims 1 to 10; the optical navigation system is used to capture the first tracking element and the second tracking element to obtain the posture information of the calibration platform and the surgical instrument respectively, wherein the second tracking element is arranged on the surgical instrument; the computing unit is used to calculate the parameters of the surgical instrument according to each posture information to realize instrument calibration.

Images