Surgical navigation robot verification device

Abstract

The invention discloses a surgical navigation robot verification device, and relates to the technical field of medical instruments, and the surgical navigation robot verification device comprises a calibration base body, a first verification assembly and a second verification assembly; the first verification assembly is arranged on the calibration base body, the first verification assembly can be recognized by the binocular camera, and the first verification assembly is used for posture adjustment of the binocular camera; the second verification assembly comprises a calibration structure and a visual locator, the calibration structure is arranged on the calibration base body, the visual locator is detachably connected with the calibration structure, the calibration structure and the visual locator are made of materials developed in an X-ray image, and the second verification assembly is used for verifying the performance of the C-arm X-ray machine. Therefore, the device can test the performance of the C-arm X-ray machine owned by a hospital, if the performance does not meet the requirement, the use risk of the equipment is informed in advance, disputes are reduced, meanwhile, the optimal placement posture of the binocular camera can be rapidly determined in an operation, and the performance of the equipment is played to the maximum extent.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a surgical navigation robot verification device. Background Art

[0002] In the application of orthopedic robots, in order to ensure surgical accuracy, equipment manufacturers generally tend to distribute their own C-arms or products from cooperative manufacturers. If the hospital has the corresponding equipment, the performance is required to be no less than the specified requirements. However, because C-arm manufacturers have a wide variety of specifications and the equipment maintenance conditions vary greatly, a simple tool or method is needed to test the performance level of the equipment.

[0003] In addition, the positioning of equipment at the surgical site is an important issue. Tracking cameras generally provide an optimal field of view. The camera position is generally adjusted based on experience. The verification method is to check whether the robot image display system and the tracker indicator light are on. Bright means it can be seen, and dark means it cannot be seen. A tool is needed to verify whether the surgical area is within the optimal field of view. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present invention provides a surgical navigation robot verification device.

[0005] To achieve the above-mentioned purpose, a surgical navigation robot verification device of the present invention comprises: Calibrate a substrate, a first verification component, and a second verification component; The first verification component is arranged on the calibration substrate, the first verification component can be recognized by the binocular camera, and the first verification component is used for adjusting the position and posture of the binocular camera; The second verification component includes a calibration structure and a visual locator, the calibration structure is arranged on the calibration base, the visual locator is detachably connected to the calibration structure, the calibration structure and the visual locator are made of a material that develops in the X-ray image, and the second verification component is used to verify the performance of the C-arm X-ray machine.

[0006] Preferably, the calibration structure comprises a circular portion, a straight portion and a steel ball portion; The steel ball portion is located at the center of the calibration base, and the circular portion and the straight portion are respectively arranged on both sides of the steel ball portion. The straight portion is used to confirm the scanning direction of the C-arm X-ray machine, the circular portion is used to confirm the scanning angle of the C-arm X-ray machine, and the steel ball portion is used to calibrate the position of the calibration base.

[0007] Preferably, the visual locator comprises a metal rod and an angle plate, the metal rod comprises a first rod body and a limit block which are fixedly connected, the angle plate comprises a second rod body, a first plate body and a second plate body, and the first plate body and the second plate body are connected to the side wall of the second rod body at an angle; The diameter of the limiting block is larger than the diameter of the first rod body.

[0008] Preferably, a first through hole is provided at the center of the circular portion, the first through hole passes through the calibration substrate, and the diameters of the first rod body and the second rod body are equal to the diameter of the first through hole; When the metal rod is inserted into the first through hole, the metal rod and the circular portion are used to confirm the scanning angle of the C-arm X-ray machine, and when the angle plate is inserted into the first through hole, the angle plate and the straight portion are used to confirm the scanning direction of the C-arm X-ray machine.

[0009] Preferably, the first verification component is respectively arranged on both sides of the second verification component, the first verification component comprises a first reflective ball group, and the first reflective ball group comprises a plurality of first reflective balls arranged at intervals; The first reflective ball is bonded to the calibration substrate.

[0010] Preferably, the first verification component further comprises a second reflective ball group, wherein the second reflective ball group comprises a plurality of second reflective balls arranged at intervals; The second reflective ball is snap-connected to the calibration base.

[0011] Preferably, the circular portion includes a first circular structure and a second circular structure, and the first circular structure and the second circular structure are respectively arranged on the top and bottom planes of the calibration base; The first circular structure and the second circular structure are concentric circles, and the diameter of the first circular structure is smaller than the diameter of the second circular structure.

