Reflective array device for mechanical arm registration

Abstract

The utility model provides a reflective array device for mechanical arm registration, which comprises an optical support, and at least three reflective sources are asymmetrically arranged on the optical support. The optical support is provided with an assembling base connected with a mechanical arm tail end tool, and the tail end tool is connected with the assembling base through a screw. A cylindrical assembling table is arranged on the end face of one side of the assembling base, and a clamping block is arranged on the side face of the assembling table. An assembling groove matched with the assembling table is formed in the end face of one side of the tail end tool, and a plurality of clamping grooves matched with the clamping blocks are formed in the outer wall of the assembling groove in the circumferential direction. The assembling table on the assembling base is matched with the assembling groove in the tail end tool, and the clamping blocks on the outer side of the assembling table are matched with the clamping grooves in the outer wall of the assembling groove, so that the optical support and the tail end of the mechanical arm can be fixed after being rotated by multiple different angles when being assembled. It is guaranteed that the reflecting source on the optical support can be captured by the optical positioning camera, and the registration precision of the mechanical arm is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of robot arm navigation, and in particular to a reflective array device for robot arm alignment. Background Art

[0002] At present, most surgical navigation systems use infrared optical positioning technology. Its working process is roughly as follows: scan the patient image before surgery; formulate a surgical plan on the patient image before surgery; install a reflective array device with an infrared reflective source or emitter near the patient's surgical area to facilitate tracking of the patient's position during surgery; intraoperative registration, one-to-one correspondence between the patient's image space and the actual patient space; intraoperative navigation, the optical positioning camera tracks the position changes of the surgical tools and the patient's anatomical structure by tracking the position of the infrared emitter and reflector on the surgical tools and reflective array device, so that the position of the surgical tools is updated in real time on the preoperative image, and the doctor can clearly understand the current position of the tool and other information through navigation.

[0003] During the robot arm alignment process, a reflective array device needs to be installed at the end of the robot arm to cooperate with an optical positioning camera to obtain the spatial posture information of the end of the robot arm; however, the assembly position relationship between the existing reflective array device and the end of the robot arm is fixed, and the relative position relationship between the reflective array device and the robot arm cannot be adjusted according to actual conditions during assembly, resulting in the reflective light source on the reflective array device may not be captured by the optical positioning camera, thereby affecting the alignment accuracy of the robot arm. Summary of the invention

[0004] The present application provides a reflective array device for robot arm alignment, which solves the problem in the prior art that the assembly position relationship between the reflective array device and the end of the robot arm is fixed, and the relative position relationship between the reflective array device and the robot arm cannot be adjusted according to actual conditions during assembly, resulting in the reflective light source on the reflective array device being unable to be captured by the optical positioning camera, thereby affecting the alignment accuracy of the robot arm.

[0005] The present application provides a reflective array device for robot arm alignment, comprising an optical bracket, on which at least three reflective light sources are asymmetrically arranged; the optical bracket is provided with an assembly seat connected to the robot arm end tool, and the end tool and the assembly seat are connected by screws; one side end face of the assembly seat is provided with a cylindrical assembly table, and the side face of the assembly table is provided with a clamping block; one side end face of the end tool is provided with an assembly groove matching the assembly table, and the outer wall of the assembly groove is circumferentially provided with a plurality of clamping grooves matching the clamping block.

[0006] In the technical solution provided in the present application, the assembly table on the assembly base cooperates with the assembly groove on the end tool, and the clamping block on the outside of the assembly table cooperates with the multiple clamping grooves on the outer wall of the assembly groove, so that the optical bracket can be rotated to multiple different angles and then fixed when assembled with the end of the robotic arm. The installation angle of the optical bracket at the end of the robotic arm is adjusted according to actual conditions to ensure that the reflective light source on the optical bracket can be captured by the optical positioning camera, thereby ensuring the alignment accuracy of the robotic arm.

[0007] In some embodiments, the end surface of the assembly groove is provided with a screw hole matching the screw, and the end surface of the assembly table is provided with a mounting hole corresponding to the screw hole; the screw hole, the mounting hole, the assembly table, and the assembly groove are coaxially arranged, and the assembly seat and the end tool are connected through the screw hole, the mounting hole, and the screw.

[0008] In some embodiments, the inner wall of the mounting hole is provided with an internal thread matching the screw. By providing the internal thread on the inner wall of the mounting hole, the screw can be prevented from falling off.

[0009] In some embodiments, the reflective light source includes a reflective ball or a reflective sheet.

[0010] In some embodiments, at least three mounting seats are asymmetrically arranged on the optical bracket, and reflective sheets are arranged on the mounting seats;

[0011] A through hole is provided on the end face of the mounting seat, a limiting ring is provided at one end of the through hole, the inner diameter of the limiting ring is smaller than the outer diameter of the reflector; a gasket is provided on the inner end face of the limiting ring, the thickness of the gasket matches the thickness of the reflector, the inner diameter of the gasket matches the outer diameter of the reflector, a pressure cap is fixed on the gasket, and the reflector is clamped between the pressure cap and the limiting ring; the position of the reflector can be firmly fixed by the cooperation of the pressure cap, the limiting ring and the gasket.

