Optical positioning tracker and CT (computed tomography) or CBCT (cone beam computed tomography) equipment

Abstract

The utility model discloses an optical positioning tracker and CT (Computed Tomography) or CBCT (Cone Beam Computed Tomography) equipment, and relates to the field of medical equipment, the optical positioning tracker comprises a frame which comprises a first mounting surface and a second mounting surface which are not coplanar, the first mounting surface and the second mounting surface are respectively provided with at least two optical elements, and all the optical elements are not collinear; the optical positioning tracker is arranged on CT or CBCT equipment through a frame, and when a ray receiving end of the CT or CBCT equipment moves to a certain position for image acquisition, an optical element can be positioned and tracked by an optical positioning system, so that positioning navigation data is provided for a surgical robot.

Description

Technical Field

[0001] The utility model belongs to the field of medical equipment, and more specifically, relates to an optical positioning tracker and a CT or CBCT device. Background Art

[0002] In today's surgical procedures, surgical robots are increasingly involved. In order to achieve fast and accurate positioning of surgical robots, it is necessary to align the data of the lesion site in the two-dimensional or three-dimensional image with the spatial coordinates of the lesion site on the patient's body, and then send the actual coordinate data to the surgical robot. However, the current positioning method used in operating rooms is to align through multi-layer rulers, which is cumbersome and affects the automation rate of surgical robots. Utility Model Content

[0003] The purpose of the utility model is to address the deficiencies in the prior art and to provide an optical positioning tracker and a CT or CBCT device. The optical positioning tracker is set on the CT or CBCT device through a frame, obtains the coordinate data of the radiation source and the receiving end of the CT or CBCT device through NDI, and obtains the spatial coordinates of the lesion through specific conversion, which are automatically sent to the surgical robot, thereby improving the working efficiency of the surgical robot.

[0004] In order to achieve the above-mentioned object, the utility model provides an optical positioning tracker, comprising:

[0005] The frame comprises a first mounting surface and a second mounting surface which are not coplanar, wherein at least two optical elements are arranged on the first mounting surface and the second mounting surface respectively, and all the optical elements are not colinear.

[0006] Optionally, the frame is a quadrilateral frame structure, and the first mounting surface and the second mounting surface are respectively arranged on two non-adjacent sides of the frame.

[0007] Optionally, the frame is an integrally formed structure, and a positioning countersunk hole is provided on the frame, and the positioning countersunk hole cooperates with the head of the mounting screw.

[0008] Optionally, the optical element comprises:

[0009] A light emitting diode is arranged on the frame;

[0010] A start switch is arranged on the frame, and a power source is connected to the light emitting diode via the start switch.

[0011] Optionally, a sensor switch is further provided on the frame, and the sensor switch is switched on and off according to the presence or absence of a received signal, and the sensor switch is provided between the start switch and the light emitting diode.

[0012] Optionally, the optical element includes a reflective ball, and the reflective ball is embedded in the frame.

[0013] The utility model also provides a CT or CBCT device, comprising:

[0014] The above-mentioned optical positioning tracker is arranged near the ray receiving end of the CT or CBCT device.

[0015] Optionally, two optical positioning trackers are included, which are respectively arranged on both sides of the ray receiving end of the CT or CBCT device.

[0016] Optionally, the inner profile of the frame matches the outer peripheral profile of the ray receiving end of the CT or CBCT device.

[0017] Optionally, an optical positioning tracking system is also included for tracking the position of the optical positioning tracker in real time.

[0018] The utility model provides an optical positioning tracker and a CT or CBCT device, which has the beneficial effects of: two optical elements are arranged on the optical positioning tracker, when the optical element is a light emitting diode, when it is necessary to start the NDI device to locate and track the position of the ray receiving end of the CT device, the NDI device will send a signal to the sensor switch after starting, and then the light emitting diode will light up, so that the NDI device can identify the exact position of the tracker through the light position, thereby determining the actual position of the lesion; when the optical element is a reflective ball, it is only necessary to start the NDI device to emit rays and receive feedback rays to confirm the position of the tracker, and the actual position of the lesion can also be determined. The above two structures can effectively control the working energy consumption of the receiving end and reduce the use cost of the CT equipment.

[0019] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present invention.

[0021] Figure 1 A schematic structural diagram of an optical positioning tracker according to an embodiment of the utility model is shown.

[0022] Figure 2 Shows Figure 1 Side view of.

[0023] Figure 3 A schematic diagram showing the installation orientation of a left optical positioning tracker and a right optical positioning tracker according to an embodiment of the utility model is shown.