[0012] Preferably, the straight portion comprises a straight structure, and the straight structure is in the shape of an elongated strip; An extension line of the straight structure passes through the center of the circular portion, and the straight structure is arranged parallel to the side wall of the calibration substrate.

[0013] Preferably, the first reflective ball is a Sphere reflective ball, and the second reflective ball is a radix reflective ball.

[0014] Preferably, in the X-ray scanning image, the calibration substrate and the second verification component present different grayscales.

[0015] Based on this, the beneficial effects of the present invention are: Through the solution of the present invention, the second verification component capable of measuring the performance of the C-arm X-ray machine and the first verification component capable of adjusting the posture of the binocular camera are integrated on the same calibration substrate, which is convenient for use; When testing the performance of a C-arm X-ray machine, one person can obtain qualified CT images in the hospital with tools and compare the CT images with pre-stored standard data to achieve performance testing. There is no need to send the robot system to the site for equipment adjustment, nor is there any need to go through various equipment admission procedures with the hospital in advance. This greatly reduces the transportation cost and time cost of the equipment, improves the efficiency of C-arm X-ray machine performance testing, and avoids disputes between manufacturers and hospitals by informing them of the risks of equipment use in advance. During the operation, the binocular camera can be quickly positioned at the optimal position by comparing the actual scanning parameters of the binocular camera with the preset parameters and adjusting the actual scanning parameters to the preset parameters, thereby maximizing the performance of the equipment and avoiding the inaccurate adjustment problems of traditional technology that relies purely on experience. It also makes it convenient for inexperienced personnel to make adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 A top view schematically showing a verification device according to an embodiment of the present invention; Figure 2 A diagram schematically showing a first usage state of a verification device according to an embodiment of the present invention; Figure 3 A diagram schematically showing a second usage state of a verification device according to an embodiment of the present invention; Figure 4 A bottom view schematically showing a verification device according to an embodiment of the present invention; Figure 5 A schematic diagram schematically showing the structure of a metal rod according to an embodiment of the present invention; Figure 6 A schematic diagram schematically showing the structure of a corner plate according to an embodiment of the present invention; Figure 7 A schematic diagram showing a binocular camera recognition principle diagram of an embodiment of the present invention; Explanation of the reference numerals: 10 - calibration base, 20 - first verification component, 201 - first reflective ball group, 202 - second reflective ball group, 30 - second verification component, 301 - calibration structure, 3011 - circular portion, 30111 - first circular structure, 30112 - second circular structure, 30113 - first through hole, 3012 - straight portion, 3013 - steel ball portion, 3021 - metal rod, 30211 - first rod body, 30212 - limit block, 3022 - angle plate, 30221 - second rod body, 30222 - first plate body, 30223 - second plate body, 40 - binocular camera, 50 - C-arm X-ray machine. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, 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 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 are within the scope of protection of this application.

[0018] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application are also intended to include plural forms, unless the context clearly indicates other meanings.

[0019] It should be understood that although the terms first, second, third, etc. may be used to describe related structures in the embodiments of the present application, these related structures should not be limited to these terms. These terms are only used to distinguish related structures from each other.

[0020] Depending on the context, the word "if" as used herein may be interpreted as "when" or "when..." Similarly, depending on the context, the phrase "if it is determined" may be interpreted as "when it is determined" or "when (stated condition or event) is detected."

[0021] It should be noted that the directional words such as "upper", "lower", "left", and "right" described in the embodiments of the present application are described at the angles shown in the drawings and should not be understood as limiting the embodiments of the present application. In addition, in the context, it should also be understood that when it is mentioned that an element is formed "on" or "under" another element, it can not only be directly formed "on" or "under" another element, but also be indirectly formed "on" or "under" another element through an intermediate element.

[0022] Figure 1 A top view schematically showing a verification device according to an embodiment of the present invention, Figure 2 A diagram schematically showing a first usage state of a verification device according to an embodiment of the present invention, Figure 3 A diagram schematically showing a second use state of a verification device according to an embodiment of the present invention, as shown in FIG. Figure 1-3 As shown, a surgical navigation robot verification device of the present invention comprises: Calibration substrate 10, first verification component 20 and second verification component 30; The first verification component 20 is disposed on the calibration substrate 10, and the first verification component 20 can be recognized by the binocular camera 40, and the first verification component 20 is used for adjusting the position and posture of the binocular camera 40; The second verification component 30 includes a calibration structure 301 and a visual locator. The calibration structure 301 is arranged on the calibration substrate 10 . The visual locator is detachably connected to the calibration structure 301 . The second verification component 30 is used to verify the performance of the C-arm X-ray machine 50 .

