Optical tracking and positioning system and method for orthopedic hand drill

Abstract

The invention discloses an orthopedic hand drill optical tracking and positioning system and method, and relates to the field of surgical robotics.The orthopedic hand drill optical tracking and positioning system comprises a hand drill mounting frame structure which comprises two side plates movably arranged on the two sides of a hand drill, and one end of each side plate is in threaded connection with a threaded rod; the other ends of the two side plates can move in the direction close to each other or the direction away from each other by rotating the threaded rod. The positioner structure is fixed on the hand drill mounting rack structure through a nut, the positioner structure comprises a plurality of transparent reflective balls, and all the transparent reflective balls are distributed on at least two planes; the positioning system can play a role in tracking, identifying and positioning, and has the advantages of being universal, capable of meeting requirements of most hand drills in the market, convenient to operate in structure, high in trial performance and the like.

Description

Technical Field

[0001] The present invention belongs to the field of surgical robots, and more specifically, relates to an optical tracking and positioning system and method for an orthopedic hand drill. Background Art

[0002] In recent years, with the development of orthopedic surgical robots, surgeries have become more and more intelligent and precise, and the requirements for tools have also become higher and higher. Many intelligent surgical tools have emerged one after another. At present, the hand drill is one of the most used tools in surgeries. However, due to the large variety of hand drills on the market, for various reasons, doctors may use various hand drills. Although some hand drills currently have intelligent and traceable functions, they are basically customized models and cannot meet the diverse hand drills on the market. Summary of the Invention

[0003] The purpose of the present invention is to address the deficiencies of the existing technology and provide an optical tracking and positioning system and method for an orthopedic hand drill. The positioning system can adjust the distance between two side plates by screwing a threaded rod, so that the hand drill mounting frame structure can be clamped and fixed on any style of hand drill. After the hand drill mounting frame structure is stably connected to the hand drill, when the positioning structure is connected to the hand drill mounting frame structure, the transparent reflective balls on the positioning structure can receive the infrared beam emitted by the optical tracer, so that the pose of the hand drill can be tracked, thereby improving the surgical efficiency and quality.

[0004] To achieve the above purpose, the present invention provides an optical tracking and positioning system for an orthopedic hand drill, including:

[0005] A hand drill mounting frame structure, including two side plates movably arranged on both sides of the hand drill. One end of each side plate is screwed with a threaded rod, and rotating the threaded rod can move the other ends of the two side plates towards each other or away from each other;

[0006] A positioning structure, fixed on the hand drill mounting frame structure by a nut. The positioning structure includes a plurality of transparent reflective balls, and all the transparent reflective balls are distributed on at least two planes.

[0007] Optionally, the hand drill mounting frame structure includes:

[0008] A main board, the two ends of which are respectively rotatably connected to the middle parts of the side plates. A threaded hole for cooperating with the nut is provided in the middle of the main board;

[0009] Two rotating shafts, rotatably arranged at one end of the side plate, and the inner sides of the rotating shafts are screwed with the threaded rod.

[0010] Optionally, the main board is in an inverted T shape, the threaded holes are arranged on the end face of the vertical part of the main board, grooves are respectively formed at both ends of the horizontal part of the main board, the side plates are rotatably arranged in the grooves, a cylindrical pin is arranged between two side walls of the groove, and the cylindrical pin penetrates through the middle of the side plate.

[0011] Optionally, a communication hole is formed in the vertical part of the main board in the horizontal direction, the two threaded rods are connected by a connecting rod, the connecting rod is rotatably arranged in the communication hole, a force application part is arranged at one end of one threaded rod away from the other threaded rod, the force application part is in a cube structure, and the thread directions of the two threaded rods are opposite to each other.

[0012] Optionally, a through hole is formed in one end of the side plate in the horizontal direction, the middle part of the threaded rod is arranged in the through hole, a rotating shaft mounting hole is formed in the side wall of the through hole, and the rotating shaft is rotatably arranged in the rotating shaft mounting hole.

[0013] Optionally, a hollowed-out hole is formed in the other end of the side plate.