[0024] Figure 4 A schematic diagram of the structure of a left optical positioning tracker according to an embodiment of the utility model is shown.

[0025] Figure 5 A schematic diagram of the structure of a right optical positioning tracker according to an embodiment of the utility model is shown.

[0026] Figure 6 A schematic diagram of the structure of an optical positioning tracker with a light emitting diode according to an embodiment of the utility model is shown.

[0027] Description of reference numerals:

[0028] 1. Frame; 2. First mounting surface; 3. Second mounting surface; 4. Reflective ball; 5. Positioning countersunk hole; 6. Left optical positioning tracker; 7. Right optical positioning tracker; 8. Start switch; 9. Status light; 10. Sensor switch; 11. Light-emitting diode. DETAILED DESCRIPTION

[0029] 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 described 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.

[0030] The utility model provides an optical positioning tracker, comprising:

[0031] The frame comprises a first mounting surface and a second mounting surface which are not coplanar. At least two optical elements are arranged on the first mounting surface and the second mounting surface respectively, and all the optical elements are not colinear.

[0032] Specifically, the positioning tracker sets multiple optical elements on a frame, selects two non-parallel first mounting surfaces and second mounting surfaces on the frame, and sets at least two optical elements on each mounting surface, and the connecting lines of the optical elements on the two mounting surfaces cannot form a parallel relationship. In this way, at least four optical elements are set on the frame, and the positions of the at least four optical elements form a non-coplanar and non-colinear relationship. When the NDI system sends a receiving signal and cooperates with the optical elements, the position of the structure where the positioning tracker is installed can be determined, thereby converting the position coordinates on the image into the position coordinates of the coordinate system of the surgical robot, so as to achieve fast and accurate positioning and improve the efficiency of patient treatment.

[0033] Optionally, the frame is a quadrilateral frame structure, and the first mounting surface and the second mounting surface are respectively arranged on two non-adjacent sides of the frame.

[0034] Specifically, the frame may be a quadrilateral, and the two mounting surfaces are arranged on two non-adjacent edges of the frame, and the spacing between the optical elements is increased, thereby improving the accuracy of positioning.

[0035] Optionally, the frame is an integrally formed structure, and a positioning countersunk hole is provided on the frame, and the positioning countersunk hole cooperates with the head of the mounting screw.

[0036] Specifically, the positioning tracker fixes the receiving end on the CT or CBCT device through a frame. Therefore, in order to ensure the installation stability of the positioning tracker, a positioning countersunk hole is provided on the frame. When the positioning tracker is installed near the ray receiving end of the CT or CBCT device, the mounting screw is passed through the positioning countersunk hole and screwed to the ray receiving end. Since the installation error between the mounting screw and the threaded hole of the adjusting arm is small, when the head of the mounting screw enters the positioning countersunk hole, the position of the frame is also limited, so that a stable connection between the frame and the CT or CBCT device can be achieved. Before performing image acquisition, you only need to confirm that the frame is firmly installed and calibrate the position of the frame and the ray receiving end of the CT or CBCT device, and then you can use the positioning tracker for positioning normally. The entire installation process is simple. The frame also adopts an integrated structure to avoid changes in the position of the receiving end caused by deformation or displacement of the frame, thereby improving the overall stability of the frame.

[0037] Optionally, the optical element comprises:

[0038] A light emitting diode is arranged on the frame, and preferably the light emitting end of the light emitting diode is flush with the surface of the frame;

[0039] A start switch is arranged on the frame, and a power source is connected to the light emitting diode via the start switch.

[0040] Specifically, the optical element in the positioning tracker can be a light-emitting diode. When the start switch controls the power supply to energize the light-emitting diode, the light-emitting diode is lit. In this way, the NDI system obtains the spatial position through multiple lit light-emitting diodes, and the position of the ray receiving end of the CT or CBCT device can be obtained through program calculation. In order to ensure that the position of the light-emitting diode is measured more accurately, the light-emitting diode is installed inside the frame, and only the light source at the top of the light-emitting diode is exposed on the outer surface of the frame. After obtaining the spatial positions of multiple optical elements, the position of the CT or CBCT device is calculated through the calculation program. The calculation program can be calculated using the existing program of the NDI system. This part of the calculation program belongs to the existing technology and does not need to be repeated here.

[0041] Optionally, a sensor switch is also provided on the frame, and the sensor switch is switched on and off according to the presence or absence of a received signal, and the sensor switch is provided between the start switch and the light emitting diode.