[0023] Specifically, the present invention arranges a first verification component 20 capable of adjusting the position and posture of the binocular camera 40 on a calibration substrate 10, and presets a parameter value of a standard position and posture of the binocular camera 40. When actually used, the calibration substrate 10 is placed at a corresponding position on the operating table, and the binocular camera 40 scans the first verification component 20 thereon to obtain actual scanning parameters. The actual scanning parameters are compared with the preset scanning parameters, and the position and posture of the binocular camera 40 are adjusted so that the actual scanning parameters are equal to or close to the preset scanning parameters, thereby realizing rapid position and posture adjustment of the binocular camera 40. There is no need for doctors to adjust the binocular camera 40 purely based on experience as in traditional technology, and inexperienced personnel can also make adjustments, which is convenient for use.

[0024] At the same time, a second verification component 30 is also provided on the calibration base 10, which is used to test the performance of the C-arm X-ray machine 50. It is also necessary to preset standard parameter values ​​before the test. When in use, the second verification component 30 is irradiated by the C-arm X-ray machine 50 to obtain actual test data, and by comparing with the preset standard parameter values, it is determined whether the performance of the C-arm X-ray machine 50 meets the requirements. By carrying the relatively small and portable calibration base 10 to the hospital for the detection operation of the C-arm X-ray machine 50, the transportation cost and transportation time of transporting the surgical robot to the hospital during the detection in the traditional technology, as well as the time, manpower and other resources consumed in making an appointment with the hospital for admission can be avoided, which is more convenient to use. At the same time, it can also avoid disputes between the two when the hospital equipment and the manufacturer's equipment do not match after the manufacturer ships the equipment.

[0025] Further, Figure 4 A bottom view schematically showing a verification device according to an embodiment of the present invention, Figure 5 A schematic diagram schematically shows the structure of a metal rod according to an embodiment of the present invention, Figure 6 A schematic diagram of the structure of a corner plate according to an embodiment of the present invention is shown as follows: Figure 1-6 As shown: The calibration structure 301 includes a circular portion 3011, a straight portion 3012 and a steel ball portion 3013; The steel ball part 3013 is located at the center of the calibration base 10, and a circular part 3011 and a straight part 3012 are respectively arranged on both sides of the steel ball part 3013. The straight part 3012 is used to confirm the scanning direction of the C-arm X-ray machine 50, the circular part 3011 is used to confirm the scanning angle of the C-arm X-ray machine 50, and the steel ball part 3013 is used to calibrate the position of the calibration base 10.

[0026] Specifically, Figure 1 , 4 As shown, the circular portion 3011 includes a first circular structure 30111 and a second circular structure 30112. The first circular structure 30111 and the second circular structure 30112 are respectively arranged on the top and bottom planes of the calibration substrate 10. The first circular structure 30111 and the second circular structure 30112 are concentric circles with each other, and the diameter of the first circular structure 30111 is smaller than the diameter of the second circular structure 30112.

[0027] After the C-arm X-ray machine 50 scans the circular portion 3011, by checking the deformation directions of the first circular structure 30111 and the second circular structure 30112 in the scanned image, the offset angle of the scanning light of the C-arm X-ray machine 50 relative to the calibration substrate 10 can be determined, and then the position of the scanning device on the C-arm X-ray machine 50 can be adjusted to correct it.

[0028] The straight portion 3012 includes a straight structure, which is in the shape of a long strip. The extension line of the straight structure passes through the center of the circular portion 3011 , and the straight structure is arranged parallel to the side wall of the calibration substrate 10 .

[0029] After the C-arm X-ray machine 50 scans the straight portion 3012, the orientation of the C-arm X-ray machine 50 relative to the calibration substrate 10 can be determined by checking the direction of the straight structure in the scanned image, and then the position of the scanning device on the C-arm X-ray machine 50 can be adjusted and corrected.

[0030] Furthermore, the steel ball portion 3013 includes a plurality of steel balls, and the plurality of steel balls are connected to the calibration base 10. After the C-arm X-ray machine 50 scans the steel ball portion 3013, the distance between each steel ball and the distance to the center point of the calibration base 10 can be obtained by checking the position coordinates of each steel ball in the scanned image, and then comparing it with the actual distance between the steel balls on the verification device, it can be determined whether the scanning accuracy of the C-arm X-ray machine 50 meets the index.

