A surgical navigation robot verification device

Abstract

The present invention discloses a verification device for a surgical navigation robot, which relates to the technical field of medical devices. The solution includes: a calibration substrate, a first verification component, and a second verification component; the first verification component is arranged on the calibration substrate and can be recognized by a binocular camera, and the first verification component is used for adjusting the pose of the binocular camera; the second verification component includes a calibration structure and a visual locator, the calibration structure is arranged on the calibration substrate, the visual locator is detachably connected to the calibration structure, and the calibration structure and the visual locator are made of materials that are developed in X-ray images. The second verification component is used for testing the performance of the C-arm X-ray machine. In this way, the device of the present invention can test the performance of the hospital's own C-arm X-ray machine. If it does not meet the requirements, it can inform the equipment usage risks in advance, reduce disputes, and at the same time can quickly determine the best placement pose of the binocular camera during the operation, maximizing the performance of the equipment.

Description

Technical Field

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

[0002] In the application of orthopedic robots, to ensure surgical accuracy, equipment manufacturers generally tend to allocate their own C-arms or products of cooperative manufacturers. If a hospital has corresponding equipment, it is required that the performance is not lower than the specified requirements. However, because there are many specifications of C-arm manufacturers and there are significant differences in the equipment age and maintenance conditions, a simple tool or method is needed to test the equipment performance level.

[0003] In addition, the positioning of equipment at the surgical site is an important issue. The tracking camera generally provides an optimal field of view range. The pose of the camera is generally adjusted according to experience. The inspection method is to check whether the indicator light of the tracker on the robot imaging system is on. If it is on, it means it can be seen; if it is off, it means it cannot be seen. A tool is needed to be able to test 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 verification device for a surgical navigation robot.

[0005] To achieve the above object, a verification device for a surgical navigation robot of the present invention includes:

[0006] A calibration base body, a first verification component, and a second verification component;

[0007] The first verification component is disposed on the calibration base body, the first verification component can be recognized by a binocular camera, and the first verification component is used for adjusting the pose of the binocular camera;

[0008] The second verification component includes a calibration structure and a visual locator. The calibration structure is disposed on the calibration base body. The visual locator is detachably connected to the calibration structure. The calibration structure and the visual locator are made of materials that are developed in X-ray images. The second verification component is used for testing the performance of a C-arm X-ray machine.

[0009] Preferably, the calibration structure includes a circular part, a straight part, and a steel ball part;

[0010] The steel ball part is located at the center of the calibration base body. The circular part and the straight part are respectively disposed on both sides of the steel ball part. The straight part is used to confirm the scanning direction of the C-arm X-ray machine. The circular part is used to confirm the scanning angle of the C-arm X-ray machine. The steel ball part is used to calibrate the position of the calibration base body.

[0011] Preferably, the visual locator includes a metal rod and an angle plate. The metal rod includes a first rod body and a limiting block fixedly connected. The angle plate includes a second rod body, a first plate body, and a second plate body. The first plate body and the second plate body are angularly connected to the side wall of the second rod body;

[0012] The diameter of the limiting block is larger than the diameter of the first rod body.

[0013] Preferably, a first through hole is provided at the center of the circular portion. The first through hole penetrates the calibration base body. The diameters of the first rod body and the second rod body are equal to the diameter of the first through hole;

[0014] 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. When the angle plate is inserted into the first through hole, the angle plate and the linear portion are used to confirm the scanning direction of the C-arm X-ray machine.

[0015] Preferably, the first verification component is respectively arranged on both sides of the second verification component. The first verification component includes a first group of reflective balls. The first group of reflective balls includes a plurality of first reflective balls arranged at intervals;

[0016] The first reflective ball is adhered to the calibration base body.

[0017] Preferably, the first verification component further includes a second group of reflective balls. The second group of reflective balls includes a plurality of second reflective balls arranged at intervals;

[0018] The second reflective ball is snap-connected to the calibration base body.

[0019] Preferably, the circular portion includes a first circular structure and a second circular structure. The first circular structure and the second circular structure are respectively arranged on the top and bottom planes of the calibration base body;

[0020] The first circular structure and the second circular structure are concentric circles with each other. The diameter of the first circular structure is smaller than the diameter of the second circular structure.

[0021] Preferably, the linear portion includes a linear structure, and the linear structure is strip-shaped;

[0022] The extension line of the linear structure passes through the center of the circular portion, and the linear structure is arranged parallel to the side wall of the calibration base body.