[0014] Optionally, the locator structure includes:

[0015] A connecting piece, with a fixing hole for passing through the nut arranged in the middle;

[0016] Two connecting frames, respectively connected to both ends of the connecting piece, the two connecting frames are not parallel to each other, and at least three transparent reflective balls are arranged on each connecting piece.

[0017] Optionally, the two connecting frames are in a figure-eight shape.

[0018] The present invention also provides an optical tracking and positioning method for an orthopedic hand drill. By using the above-mentioned optical tracking and positioning system for an orthopedic hand drill, the method includes:

[0019] Place the hand drill mounting frame structure above the hand drill, and turn the threaded rod to fit the two side plates on both sides of the hand drill;

[0020] Place the locator structure above the hand drill mounting frame structure, and turn the nut to fix the mounting position of the locator structure;

[0021] Adjust the optical tracer to face the hand drill, and identify the pose change of the locator structure.

[0022] The present invention provides an optical tracking and positioning system and method for orthopedic hand drills, and its beneficial effects are as follows: The structure of the hand drill mounting frame of the positioning system is simple and reliable, the operation during the operation is simple, which can greatly save the operation time, ensure the stable and firm connection method, thus avoiding the accuracy error problem caused by unstable connection. The positioning system can firmly and reliably clamp on both sides of the hand drill without damaging the hand drill, and is applicable to most orthopedic hand drills on the market, with strong versatility. In addition, a double-sided recognizable transparent reflective ball is provided on the locator structure, which greatly increases the visibility of the hand drill during use and solves the defect of limited viewing angle caused by traditional single-sided visibility.

[0023] Other features and advantages of the present invention will be described in detail in the following specific implementation part. Brief Description of the Drawings

[0024] By describing the exemplary embodiments of the present invention in more detail in conjunction with the drawings, the above-mentioned and other objects, features, and advantages of the present invention will become more obvious. Among them, in the exemplary embodiments of the present invention, the same reference numerals generally represent the same components.

[0025] Figure 1 Fig. shows an exploded view of the structure of an optical tracking and positioning system for orthopedic hand drills according to an embodiment of the present invention.

[0026] Figure 2 Fig. shows a schematic diagram of the state where an optical tracking and positioning system for orthopedic hand drills is fixed to a hand drill according to an embodiment of the present invention.

[0027] Figure 3 Fig. shows a schematic diagram of the structure of a hand drill mounting frame structure according to an embodiment of the present invention.

[0028] Figure 4 Fig. shows a schematic diagram of the structure of a locator structure according to an embodiment of the present invention.

[0029] Description of the Reference Numerals in the Drawings:

[0030] 1, nut; 2, locator structure; 3, hand drill mounting frame structure; 4, hand drill; 5, threaded rod; 6, first rotating shaft; 7, cylindrical pin; 8, side plate; 9, main board; 10, second rotating shaft; 11, force application part; 12, first connecting frame; 13, connecting piece; 14, second connecting piece. Detailed Description of the Invention

[0031] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0032] The present invention provides an optical tracking and positioning system for an orthopedic hand drill, comprising:

[0033] A hand drill mounting frame structure, including two side plates movably arranged on both sides of the hand drill, and a threaded rod is screwed at one end of each side plate. Rotating the threaded rod can move the other ends of the two side plates towards each other or away from each other;

[0034] A locator structure, which is fixed on the hand drill mounting frame structure by a nut. The locator structure includes a plurality of transparent reflective balls, and all the transparent reflective balls are distributed on at least two planes.

[0035] Specifically, in this positioning system, a hand drill mounting frame structure is provided. By screwing the threaded rod, the two side plates are moved towards each other, so as to clamp and fix both sides of the hand drill. In this way, it is not necessary for the hand drill mounting frame structure to be fully adapted to each type of hand drill, as long as the clamping and fixing of the hand drill mounting frame structure can be achieved, thus improving the applicable range of this positioning system; the locator structure is connected to the upper part of the hand drill mounting frame structure by a nut. In this way, when a doctor performs a surgical operation on the hand drill, the pose of the hand drill can be confirmed through the transparent reflective balls on the locator structure, realizing the function of traceable identification and positioning of the hand drill, and greatly improving the effect and quality of the operation.