[0031] Further, the visual locator includes a metal rod 3021 and an angle plate 3022, the metal rod 3021 includes a first rod body 30211 and a limit block 30212 that are fixedly connected, the angle plate 3022 includes a second rod body 30221, a first plate body 30222 and a second plate body 30223, and the first plate body 30222 and the second plate body 30223 are connected to the side wall of the second rod body 30221 at an angle; The diameter of the limiting block 30212 is greater than the diameter of the first rod body 30211 .

[0032] A first through hole 30113 is provided at the center of the circular portion 3011. The first through hole 30113 penetrates the calibration base 10. The diameters of the first rod 30211 and the second rod 30221 are equal to the diameter of the first through hole 30113. When the metal rod 3021 is inserted into the first through hole 30113 , the metal rod 3021 and the circular portion 3011 are used to confirm the scanning angle of the C-arm X-ray machine 50 . When the angle plate 3022 is inserted into the first through hole 30113 , the angle plate 3022 and the straight portion 3012 are used to confirm the scanning direction of the C-arm X-ray machine 50 .

[0033] Specifically, the metal rod 3021 is used to simulate the puncture needle during surgery. After the C-arm X-ray machine 50 scans the metal rod 3021, the offset angle of the C-arm X-ray machine 50 relative to the calibration base 10 can be determined through the length and orientation of the first rod body 30211 in the scanned image, and then the position of the scanning device of the C-arm X-ray machine 50 is adjusted through the scanned image, so that in the scanned image, the circular part 3011 is a circle and the first rod body 30211 is a dot, thereby realizing the correction of the scanning device of the C-arm X-ray machine 50.

[0034] At the same time, in the angle plate 3022, the angle between the first plate body 30222 and the second plate body 30223 is known. When the angle plate 3022 is inserted into the first through hole 30113, the offset angle of the C-arm X-ray machine 50 scanning device relative to the calibration base 10 is determined by the inclination angle of the straight portion 3012 in the scanned image and the angle between the first plate body 30222 and the second plate body 30223 in the angle plate 3022, thereby achieving correction.

[0035] In this way, the present invention, through the setting of the second verification component 30, assists the alignment operation of the C-arm X-ray machine 50 during scanning through the circular part 3011, the straight part 3012 and the visual locator, realizes the performance detection of the C-arm X-ray machine 50 through the steel ball part 3013, and completes the performance detection operation of the C-arm X-ray machine 50.

[0036] Further, Figure 7 The following is a schematic diagram showing a binocular camera recognition principle diagram of an embodiment of the present invention, as shown in FIG. Figure 1 , 3 、7 as shown: The first verification component 20 is respectively arranged on both sides of the second verification component 30. The first verification component 20 includes a first reflective ball group 201. The first reflective ball group 201 includes a plurality of first reflective balls arranged at intervals. The first reflective balls are bonded to the calibration substrate 10 and can be Sphere reflective balls.

[0037] When in use, the calibration base 10 is placed at the corresponding position of the operating bed, and the first reflective ball group 201 is identified by the binocular camera 40 to obtain the actual binocular camera 40 posture coordinates, which are then compared with the preset binocular camera 40 posture coordinates, and the binocular camera 40 posture is adjusted so that its actual value is close to or equal to the preset value, thereby adjusting the binocular camera 40 to the optimal posture, thereby obtaining the best field of view of the surgical area and providing surgical accuracy.

[0038] Furthermore, the first verification component 20 also includes a second reflective ball group 202, which includes a plurality of second reflective balls arranged at intervals, and the second reflective balls are snap-connected to the calibration substrate 10, which can be radix reflective balls. Similarly, the second reflective ball group 202 can be scanned by the binocular camera 40, and then the posture of the binocular camera 40 can be adjusted to the optimal posture.

[0039] The first reflective ball group 201 and the second reflective ball group 202 are provided to match the usage requirements of different hospitals. Some hospitals configure Sphere reflective balls. Therefore, when using the device of the present invention to perform posture correction of the binocular camera 40, in order to ensure parameter consistency, the first reflective ball group 201 is also used for measurement and correction. At this time, a shading cloth is needed to cover the second reflective ball group 202 to avoid scanning confusion.

[0040] Similarly, some hospitals use radix reflective balls, and it is necessary to mask the first reflective ball group 201 and scan the second reflective ball group 202 to achieve the posture correction of the binocular camera 40.

[0041] Furthermore, the calibration substrate 10 and the second verification component 30 are made of materials with different densities. When in an X-ray scanning image, the two can present images with different grayscales, thereby facilitating use and judgment.

