Positioning structure capable of clearly and rapidly obtaining puncture precision for puncture operation
By designing a disc-shaped positioning structure with precision marks, the problem of inconvenient reading position in the accuracy test of puncture surgical robots is solved, and fast and accurate reading and replacement are achieved, improving the research and development efficiency of puncture surgical robots.
Patent Information
- Application Number
- CN202420254489.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-02
- Publication Date
- 2024-12-20
- Estimated Expiration
- 2034-02-02
AI Technical Summary
During the accuracy testing and development process of existing puncture surgical robot positioning parts, the puncture needle cannot intuitively read the specific position after entering the intermediate through hole, resulting in inconvenient accuracy error analysis and verification, affecting the detection and research of puncture accuracy.
A disc-shaped positioning structure is designed, including an inclined surface and a plane. Accuracy structure and fixtures are provided on both sides of the through holes through which the puncture needle is penetrated. Accuracy marks are printed on the precision structure and distributed through equal spacing. Concentric circle or grid marking allows direct reading of coordinate values and allows quick replacement of precision structural parts.
It realizes rapid and accurate reading of puncture accuracy without other measurement equipment, simplifies the precision testing and R&D process of puncture surgery robots, and improves R&D efficiency.
Smart Images
Figure CN222195086U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of puncture surgery robots, in particular to a positioning structure for puncture surgery which can clearly and quickly obtain puncture accuracy. Background Art
[0002] With the development of puncture surgical robots for percutaneous puncture biopsy and interventional surgery, the creator of this application has disclosed in Chinese patent CN2022228558470 a positioning member that can quickly and easily assist the puncture surgical robot in inserting the needle during the operation, and can accurately find the needle insertion position at one time, thereby quickly completing the needle insertion action, such as Figure 2 and Figure 3 shown.
[0003] The positioning parts in the above-mentioned Chinese patent can realize surgery, but in the further development of the surgical puncture robot, it is necessary to use positioning parts to detect, test and develop the puncture accuracy of the surgical robot. The puncture accuracy of the puncture surgical robot needs to be adjusted to within ±3mm. The use of existing positioning parts has the following problems.
[0004] The puncture needle can enter the middle hole of the positioning part during each puncture operation (precision test and development process). Since the middle hole has a certain diameter (usually between 5-10mm) according to different puncture needles, the specific position (coordinate value) of the puncture needle puncturing the middle hole cannot be read intuitively, and the puncture accuracy (coordinate value) can only be obtained after measurement by other measuring equipment. This brings many inconveniences to the verification and testing of puncture accuracy, and is not conducive to the analysis and research of accuracy errors in the development of puncture surgery robots. Utility Model Content
[0005] The purpose of the utility model is to provide a positioning structure for puncture surgery that can clearly and quickly obtain the puncture accuracy. In the process of accuracy error analysis and research, the coordinate value can be directly read quickly and accurately without other measuring equipment.
[0006] The positioning structure for puncture surgery that can clearly and quickly obtain the puncture accuracy in the utility model comprises a disc-shaped positioning body, a through hole for the puncture needle to pass through is provided in the middle of the positioning body, and two side surfaces from the through hole to the edge of the positioning body are an inclined surface and a plane respectively, and the inclined surface is in the shape of an inverted truncated cone;
[0007] The positioning structure further includes a precision structural member that can be attached and fixed to the flat side surface of the positioning body and through which the puncture needle can quickly penetrate, and a fixing member that is tightly matched with the edge of the positioning body;
[0008] The planar surface of the fixing member and the planar side surface of the positioning body are in the same plane;
[0009] The precision structural part is printed with a precision mark structure on at least one surface of the side that is in contact with the positioning body. The precision mark structure is distributed in a circle and includes an outermost circle and precision marks that fill the inner area of the outermost circle and are distributed at equal intervals. The diameter of the outermost circle is the same as the diameter of the through hole.
[0010] Preferably, the precision mark comprises a plurality of concentric circles directly printed on the surface of the precision structural part and located inside the outermost circle.
[0011] Preferably, the diameters of the plurality of concentric circles decrease by 1 mm from the outermost circle inward.
[0012] Preferably, the precision mark comprises grids which are distributed at equal intervals inside the outermost circle, and the spacing distance between the grids is 1 mm.
[0013] Preferably, the positioning body is made of alumina ceramic or aluminum oxide ceramic material and is in the shape of a white disc. The fixing part includes a fixed mounting plate located on the inner ring and tightly fitted with the positioning body, and a black adsorption plate located on the outer ring and injection molded as a whole with the fixed mounting plate.
[0014] Preferably, the inclined surface of the positioning body is a matte surface.