[0036] Optionally, the hand drill mounting frame structure includes:

[0037] A main board, the two ends of which are respectively rotatably connected to the middle parts of the side plates, and a threaded hole for cooperating with the nut is arranged in the middle of the main board;

[0038] Two rotating shafts, which are rotatably arranged at one end of the side plate, and the inner sides of the rotating shafts are screwed to the threaded rod.

[0039] Optionally, the main board is in an inverted T shape, the threaded hole is arranged on the end face of the vertical part of the main board, grooves are respectively opened at both ends of the horizontal part of the main board, the side plates are rotatably arranged in the grooves, and a cylindrical pin is arranged between the two side walls of the groove, and the cylindrical pin penetrates through the middle part of the side plate.

[0040] Specifically, in the structure of the hand drill mounting bracket, the main board serves as the central load-bearing structure. Side plates are rotatably connected to both ends of the T-shaped main board. A rotating shaft is provided at the upper end of the side plate, and a threaded rod is disposed through the inside of the upper end of the side plate. The threaded rod is threadedly connected to the inside of the rotating shaft. In this way, when the threaded rod is rotated, the side plate can be rotated around the cylindrical pin, so that the lower end of the side plate is attached and fixed to the side of the hand drill. Since the rotating shaft moves axially along the threaded rod when the threaded rod rotates, but the connection between the side plate and the rotating shaft rotates, a rotational connection between the rotating shaft and the side plate is required.

[0041] Optionally, a communication hole is horizontally formed in the vertical portion of the main board. The two threaded rods are connected by a connecting rod, and the connecting rod is rotatably disposed in the communication hole. A force application portion is provided at one end of one threaded rod away from the other threaded rod. The force application portion has a cube structure, and the thread directions of the two threaded rods are opposite to each other.

[0042] Specifically, in the structure of the hand drill mounting bracket, when controlling the clamping movement of the two side plates, two threaded rods can be used to respectively control the rotational movement of the two side plates, or the two threaded rods can be connected by a connecting rod to form an integral threaded rod. The thread portions in the regions corresponding to the two rotating shafts of this threaded rod have opposite thread directions. By the force application portion, the two side plates can be driven to rotate synchronously, realizing the clamping and fixing of both sides of the hand drill and improving the adjustment efficiency.

[0043] Optionally, a through hole is horizontally provided at one end of the side plate, and the middle portion of the threaded rod is disposed through the through hole. A rotating shaft mounting hole is formed in the side wall of the through hole, and the rotating shaft is rotatably disposed in the rotating shaft mounting hole.

[0044] Specifically, a through hole is provided at the upper end of the side plate, and the inner diameter of the through hole is larger than the outer diameter of the threaded rod, so that the hole wall of the through hole will not interfere with the threaded rod during the rotation of the side plate; when the threaded rod rotates, the inner side of the rotating shaft is threadedly engaged with the threaded rod, the outer periphery of the rotating shaft rotates relative to the rotating shaft mounting hole of the side plate, and the rotating shaft drives the side plate to move horizontally.

[0045] Optionally, a hollow hole is formed at the other end of the side plate.

[0046] Specifically, the hollow hole at the lower end of the side plate can facilitate the clamping and fixing situation between the side plate and the hand drill. After determining that the hand drill mounting bracket structure is stably connected to the hand drill, the locator structure is then connected and fixed to the hand drill mounting bracket structure, so that the pose of the hand drill can be accurately identified.

[0047] Optionally, the locator structure includes:

[0048] A connecting member, with a fixing hole for passing through a nut provided in the middle;

[0049] Two connecting brackets are respectively connected to both ends of the connecting member. The two connecting brackets are not parallel to each other, and at least three transparent reflective balls are provided on each connecting member.

[0050] Optionally, the two connecting brackets are in a V shape.