[0023] Preferably, the first reflective ball is a Sphere reflective ball, and the second reflective ball is a radix reflective ball.

[0024] Preferably, in the X-ray scan image, the calibration substrate and the second verification component exhibit different grayscale levels.

[0025] Based on this, the beneficial effects of the present invention are as follows:

[0026] 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 pose of the binocular camera are integrated on the same calibration substrate, which is convenient for use;

[0027] When testing the performance of the C-arm X-ray machine, one person takes tools to obtain qualified CT images in the hospital, and comparing the CT images with the pre-stored standard data can achieve performance testing. There is no need to send the robot system to the site for equipment joint debugging, nor to go through various equipment admission procedures with the hospital in advance, which greatly reduces the transportation cost and time cost of the equipment, improves the performance detection efficiency of the C-arm X-ray machine, and at the same time, by informing the equipment usage risks in advance, disputes between the manufacturer and the hospital can be avoided;

[0028] During the operation, the pose of the binocular camera can be quickly placed in the optimal pose by comparing the actually scanned parameters of the binocular camera with the preset parameters and adjusting the actually scanned parameters to the preset parameters, maximizing the performance of the equipment, avoiding the problem of inaccurate adjustment relying solely on experience in the traditional technology, and at the same time facilitating the adjustment by inexperienced personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objects, and advantages of the present application will become more apparent:

[0030] Figure 1 Schematically showing a top view of a verification device according to an embodiment of the present invention;

[0031] Figure 2 Schematically showing a first usage state diagram of a verification device according to an embodiment of the present invention;

[0032] Figure 3 Schematically showing a second usage state diagram of a verification device according to an embodiment of the present invention;

[0033] Figure 4 Schematically showing a bottom view of a verification device according to an embodiment of the present invention;

[0034] Figure 5 Schematically showing a structural diagram of a metal rod according to an embodiment of the present invention;

[0035] Figure 6 Schematically showing a structural diagram of an angle plate according to an embodiment of the present invention;

[0036] Figure 7 Schematically showing the principle diagram of binocular camera recognition in an embodiment of the present invention;

[0037] Explanation of reference numerals: 10 - calibration matrix, 20 - first verification component, 201 - first reflective sphere group, 202 - second reflective sphere group, 30 - second verification component, 301 - calibration structure, 3011 - circular part, 30111 - first circular structure, 30112 - second circular structure, 30113 - first through hole, 3012 - straight part, 3013 - steel ball part, 3021 - metal rod, 30211 - first rod body, 30212 - limiting 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. Specific embodiments

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0039] 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", "the", and "said" used in the embodiments of the present application are also intended to include the plural forms unless the context clearly indicates otherwise.

[0040] It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present application to describe related structures, these related structures should not be limited to these terms. These terms are only used to distinguish the related structures from each other.

[0041] Depending on the context, the word "if" as used herein can be interpreted as "when" or "while". Similarly, depending on the context, the phrase "if determined" can be interpreted as "when determined" or "when detecting (the stated condition or event)".

[0042] It should be noted that the orientation terms such as "upper", "lower", "left", and "right" described in the embodiments of the present application are described from the angles shown in the drawings and should not be construed 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.

[0043] Figure 1 The top view schematically showing a verification device according to an embodiment of the present invention Figure 2 The first usage state diagram schematically showing a verification device according to an embodiment of the present invention Figure 3 The second usage state diagram schematically showing a verification device according to an embodiment of the present invention. As Figures 1-3 shown, a surgical navigation robot verification device of the present invention includes:

[0044] A calibration base 10, a first verification component 20, and a second verification component 30;

[0045] The first verification component 20 is arranged on the calibration base 10. The first verification component 20 can be recognized by a binocular camera 40 and is used for pose adjustment of the binocular camera 40;

[0046] The second verification component 30 includes a calibration structure 301 and a visual locator. The calibration structure 301 is arranged on the calibration base 10, and the visual locator is detachably connected to the calibration structure 301. The second verification component 30 is used to test the performance of a C-arm X-ray machine 50.