[0015] Preferably, the fixed installation disk is outer-mounted with an angle-rotating indicator disk that can freely rotate or stay along the fixed installation disk.
[0016] Preferably, a rotating handle is provided on the side edge of the angle rotation indicating disk via a universal ball connection structure.
[0017] The positioning structure for puncture surgery that can clearly and quickly obtain puncture accuracy in the utility model can directly read coordinate values quickly and accurately during the accuracy error analysis and research process without the need for other measuring equipment, which can effectively accelerate the research and development process of the puncture surgery robot.
[0018] Furthermore, during the accuracy test process, the positioning structure in the utility model can quickly replace the accuracy structural parts, thereby further accelerating the accuracy test and development of the surgical puncture robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is a three-dimensional structural schematic diagram of the positioning structure in the utility model.
[0020] Figure 2 It is a three-dimensional structural schematic diagram of the positioning body in the utility model.
[0021] Figure 3 It is a cross-sectional schematic diagram of the positioning body in the utility model.
[0022] Figure 4 It is a top view schematic diagram of the precision marking structure of the utility model.
[0023] Figure 5 It is a top view schematic diagram of another embodiment of the precision marking structure of the utility model.
[0024] Figure 6 It is a three-dimensional structural schematic diagram of another embodiment of the positioning structure in the utility model. Implementation
[0025] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is further described in detail below in combination with specific implementation methods and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the utility model. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the utility model.
[0026] like Figure 1 As shown, the positioning structure in the present utility model includes a positioning body 1 , a precision structural member 6 and a fixing member 7 , wherein the precision structural member 6 is directly adhered to the plane side surfaces of the positioning body 1 and the fixing member 7 .
[0027] like Figure 2 and Figure 3 As shown, the positioning body 1 is in the shape of a white disc, and a through hole 2 with a diameter of 8 mm is provided in the middle, and the through hole 2 is for the puncture needle of the puncture surgery robot to pass through and enter the patient's body. The diameter of the through hole 2 is not limited to 8 mm, and can be selected according to needs, preferably a through hole diameter of 5-10 mm.
[0028] The positioning body 1 forms two side surfaces from the through hole 2 to the edge 4 , the first side surface is an inclined surface 3 , the second side surface is a plane 5 , and the inclined surface 3 is in an inverted frustum shape from the through hole 2 to the edge 4 .
[0029] The positioning body 1 in this example is formed in one piece using alumina ceramic or aluminum oxide ceramic material, and the upper surface of the inclined surface 3 is matte-finished to increase the surface roughness, thereby facilitating rapid recognition of the positioning body 1 by the structured light camera of the puncture surgery robot.
[0030] like Figure 4 and Figure 5As shown, the precision structure 6 is a thin paper sheet, and a precision mark structure 8 is printed on at least one side of the thin paper sheet, which can be quickly penetrated by the puncture needle. The precision mark structure 8 is distributed in a circular shape, including an outermost circle 10 and precision marks that fill the inner area of the outermost circle 10 and are distributed at equal intervals. The diameter of the outermost circle 10 is the same as the diameter of the through hole 2 of the positioning body 1. The precision structure 6 is attached to the surface of the plane 5 of the positioning body 1 so that the outermost circle 10 coincides with the through hole 2. During specific operation, the precision structure 6 can be moved to make the outermost circle 10 coincide with the through hole 2, and it can be quickly determined whether the precision mark structure 8 in the precision structure 6 is set concentrically with the through hole 2.
[0031] The precision mark can be a plurality of concentric circles equally spaced inside the outermost circle 10, and the diameter of each concentric circle decreases by 1 mm from the outermost circle 10 inward, such as Figure 4 As shown. It is also possible to evenly space the grids 9 inside the outermost circle 10, with the grids 9 spaced 1 mm apart. Figure 5 As shown, the grid 9 and the concentric circles all fill the inner area of the outermost circle 10.
[0032] like Figure 1 and Figure 6 As shown, the fixing part 7 includes a fixed mounting plate 10 made of hard plastic (ABS, Acrylonitrile Butadiene Styrene plastic) located on the inner ring, and a black adsorption plate 11 made of thermoplastic elastic material (PET, Polyethylene terephthalate) located on the outer ring. The adsorption plate 11 is fixed to the fixed mounting plate 10 by direct injection molding. The backs of the fixed mounting plate 10 and the adsorption plate 11 are in the same plane (also called a flat surface), and can be placed very stably on the surface of the test object. In addition, with the help of the color contrast setting of the black adsorption plate 11 and the white positioning body 1, the recognition accuracy of the 3D camera to the positioning body 1 can be increased during the precision test development process.