[0042] Specifically, a sensor switch is also connected to the light-emitting diode. When the positioning tracker needs to work, the start switch can be turned on first, so that the power supply starts, but the power still needs to be controlled by the sensor switch. Only when the NDI system needs to accurately determine the position of the CT or CBCT device, when the NDI system sends a tracking signal, it will also send a signal to the sensor switch, and then the light-emitting diode will light up. Finally, the NDI system identifies the position of the light, thereby collecting the position of the ray receiving end of the CT or CBCT device. When the NDI system stops sending the tracking signal, the sensor switch no longer receives the signal, the light-emitting diode returns to the off state, and the positioning tracker enters the power saving mode. The signal that can start the sensor switch sent by the NDI system described above is preferably a wireless signal. Such signal sending and signal receiving methods are both existing technologies and need not be elaborated here.

[0043] Optionally, the receiving end includes a reflective ball, which is embedded in the frame, and half of the reflective ball protrudes from the surface of the frame.

[0044] Specifically, the optical element of the positioning tracker can also be a reflective ball. When it is necessary to determine the position of the ray receiving end of the CT or CBCT equipment, it is only necessary to emit infrared rays through the NDI system. When the infrared rays encounter the reflective ball, the emitted rays are received by the NDI system again. In this way, the position of the reflective ball can be identified. Through the program calculation of the NDI system, the position coordinates of the lesion in the coordinate system of the surgical robot can be obtained.

[0045] The utility model also provides a CT or CBCT device, comprising:

[0046] The above-mentioned optical positioning tracker is arranged near the ray receiving end of the CT or CBCT device.

[0047] Optionally, two optical positioning trackers are included, which are respectively arranged on both sides of the ray receiving end of the CT or CBCT device.

[0048] Optionally, the inner profile of the frame matches the outer peripheral profile of the ray receiving end of the CT or CBCT device.

[0049] Specifically, when the positioning tracker is installed on a CT or CBCT device, one needs to be set on each side of the ray receiving end, so that when the ray receiving end moves synchronously with the probe of the CT or CBCT device, the position of the optical element of the positioning tracker can be collected from different angles; in addition, in order to reduce the space occupied by the positioning tracker, the surface where the frame and the ray receiving end fit together is set to a free-standing surface, so that in addition to being positioned by installing screws, the frame can also ensure the installation position of the positioning tracker through its own surface, thereby reducing the difficulty of installing the positioning tracker.

[0050] Optionally, an optical positioning tracking system is also included for tracking the position of the optical positioning tracker in real time.

[0051] Specifically, when using CT or CBCT equipment, the optical positioning tracking system is started to collect the spatial position of the optical positioning tracker, and the coordinates on the two-dimensional image or three-dimensional image are converted into position coordinates in the coordinate system of the surgical robot according to the system operation, thereby improving the conversion efficiency and making the surgical robot more efficient.

[0052] In actual application, the optical positioning tracker first uses a CT or CBCT device to collect a two-dimensional image of the patient's lesion, and at the same time the optical positioning tracking system collects the position of the optical element, so that the coordinate position of the ray receiving end of the CT or CBCT device can be determined, and then according to the conversion relationship between the coordinate system of the CT or CBCT device and the coordinate system of the surgical robot, the coordinate position of the ray receiving end of the CT or CBCT device in the coordinate system of the CT or CBCT device is converted to the coordinate position of the ray receiving end of the CT or CBCT device in the coordinate system of the surgical robot. Since the optical positioning tracker is fixedly connected to the CT or CBCT device, the positional relationship between the coordinate position of the optical positioning tracker and the two-dimensional or three-dimensional image of the lesion can be used to convert the coordinate position of the two-dimensional or three-dimensional image in the coordinate system of the CT or CBCT device into the coordinate position of the two-dimensional or three-dimensional image in the coordinate system of the surgical robot. In this way, the lesion position can be converted and finally sent to the surgical robot for actual operation.

[0053] In one embodiment, the positions of the receiving ends of the optical positioning trackers on each side are not set completely correspondingly, and the two optical positioning trackers are respectively engraved with labels.

[0054] Specifically, the optical elements on the positioning trackers on both sides are set to non-corresponding structures, which is convenient for using the NDI system on both sides of the CT or CBCT equipment; moreover, the positioning trackers on each side are marked to facilitate installation and avoid installation errors that affect positioning accuracy.

[0055] Example 1

[0056] like Figures 1 to 5 As shown, the utility model provides an optical positioning tracker, comprising:

[0057] The frame 1 comprises a first mounting surface 2 and a second mounting surface 3 which are not coplanar. At least two optical elements are arranged on the first mounting surface 2 and the second mounting surface 3 respectively, and all the optical elements are not colinear.