[0047] Specifically, in the present invention, by arranging the first verification component 20 capable of adjusting the pose of the binocular camera 40 on the calibration base 10, by presetting a parameter value of a standard pose of the binocular camera 40, when actually used, the calibration base 10 is placed at a corresponding position on the operating table, and the first verification component 20 thereon is scanned by the binocular camera 40 to obtain actual scanning parameters. By comparing the actual scanning parameters with the preset scanning parameters and adjusting the pose of the binocular camera 40, the actual scanning parameters are made equal to or close to the preset scanning parameters, thereby realizing rapid pose adjustment of the binocular camera 40, eliminating the need for doctors to rely solely on experience to adjust the binocular camera 40 in the traditional technology, and enabling inexperienced personnel to make adjustments, which is convenient for use.

[0048] At the same time, a second verification component 30 is also arranged on the calibration base 10, which is used to test the performance of the C-arm X-ray machine 50. Before detection, standard parameter values also need to be preset. When in use, the C-arm X-ray machine 50 irradiates the second verification component 30 to obtain actual detection data. By comparing with the preset standard parameter values, it is judged 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, it is possible to avoid the transportation cost, transportation time of transporting the surgical robot to the hospital in the traditional technology, as well as the time, manpower and other resources consumed in making an appointment for admission to the hospital, which is more convenient for use. At the same time, it can also avoid disputes between the hospital equipment and the manufacturer's equipment when they do not match after the manufacturer delivers the goods.

[0049] Further, Figure 4 The bottom view of the verification device showing an embodiment of the present invention Figure 5 The schematic structural diagram of the metal rod showing an embodiment of the present invention Figure 6 The schematic structural diagram of the angle plate showing an embodiment of the present invention is as Figures 1-6 shown:

[0050] The calibration structure 301 includes a circular part 3011, a linear part 3012 and a steel ball part 3013;

[0051] The steel ball part 3013 is located at the center of the calibration base 10. The circular part 3011 and the linear part 3012 are respectively arranged on both sides of the steel ball part 3013. The linear 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.

[0052] Specifically, as Figure 1 , 4 shown, the circular part 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 base 10. The first circular structure 30111 and the second circular structure 30112 are concentric circles, and the diameter of the first circular structure 30111 is smaller than the diameter of the second circular structure 30112.

[0053] After the C-arm X-ray machine 50 scans the circular part 3011, by checking the deformation direction 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 base 10 can be judged, and then the position of the scanning device on the C-arm X-ray machine 50 can be adjusted to correct it.

[0054] The linear part 3012 includes a linear structure. The linear structure is elongated, and the extension line of the linear structure passes through the center of the circular part 3011. The linear structure is arranged parallel to the side wall of the calibration base 10.

[0055] After the C-arm X-ray machine 50 scans the linear part 3012, by checking the direction of the linear structure in the scanned image, the orientation of the C-arm X-ray machine 50 relative to the calibration base 10 can be judged, and then the position of the scanning device on the C-arm X-ray machine 50 can be adjusted to correct it.

[0056] Furthermore, the steel ball part 3013 includes a plurality of steel balls which are connected to the calibration base body 10. After the C-arm X-ray machine 50 scans the steel ball part 3013, the distances between the steel balls and the distance from each steel ball to the center point of the calibration base body 10 can be obtained by checking the position coordinates of each steel ball in the scanned image. By comparing these distances with the actual distances between the steel balls on the verification device, it is possible to determine whether the scanning accuracy of the C-arm X-ray machine 50 meets the specifications.

[0057] 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 which are fixedly connected. The angle plate 3022 includes a second rod body 30221, a first plate body 30222 and a second plate body 30223. The first plate body 30222 and the second plate body 30223 are angularly connected to the side wall of the second rod body 30221.

[0058] The diameter of the limit block 30212 is larger than the diameter of the first rod body 30211.

[0059] A first through hole 30113 is provided at the center of the circular part 3011. The first through hole 30113 penetrates the calibration base body 10. The diameters of the first rod body 30211 and the second rod body 30221 are equal to the diameter of the first through hole 30113.

[0060] When the metal rod 3021 is inserted into the first through hole 30113, the metal rod 3021 and the circular part 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 part 3012 are used to confirm the scanning direction of the C-arm X-ray machine 50.

[0061] Specifically, the metal rod 3021 is used to simulate the puncture needle during the operation. 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 body 10 can be determined by the length and orientation of the first rod body 30211 in the scanned image. 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 circular and the first rod body 30211 is a dot, realizing the calibration of the scanning device of the C-arm X-ray machine 50.

[0062] 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 scanning device of the C-arm X-ray machine 50 relative to the calibration base body 10 is determined by the inclination angle of the straight part 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, and then the calibration is realized.