[0033] The positioning body 1 is tightly matched with the fixed installation disk 10. By utilizing the material properties of the fixed installation disk 10, the positioning body 1 is directly squeezed into the fixed installation disk 10 so that the plane 5 of the positioning body 1 and the back (flat surface) of the fixed installation disk 10 are in the same plane.
[0034] like Figure 6As shown, preferably, an angle rotation indicator disk 13 can be disposed outside the fixed installation disk 10, and the angle rotation indicator disk 13 can rotate freely or stay along the fixed installation disk 10, so as to further quickly identify the insertion angle of the puncture needle, and read the coordinate value of the insertion position of the puncture needle more clearly and quickly. A rotating handle 12 can be further disposed on the side edge of the angle rotation indicator disk 13 through a universal ball connection structure, and the angle rotation indicator disk 13 can be rotated according to the precision test environment, so that the indicator mark 14 points to a position that is convenient for reading.
[0035] like Figure 1 and Figure 6 As shown, the precision structural part 6 is moved on the back of the fixing part 7 and the positioning body 1 so that the outermost circle 10 coincides with the through hole 2. With the help of re-adhesive adhesive, it can be quickly attached to the plane 5 of the positioning body 1 and can be quickly aligned.
[0036] During the precision test development process, after the puncture needle penetrates the precision structure 6, the tester can clearly see the position where the puncture needle passes through based on the equally spaced concentric circles or grids 9, and can directly read the coordinate value of the puncture needle penetration position based on the grids 9 or concentric circles.
[0037] And after each puncture test, the precision structure 6 cannot be used anymore and needs to be replaced with a new one. With the help of the adhesive and the setting of the outermost circle 10, the precision structure 6 and the positioning body 1 can be quickly pasted and overlapped, so that another precision structure 6 can be quickly replaced and assembled after each puncture, which is convenient for the next precision test, effectively improving the purpose of precision test of the puncture surgical robot and accelerating the development speed of the puncture surgical robot.
Claims
1. A positioning structure for puncture surgery that can clearly and quickly obtain puncture accuracy, comprising a disc-shaped positioning body, a through hole for the puncture needle to pass through is provided in the middle of the positioning body, and two side surfaces from the through hole to the edge of the positioning body are an inclined surface and a plane, respectively, and the inclined surface is in the shape of an inverted truncated cone, characterized in that: The positioning structure further includes a precision structural member that can be attached and fixed to the flat side surface of the positioning body and through which the puncture needle can quickly penetrate, and a fixing member that is tightly matched with the edge of the positioning body; The planar surface of the fixing member and the planar side surface of the positioning body are in the same plane; The precision structural part is printed with a precision mark structure on at least one surface of the side that is in contact with the positioning body. The precision mark structure is distributed in a circle and includes an outermost circle and precision marks that fill the inner area of the outermost circle and are distributed at equal intervals. The diameter of the outermost circle is the same as the diameter of the through hole.
2. The positioning structure for puncture surgery capable of clearly and quickly obtaining puncture accuracy according to claim 1, characterized in that: The precision mark includes a plurality of concentric circles directly printed on the surface of the precision structural part and located inside the outermost circle.
3. The positioning structure for puncture surgery capable of clearly and quickly obtaining puncture accuracy according to claim 2, characterized in that: The diameters of the multiple concentric circles decrease by 1 mm from the outermost circle inward.
4. The positioning structure for puncture surgery capable of clearly and quickly obtaining puncture accuracy according to claim 1, characterized in that: The precision mark includes grids that are evenly spaced and located inside the outermost circle, and the spacing distance between the grids is 1 mm.
5. The positioning structure for puncture surgery capable of clearly and quickly obtaining puncture accuracy according to claim 1, characterized in that: The positioning body is made of alumina ceramic or aluminum oxide ceramic material and is in the shape of a white disc. The fixing part includes a fixed mounting plate located on the inner ring and tightly fitted with the positioning body, and a black adsorption plate located on the outer ring and injection-molded as a whole with the fixed mounting plate.
6. The positioning structure for puncture surgery capable of clearly and quickly obtaining puncture accuracy according to claim 5, characterized in that: The inclined surface of the positioning body is a matte surface.
7. The positioning structure for puncture surgery capable of clearly and quickly obtaining puncture accuracy according to claim 5, characterized in that: The outer cover of the fixed installation disk is provided with an angle rotation indicating disk which can freely rotate or stay along the fixed installation disk.
8. The positioning structure for puncture surgery capable of clearly and quickly obtaining puncture accuracy according to claim 7, characterized in that: A rotating handle is arranged on the side edge of the angle rotation indicating disk via a universal ball connection structure.