[0051] Specifically, the locator structure can be provided with transparent reflective balls on multiple planes, so that the orientation and spatial position of the locator structure can be quickly confirmed; in the locator structure of this positioning system, a connecting member and two connecting brackets are provided. The two connecting brackets are distributed in a V shape and are connected by a connecting member, which facilitates the locator structure to position the hand drill from different directions and solves the defect of limited viewing angle caused by traditional single-sided visibility.

[0052] The present invention also provides an optical tracking and positioning method for an orthopedic hand drill, which uses the above-mentioned optical tracking and positioning system for an orthopedic hand drill. The method includes:

[0053] Place the hand drill mounting frame structure above the hand drill, and screw the threaded rod to fit the two side plates on both sides of the hand drill;

[0054] Place the locator structure above the hand drill mounting frame structure, and screw the nut to fix the mounting position of the locator structure;

[0055] Adjust the optical tracer to face the hand drill to identify the pose change of the locator structure.

[0056] Embodiment

[0057] As Figures 1 to 4 shown, the present invention provides an optical tracking and positioning system for an orthopedic hand drill, including:

[0058] A hand drill mounting frame structure 3, including two side plates 8 movably arranged on both sides of the hand drill 4. One end of the two side plates 8 is commonly screwed with a threaded rod 5. The threaded rod 5 has two threaded portions with opposite thread directions. The two threaded portions are respectively arranged corresponding to the two side plates 8. In this way, rotating the threaded rod 5 can move the other ends of the two side plates 8 towards each other or away from each other;

[0059] A locator structure 2 is fixed on the hand drill mounting frame structure 3 through a nut 1. The locator structure 2 includes 8 transparent reflective balls, and the 8 transparent reflective balls are distributed on two planes.

[0060] In this embodiment, the hand drill mounting frame structure 3 includes:

[0061] The main board 9 is in an inverted T shape. The threaded holes are arranged on the end face of the vertical part of the main board. Grooves are respectively formed at both ends of the horizontal part of the main board 9. The middle part of the side plate 8 is rotatably arranged in the grooves. A cylindrical pin 7 is rotatably arranged between the two side walls of the groove, and the cylindrical pin 7 penetrates through the middle part of the side plate 8.

[0062] The first rotating shaft 6 and the second rotating shaft 10 are respectively rotatably arranged at one end of the side plate 8, and the inner sides of the rotating shafts are screwed to the threaded rod 5.

[0063] In this embodiment, a communication hole is formed in the vertical part of the main board 9 in the horizontal direction. A through hole is arranged in the horizontal direction at one end of the side plate 8. The threaded rod 5 penetrates through the communication hole and the two through holes at the same time. A force application part 11 is arranged at one end of the threaded rod 5. A rotating shaft installation hole is formed in the side wall of the through hole, and the rotating shaft is rotatably arranged in the rotating shaft installation hole.

[0064] In this embodiment, a hollowed-out hole is formed at the other end of the side plate 8.

[0065] In this embodiment, the locator structure 2 includes:

[0066] A connecting piece 13, with a fixing hole for passing through the nut 1 arranged in the middle;

[0067] The first connecting frame 12 and the second connecting piece 14 are respectively connected to both ends of the connecting piece 13. The two connecting frames are in an eight-shaped pattern, and four transparent reflective balls are respectively arranged on each connecting piece.

[0068] The present invention also provides an optical tracking positioning method for an orthopedic hand drill. Using the above-mentioned optical tracking positioning system for an orthopedic hand drill, the method includes:

[0069] Place the hand drill mounting frame structure 3 above the hand drill 4, and screw the threaded rod 5 to fit the two side plates 8 on both sides of the hand drill 4;

[0070] Place the locator structure 2 above the hand drill mounting frame structure 3, and screw the nut 1 to fix the installation position of the locator structure 2;

[0071] Adjust the optical tracer to face the hand drill 4, and identify the pose change of the locator structure 2.

