Tracer and hip joint filing equipment

Abstract

The utility model discloses a tracer which comprises a connecting piece used for being installed on a target rod, a plurality of light reflecting balls are arranged on the connecting piece, and at least two light reflecting balls are distributed in the axial direction of the target rod at set intervals. The utility model further discloses hip joint grinding and filing equipment which comprises a grinding and filing rod, a grinding and filing head and the tracer. According to the tracer, the reflective balls are separately arranged through the double supports, the distance between the connecting lines of the two sets of reflective balls is lengthened in the axis direction of the file grinding rod, and when the file grinding head and the file grinding rod are only slightly changed in position, especially adjusted in angle and the like, the distance between the reflective balls and the file grinding rod is increased. And the position change can be obviously reflected on the deviation of the connecting line between the two groups of reflective balls through the lengthened distance, so that the accuracy of position information change parameters captured by the camera is greatly improved.

Description

Technical Field

[0001] The utility model belongs to the field of medical equipment and relates to a tracer and hip joint grinding and filing equipment. Background Art

[0002] In orthopedic navigation surgery for hip joint grinding and rasping, the spatial position of the grinding and rasping head is required to be calibrated in real time to ensure the accuracy of the surgery. The most common existing calibration method is to calibrate through a tracer. Four reflective balls are set on the tracer. After the camera obtains the position of the reflective balls, the position of the grinding and rasping head is obtained through spatial coordinate calculation.

[0003] However, existing tracers usually need to be installed in a fixed position on the grinding and filing equipment. In order to facilitate installation, the distance between the reflective balls thereon is set to be small. As a result, when the position of the grinding and filing head changes slightly during surgery, the offset reflected on the four reflective balls is small, which is difficult to be accurately captured and identified by the camera, thereby causing errors in the calibration of the spatial position of the grinding and filing head. Utility Model Content

[0004] In order to overcome the deficiencies of the prior art, the utility model provides a tracer and a hip joint grinding and filing device.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A tracer comprises a connecting piece for installation on a target rod, wherein a plurality of reflective balls are arranged on the connecting piece, and at least two of the reflective balls are distributed and arranged at a set interval in the axial direction of the target rod.

[0007] Furthermore, the reflective balls include a first reflective ball, a second reflective ball, a third reflective ball and a fourth reflective ball, and the first reflective ball and the fourth reflective ball form a set interval in the axial direction of the target rod.

[0008] Furthermore, the first reflective ball and the fourth reflective ball are connected in a straight line to form a positioning line, and the positioning line forms an angle with the axis of the target rod.

[0009] Furthermore, the angle is set to 15°-40°.

[0010] Furthermore, an extension line of the positioning line intersects with an axis line of the target rod.

[0011] Furthermore, the connecting piece is a cylindrical structure.

[0012] Furthermore, a first bracket and a second bracket are respectively provided on both sides of the connecting member, the first reflective ball, the second reflective ball and the third reflective ball are all provided at the end of the first bracket, and the fourth reflective ball is provided at the end of the second bracket.

[0013] A hip joint rasp device comprises a rasp rod, a rasp head and the above-mentioned tracer, wherein the rasp rod is a target rod, the connecting piece is mounted on the rasp rod, and the rasp head is arranged at one end of the rasp rod in the axial direction.

[0014] In summary, the utility model is beneficial in that:

[0015] 1) The tracer of the utility model sets the reflective balls separately by double brackets, and lengthens the distance between the lines connecting the two groups of reflective balls in the axial direction of the file rod. When the file head and the file rod change their positions by only a small amount, especially when the angle is adjusted, the position change will be very obviously reflected in the offset of the line connecting the two groups of reflective balls through the lengthened distance, thereby greatly increasing the accuracy of the position information change parameters that can be captured by the camera.

[0016] 2) The utility model sets the connection line between the first and fourth reflective balls and the axis of the straight cylinder to intersect, so that the spatial position of the grinding file head is more intuitive, the intermediate conversion steps require fewer parameters and the calculation formula is more streamlined, which greatly improves the efficiency of obtaining the spatial position of the grinding file head. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the tracer of the utility model.

[0018] Figure 2 for Figure 1 Side elevation view of the .

[0019] Markings in the figure: 1, straight tube; 21, first bracket; 22, second bracket; 31, first reflective ball; 32, second reflective ball; 33, third reflective ball; 34, fourth reflective ball. DETAILED DESCRIPTION

[0020] The following describes the implementation of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations. The details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0021] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0022] All directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, horizontal, vertical...) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0023] Due to installation errors and other reasons, the parallel relationship referred to in the embodiments of the present invention may actually be an approximately parallel relationship, and the vertical relationship may actually be an approximately vertical relationship.

[0024] This embodiment discloses a tracer for use in a hip joint grinding and rasp device. Figure 1 , including a connecting piece, a bracket and a reflective ball. In this embodiment, the connecting piece is preferably a straight tube 1 with a cylindrical structure. The bracket is located on the straight tube 1 and extends radially along the straight tube 1. The reflective ball is installed at the end of the bracket. The straight tube 1 is used for installing the entire tracer on the grinding and filing equipment. The straight tube 1 is installed on a shaft, a rod, etc. by means of a sleeve connection. Specifically, it is sleeved on a grinding and filing rod of the grinding and filing equipment. One axial end of the grinding and filing rod is a grinding and filing head. The coordinate position of the grinding and filing head is calibrated by the tracer.