[0063] Thus, through the setting of the second verification component 30, the present invention assists the alignment operation during the scanning of the C-arm X-ray machine 50 through the circular part 3011, the linear part 3012, and the vision locator, and realizes the performance detection of the C-arm X-ray machine 50 through the steel ball part 3013, completing the performance detection operation of the C-arm X-ray machine 50.

[0064] Furthermore, Figure 7 Schematically showing the principle diagram of binocular camera recognition of an embodiment of the present invention, as Figure 1 、 3 、7 shown:

[0065] 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 it can be a Sphere reflective ball.

[0066] When in use, place the calibration substrate 10 at the corresponding position on the operating table, identify the first reflective ball group 201 through the binocular camera 40 to obtain the actual pose coordinates of the binocular camera 40, and then compare them with the preset pose coordinates of the binocular camera 40, and adjust the pose of the binocular camera 40 so that its actual value is close to or equal to the preset value, so as to be able to adjust the binocular camera 40 to the best pose, and then be able to obtain the best view of the surgical area and provide surgical accuracy.

[0067] Even further, the first verification component 20 further includes a second reflective ball group 202. The second reflective ball group 202 includes a plurality of second reflective balls arranged at intervals. The second reflective balls are snap-connected to the calibration substrate 10, and it can be a radix reflective ball. Similarly, the second reflective ball group 202 can be scanned through the binocular camera 40, and then the pose of the binocular camera 40 is adjusted to the best pose.

[0068] The settings of the first reflective ball group 201 and the second reflective ball group 202 are to match the usage requirements of different hospitals. Some hospitals are equipped with Sphere reflective balls. Therefore, when using the device of the present invention to correct the pose of the binocular camera 40, to ensure parameter consistency, the first reflective ball group 201 is also used for measurement and correction. At this time, it is necessary to use a light-shielding cloth to cover the second reflective ball group 202 to avoid scanning confusion.

[0069] Similarly, if some hospitals are equipped with radix reflective balls, then it is necessary to cover the first reflective ball group 201 and scan the second reflective ball group 202 to realize the pose correction of the binocular camera 40.

[0070] Furthermore, the calibration substrate 10 and the second verification component 30 are made of materials with different densities. In the X-ray scan image, the two can present images with different gray levels, which is convenient for use and judgment.

[0071] In summary, through the surgical navigation robot verification device of the present invention, when the hospital has a cooperation intention, arrange personnel to carry the verification device to the hospital in advance, use the hospital's own C-arm X-ray machine 50 to scan the second verification component 30 to obtain a scan data packet, compare it with the preset standard image, observe whether the gray level display difference of different materials is greater than the standard value, and then measure the distance between different steel balls through the image and compare it with the actual distance value of the steel balls of the tool itself to determine whether the scanning error of the C-arm X-ray machine 50 is within the required range, so as to realize the performance detection of the C-arm X-ray machine 50; at the same time, when in the experimental operation area, by placing the verification device at the center position of the operation, compare the actual scan data of the binocular camera 40 with the preset standard data, and adjust the pose of the binocular camera 40 to the optimal pose to realize the rapid adjustment of the binocular camera 40, which is convenient for use.

[0072] 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 the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by replacing the above features with the (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 substrate, 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 an X-ray image, and the second verification component is used to verify the performance of the C-arm X-ray machine; The calibration structure includes a circular portion, a straight portion and a steel ball portion; The steel ball part is located at the center of the calibration base, and the circular part and the straight part are respectively arranged on both sides of the steel ball part, the straight part is used to confirm the scanning direction of the C-arm X-ray machine, the circular part is used to confirm the scanning angle of the C-arm X-ray machine, and the steel ball part is used to calibrate the position of the calibration base; The visual locator includes a metal rod and an angle plate. A first through hole is arranged at the center of the circular portion. The first through hole passes through the calibration base. 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. 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.

2. A surgical navigation robot verification device according to claim 1, characterized in that: 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.

3. A surgical navigation robot verification device according to claim 2, characterized in that: The diameters of the first rod body and the second rod body are equal to the diameter of the first through hole.

4. A 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.

5. A surgical navigation robot verification device according to claim 4, 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-connected to the calibration base.

6. A surgical navigation robot verification device according to claim 1, 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.

7. The surgical navigation robot verification device according to claim 1, 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.

8. The surgical navigation robot verification device according to claim 5, characterized in that: The first reflective ball is a Sphere reflective ball, and the second reflective ball is a radix reflective ball.

9. 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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