[0058] In this embodiment, the frame 1 is a quadrilateral frame structure, and the first mounting surface 2 and the second mounting surface 3 are respectively arranged on two non-adjacent sides of the frame 1 .

[0059] In this embodiment, the frame 1 is an integrally formed structure, and a positioning countersunk hole 5 is provided on the frame 1, and the positioning countersunk hole 5 matches with the head of the mounting screw.

[0060] In this embodiment, the receiving end includes a reflective ball 4 , which is embedded in the frame 1 , and half of the reflective ball 4 protrudes from the surface of the frame 1 .

[0061] The utility model also provides a CT or CBCT device, comprising:

[0062] The above-mentioned optical positioning tracker is provided with a left optical positioning tracker 6 and a right optical positioning tracker 7 on both sides of the ray receiving end of the CT or CBCT device.

[0063] In this embodiment, two optical positioning trackers are set at the same height.

[0064] In this embodiment, the inner profile of the frame 1 matches the outer peripheral profile of the ray receiving end of the CT or CBCT device.

[0065] In this embodiment, an optical positioning tracking system is also included for tracking the position of the optical positioning tracker in real time.

[0066] In summary, the optical positioning tracker is installed on the ray receiving end of the CT or CBCT device by installing screws and positioning countersunk holes 5, ensuring the accurate positioning of the left optical positioning tracker 6 and the right optical positioning tracker 7. And because the optical element adopts the reflective ball 4, there is no need to power on. It is only necessary to ensure that the surface of the reflective ball 4 is bright and free of foreign matter. When the ray receiving end and the probe of the CT or CBCT device are used to collect images of the patient's body, when the affected area appears, the NDI system will emit infrared rays. After the reflective ball 4 emits the infrared rays back to the NDI system, the position of the positioning tracker can be obtained, and the position of the ray receiving end can be obtained through program calculation.

[0067] Example 2

[0068] like Figure 6As shown, in the optical positioning tracker, the optical element uses a light emitting diode 11, and a start switch 8, a status light 9 and a sensor switch 10 are also provided on the frame. When the optical positioning tracker is used to collect the position information of the ray receiving end of the CT or CBCT equipment, the start switch 8 is first pressed, so that the status light 9 is displayed in green, and the positioning tracker is switched to the power-on state, but the power-on state of the light emitting diode still needs to be determined by the sensor switch 10. Only when the optical positioning tracking system is started, the sensor switch 10 will receive the wireless signal, so that the light emitting diode 11 will be powered on and light up. The NDI system determines the position of each light emitting diode 11 by the lit position, thereby determining the position of the optical positioning tracker.

[0069] The various embodiments of the utility model have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An optical positioning tracker, characterized in that: include: The frame comprises a first mounting surface and a second mounting surface which are not coplanar, wherein at least two optical elements are arranged on the first mounting surface and the second mounting surface respectively, and all the optical elements are not colinear.

2. The optical positioning tracker according to claim 1, characterized in that: The frame is a quadrilateral frame structure, and the first mounting surface and the second mounting surface are respectively arranged on two non-adjacent sides of the frame.

3. The optical positioning tracker according to claim 2, characterized in that: The frame is an integrally formed structure, and is provided with positioning countersunk holes, which match the heads of the mounting screws.

4. The optical positioning tracker according to claim 1, characterized in that: The optical element comprises: A light emitting diode is arranged on the frame; A start switch is arranged on the frame, and a power source is connected to the light emitting diode via the start switch.

5. The optical positioning tracker according to claim 4, characterized in that: The frame is also provided with a sensor switch, which is switched on and off according to the presence or absence of a received signal, and the sensor switch is arranged between the start switch and the light emitting diode.

6. The optical positioning tracker according to claim 1, characterized in that: The optical element comprises a reflective ball, and the reflective ball is embedded in the frame.

7. A CT or CBCT device, characterized in that: include: According to any one of claims 1-6, the optical positioning tracker is arranged near the ray receiving end of the CT or CBCT device.

8. The CT or CBCT device according to claim 7, characterized in that: It includes two optical positioning trackers, which are respectively arranged on both sides of the ray receiving end of the CT or CBCT device.

9. The CT or CBCT device according to claim 7, characterized in that: The inner profile of the frame matches the outer peripheral profile of the ray receiving end of the CT or CBCT device.

10. The CT or CBCT device according to claim 7, characterized in that: It also includes an optical positioning tracking system for tracking the position of the optical positioning tracker in real time.

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