[0072] In summary, when the orthopedic hand drill optical tracking and positioning system is installed on the hand drill, first, by screwing the force application part 11, the lower ends of the two side plates 8 are made larger than the width dimension of the hand drill. Then, the hand drill mounting frame structure 3 is straddled on both sides of the hand drill 4. By screwing the force application part 11 in the reverse direction, the threaded rod 5 drives the upper ends of the two side plates 8 to move away from each other. In this way, the side plates 8 can rotate around the cylindrical pin 7. When the lower ends of the two side plates 8 tightly fit against the side of the hand drill 4, the clamping and fixing of the hand drill 4 by the hand drill mounting frame structure 3 can be realized. Next, the locator structure 2 is placed on the upper end of the main board 9, and their threaded holes are aligned and fixed by the nut 1. In this way, the locator structure 2 is firmly connected to the hand drill mounting frame structure 3. The optical tracer is started to identify the position of the transparent reflective ball, the spatial position relationship between the patient's affected area and the hand drill is calibrated, and the position state of the hand drill is tracked and identified according to the spatial coordinate system, achieving high-precision control of the hand drill, thereby greatly improving the surgical efficiency and quality.

[0073] The embodiments of the present invention have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments.

Claims

1. An optical tracking and positioning system for orthopedic hand drills, characterized in that, Including: A hand drill mounting frame structure, including two side plates movably arranged on both sides of the hand drill. One end of each side plate is screwed with a threaded rod. Rotating the threaded rod can move the other ends of the two side plates closer to or away from each other. A locator structure, fixed on the hand drill mounting frame structure by a nut. The locator structure includes a plurality of transparent reflective balls, and all the transparent reflective balls are distributed on at least two planes.

2. The optical tracking and positioning system for orthopedic hand drills according to claim 1, characterized in that, The hand drill mounting frame structure includes: A main board, whose two ends are respectively rotatably connected to the middle parts of the side plates. A threaded hole for cooperating with the nut is arranged in the middle of the main board. Two rotating shafts, rotatably arranged at one end of the side plate. The inner sides of the rotating shafts are screwed with the threaded rods.

3. The optical tracking and positioning system for orthopedic hand drills according to claim 2, wherein The main board is in an inverted T shape. The threaded hole is arranged on the end face of the vertical part of the main board. Grooves are respectively opened at both ends of the horizontal part of the main board. The side plates are rotatably arranged in the grooves. A cylindrical pin is arranged between the two side walls of the groove, and the cylindrical pin penetrates through the middle part of the side plate.

4. The optical tracking and positioning system for orthopedic hand drills according to claim 3, characterized in that, A communication hole is horizontally opened in the vertical part of the main board. The two threaded rods are connected by a connecting rod. The connecting rod is rotatably arranged in the communication hole. A force application part is arranged at one end of one threaded rod away from the other threaded rod. The force application part is in a cube structure. The thread directions of the two threaded rods are opposite to each other.

5. The orthopedic hand drill optical tracking and positioning system according to claim 4, characterized in that A through hole is horizontally arranged at one end of the side plate. The middle part of the threaded rod is arranged in the through hole. A rotating shaft mounting hole is opened on the side wall of the through hole. The rotating shaft is rotatably arranged in the rotating shaft mounting hole.

6. The optical tracking and positioning system for orthopedic hand drills according to claim 1, characterized in that, A hollow hole is opened at the other end of the side plate.

7. The optical tracking and positioning system for orthopedic hand drills according to claim 1, characterized in that, The locator structure includes: A connecting piece, with a fixing hole for passing through the nut arranged in the middle. Two connecting frames, respectively connected to both ends of the connecting piece. The two connecting frames are not parallel to each other. At least three transparent reflective balls are arranged on each connecting piece.

8. The optical tracking and positioning system for orthopedic hand drills according to claim 1, characterized in that, The two connecting frames are in a V shape.

9. An optical tracking and positioning method for an orthopedic hand drill, which uses the optical tracking and positioning system for an orthopedic hand drill according to any one of claims 1-8, characterized in that, The method includes: Placing the hand drill mounting frame structure above the hand drill, and screwing the threaded rod to fit the two side plates on both sides of the hand drill. Placing the locator structure above the hand drill mounting frame structure, and screwing the nut to fix the mounting position of the locator structure. Adjusting the optical tracer to face the hand drill, and identifying the pose change of the locator structure.

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