[0042] To summarize, through the surgical navigation robot verification device of the present invention, when the hospital has the intention to cooperate, personnel are arranged in advance to carry the verification device to the hospital, and the hospital's own C-arm X-ray machine 50 is used to scan the second verification component 30 to obtain a scanning data packet. By comparing it with the preset standard image, it is observed whether the grayscale display difference of different materials is greater than the standard value, and then the distance between different steel balls is measured through the image, and compared with the actual distance value of the steel balls of the tool itself, it is determined whether the scanning error of the C-arm X-ray machine 50 is within the required range, thereby realizing the performance detection of the C-arm X-ray machine 50; at the same time, in the experimental surgical area, by placing the verification device at the surgical center, the actual scanning data of the binocular camera 40 is compared with the preset standard data, and the posture of the binocular camera 40 is adjusted to the optimal posture, so as to realize rapid adjustment of the binocular camera 40 and facilitate use.

[0043] The above description is only a preferred embodiment of the present application. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A surgical navigation robot verification device, characterized in that: include: Calibrate a substrate, a first verification component, and a second verification component; The first verification component is arranged on the calibration substrate, the first verification component can be recognized by the binocular camera, and the first verification component is used for adjusting the position and posture of the binocular camera; The second verification component includes a calibration structure and a visual locator, the calibration structure is arranged on the calibration base, the visual locator is detachably connected to the calibration structure, the calibration structure and the visual locator are made of a material that develops in the X-ray image, and the second verification component is used to verify the performance of the C-arm X-ray machine.

2. A surgical navigation robot verification device according to claim 1, characterized in that: The calibration structure includes a circular portion, a straight portion and a steel ball portion; The steel ball portion is located at the center of the calibration base, and the circular portion and the straight portion are respectively arranged on both sides of the steel ball portion. The straight portion is used to confirm the scanning direction of the C-arm X-ray machine, the circular portion is used to confirm the scanning angle of the C-arm X-ray machine, and the steel ball portion is used to calibrate the position of the calibration base.

3. A surgical navigation robot verification device according to claim 2, characterized in that: The visual locator comprises a metal rod and an angle plate, wherein the metal rod comprises a first rod body and a limit block which are fixedly connected, and the angle plate comprises a second rod body, a first plate body and a second plate body, wherein the first plate body and the second plate body are connected to the side wall of the second rod body at an angle; The diameter of the limiting block is larger than the diameter of the first rod body.

4. A surgical navigation robot verification device according to claim 3, characterized in that: A first through hole is provided at the center of the circular portion, the first through hole passes through the calibration substrate, and the diameters of the first rod body and the second rod body are equal to the diameter of the first through hole; When the metal rod is inserted into the first through hole, the metal rod and the circular portion are used to confirm the scanning angle of the C-arm X-ray machine, and when the angle plate is inserted into the first through hole, the angle plate and the straight portion are used to confirm the scanning direction of the C-arm X-ray machine.

5. The surgical navigation robot verification device according to claim 1, characterized in that: The first verification component is respectively arranged on both sides of the second verification component, the first verification component comprises a first reflective ball group, and the first reflective ball group comprises a plurality of first reflective balls arranged at intervals; The first reflective ball is bonded to the calibration substrate.

6. A surgical navigation robot verification device according to claim 5, characterized in that: The first verification component further includes a second reflective ball group, wherein the second reflective ball group includes a plurality of second reflective balls arranged at intervals; The second reflective ball is snap-fitted to the calibration base.

7. A surgical navigation robot verification device according to claim 2, characterized in that: The circular portion includes a first circular structure and a second circular structure, wherein the first circular structure and the second circular structure are respectively arranged on the top and bottom planes of the calibration base; The first circular structure and the second circular structure are concentric circles, and the diameter of the first circular structure is smaller than the diameter of the second circular structure.

8. The surgical navigation robot verification device according to claim 2, characterized in that: The straight portion includes a straight structure, and the straight structure is in the shape of a long strip; An extension line of the straight structure passes through the center of the circular portion, and the straight structure is arranged parallel to the side wall of the calibration substrate.

9. The surgical navigation robot verification device according to claim 6, characterized in that: The first reflective ball is a Sphere reflective ball, and the second reflective ball is a radix reflective ball.

10. The surgical navigation robot verification device according to claim 1, characterized in that: In the X-ray scanning image, the calibration substrate and the second verification component present different grayscales.

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