[0025] Traditional tracers usually include four reflective balls. The positions of the reflective balls and the positions of the points to be measured have been set before the operation, and the position information parameters between them have also been pre-entered into the system. After the position of the reflective balls is observed by the camera during the operation, the position of the points to be measured can be obtained by calculating the position relationship between the four reflective balls combined with the spatial coordinates. However, traditional tracers have certain defects. On the one hand, traditional tracers can only be installed in a fixed position and cannot flexibly change the installation position according to actual surgical needs. In some body position scenarios, it is difficult for the camera to observe the reflective balls. On the other hand, the position distance between the four reflective balls is set too close. When the camera observation angle is biased, the calculated result error is large.

[0026] The reflective balls in this embodiment are also provided in four numbers, namely the first, second, third and fourth reflective balls 34, and the bracket also includes a first bracket 21 and a second bracket 22. The first bracket 21 and the second bracket 22 are respectively arranged at the two ends of the axial direction of the straight cylinder 1, and both extend radially along the straight cylinder 1 on the same plane, that is, the first bracket 21 and the second bracket 22 are arranged in parallel, the first, second and third reflective balls 33 are arranged at the end of the first bracket 21, and the fourth reflective ball 34 is arranged at the end of the second bracket 22. The positioning of the grinding head is achieved by four reflective balls.

[0027] In particular, through the arrangement of the first bracket 21 and the second bracket 22, a set distance is formed between the first reflective ball 31 and the fourth reflective ball 34 in this embodiment, which lengthens the distance between the two reflective balls compared to the traditional tracer. Further, when the tracer in this embodiment is adjusted in angle relative to the grinding rod, the adjusted angle will be very obviously reflected in the offset of the line between the first reflective ball 31 and the fourth reflective ball 34 through the lengthened distance, thereby greatly increasing the accuracy of the angle position information change parameters that can be captured by the camera.

[0028] In addition, Figure 2 On the forward projection plane shown, the positioning line formed by the straight line connecting the first reflective ball 31 and the fourth reflective ball 34 is in the same plane as the axis of the grinding rod and forms an angle, so that the extension line of the positioning line will inevitably intersect the axis at a point in the above-mentioned plane, and then through the above-mentioned position relationship, the intersection position of the extension line of the positioning line and the axis is pre-set, and the relevant spatial coordinate parameter information is determined, so that after the camera captures the position of the reflective ball, the coordinate position of the grinding head can be calculated more simply and quickly through these preset parameter information. Compared with the traditional tracer reflective ball setting, the complexity of the calculation equation is greatly reduced, and the calculation processing speed is greatly improved.

[0029] In this embodiment, the angle formed by the positioning line and the axis is set to be in the range of 15 degrees to 40 degrees, preferably 25 degrees. This angle is the optimal angle selected by comprehensively considering the observation effect of the camera on the reflective ball and the size of the bracket and the reflective ball relative to the outside of the straight tube 1; if the best setting position is to be selected, that is, the position of the grinding head calculated with the most accurate accuracy after the camera obtains the position of the reflective ball, this position is the point where the extension line of the positioning line intersects the center of the grinding head. On the other hand, due to size considerations, if the above-mentioned optimal setting position is adopted, the length of the bracket to be set is too long, which makes the overall size of the tracer larger, which is not convenient for application in specific surgical scenarios and is very easy to affect the actions of other instruments or personnel. Therefore, in this embodiment, reference is preferred. Figure 2 As shown, on the same plane as above, at the center point of the grinding file head (i.e. Figure 2 A vertical line perpendicular to the axis is drawn from point a in the figure. The extended line of the positioning line first intersects the axis and then intersects the vertical line at a point (i.e. Figure 2 By pre-designing the distance between this point and the center point of the grinding head, the position coordinates of the grinding head can be accurately calculated through the position of the reflective ball according to relevant parameters.

[0030] Obviously, the described embodiments are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

Claims

1. A tracer, characterized in that: The invention comprises a connecting piece for being mounted on a target rod, wherein a plurality of reflective balls are arranged on the connecting piece, and at least two of the reflective balls are distributed and arranged at a set interval in the axial direction of the target rod; the reflective balls comprise a first reflective ball (31), a second reflective ball (32), a third reflective ball (33) and a fourth reflective ball (34), and the first reflective ball (31) and the fourth reflective ball (34) form a set interval in the axial direction of the target rod; a first bracket (21) and a second bracket (22) are respectively arranged on both sides of the connecting piece, and the first reflective ball (31), the second reflective ball (32) and the third reflective ball (33) are all arranged at the end of the first bracket (21), and the fourth reflective ball (34) is arranged at the end of the second bracket (22).

2. A tracer according to claim 1, characterized in that: The first light-reflecting ball (31) and the fourth light-reflecting ball (34) are connected in a straight line to form a positioning line, and the positioning line forms an angle with the axis of the target rod.

3. A tracer according to claim 2, characterized in that: The angle is set to 15°-40°.

4. A tracer according to claim 2, characterized in that: An extension line of the positioning line intersects with an axis line of the target rod.

5. A tracer according to claim 1, characterized in that: The connecting piece is a cylindrical structure.

6. A hip joint grinding and rasp device, characterized in that: It comprises a grinding file rod, a grinding file head and a tracer as described in any one of claims 1 to 5, wherein the grinding file rod is a target rod, the connecting piece is installed on the grinding file rod, and the grinding file head is arranged at one end of the grinding file rod in the axial direction.

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