[0012] In some embodiments, the inner wall of the through hole is further provided with a snap ring, the inner edge of the snap ring is evenly provided with a plurality of notches along the circumference, the outer edge of the pressure cap is evenly provided with a plurality of flanges matching the notches along the circumference, and the thickness of the flange matches the spacing between the snap ring and the gasket; by providing a snap ring, and providing a plurality of notches on the inner edge of the snap ring, and providing a plurality of flanges on the outer edge of the pressure cap, the pressure cap can be conveniently inserted between the snap ring and the gasket through the cooperation of the flange and the notches, thereby facilitating the installation and disassembly of the reflective sheet.

[0013] In some embodiments, a keyway is provided on the back of the pressing cap, which facilitates the use of a key block (or a flat-blade screwdriver) to rotate the pressing cap when the reflector needs to be installed or removed, so that the multiple flanges on the outer edge of the pressing cap are aligned or misaligned with the multiple grooves on the inner edge of the retaining ring.

[0014] In some embodiments, the optical bracket is provided with a probe marking point for cooperating with the optical probe to calibrate the spatial posture of the optical reflective array device in the optical positioning camera coordinate system.

[0015] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings in this application are used to illustrate preferred embodiments, so that those skilled in the art can clearly understand various other advantages and benefits, and should not be considered as limitations of this application. In addition, the same reference numerals are used throughout the drawings to represent the same or similar components.

[0017] Figure 1 A three-dimensional diagram of a reflective array device for robot arm registration in one embodiment of the present application;

[0018] Figure 2 This is a schematic diagram of the structure of the end tool in one embodiment of the present application;

[0019] Figure 3 This is a schematic diagram of a reflective sheet after being installed on a mounting base in one embodiment of the present application;

[0020] Figure 4 This is a schematic diagram of the assembly structure of a reflective sheet, a pressure cap and a mounting seat in one embodiment of the present application;

[0021] Icons: 1. Optical bracket; 2. End tool; 3. Assembly seat; 4. Assembly table; 5. Block; 6. Assembly slot; 7. Slot; 8. Screw hole; 9. Mounting hole; 10. Reflector; 11. Mounting seat; 12. Through hole; 13. Limit ring; 14. Gasket; 15. Pressure cap; 16. Retaining ring; 17. Notch; 18. Flange; 19. Keyway; 20. Probe marking point. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0024] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two (including two), unless otherwise clearly and specifically defined.

[0025] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0026] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0027] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0028] See also Figure 1-Figure 4The embodiment of the present application provides a reflective array device for robot arm alignment, including an optical bracket 1, on which at least three reflective light sources are asymmetrically arranged; the optical bracket 1 is provided with an assembly seat 3 connected to a robot arm end tool 2, and the end tool 2 and the assembly seat 3 are connected by screws; a cylindrical assembly table 4 is provided on one end face of the assembly seat 3, and a clamping block 5 is provided on the side of the assembly table 4; a mounting groove 6 matching the assembly table 4 is provided on one end face of the end tool 2, and a plurality of clamping grooves 7 matching the clamping block 5 are provided on the outer wall of the assembly groove 6 along the circumferential direction.

[0029] In the technical solution provided in the present application, the assembly table 4 on the assembly seat 3 cooperates with the assembly groove 6 on the end tool 2, and the clamping block 5 on the outside of the assembly table 4 cooperates with the multiple clamping grooves 7 on the outer wall of the assembly groove 6, so that the optical bracket 1 can be rotated to multiple different angles and then fixed when assembled with the end of the robotic arm. The installation angle of the optical bracket 1 at the end of the robotic arm is adjusted according to actual conditions to ensure that the reflective light source on the optical bracket 1 can be captured by the optical positioning camera, thereby ensuring the alignment accuracy of the robotic arm.

[0030] Please continue reading Figure 2 In some embodiments, the outer wall of the assembly groove 6 is evenly provided with four slots 7 along the circumference, so that the optical bracket 1 and the end tool 2 of the robot arm can be rotated 90°, 180° or 270° when assembled to meet the installation requirements at different angles.

[0031] Please continue reading Figure 2 In some embodiments, the end surface of the assembly groove 6 is provided with a screw hole 8 matching the screw, and the end surface of the assembly platform 4 is provided with a mounting hole 9 corresponding to the screw hole 8; the screw hole 8, the mounting hole 9, the assembly platform 4, and the assembly groove 6 are coaxially arranged, and the assembly seat 3 and the end tool 2 are connected through the screw hole 8, the mounting hole 9, and the screw.

[0032] In some embodiments, the inner wall of the mounting hole 9 is provided with an internal thread matching the screw. By providing the internal thread on the inner wall of the mounting hole 9, the screw can be prevented from falling off.

[0033] In some embodiments, the reflective light source includes a reflective ball or a reflective sheet 10 .

[0034] Please continue reading Figure 1 , Figure 3 , Figure 4 In some embodiments, at least three mounting seats 11 are asymmetrically arranged on the optical bracket 1, and a reflective sheet 10 is arranged on the mounting seat 11;

[0035] A through hole 12 is provided on the end face of the mounting seat 11, and a limiting ring 13 is provided at one end of the through hole 12, and the inner diameter of the limiting ring 13 is smaller than the outer diameter of the reflective sheet 10; a gasket 14 is provided on the inner end face of the limiting ring 13, and the thickness of the gasket 14 matches the thickness of the reflective sheet 10, and the inner diameter of the gasket 14 matches the outer diameter of the reflective sheet 10, and a pressing cap 15 is fixed on the gasket 14, and the reflective sheet 10 is clamped between the pressing cap 15 and the limiting ring 13; the position of the reflective sheet 10 can be firmly fixed by the cooperation of the pressing cap 15, the limiting ring 13 and the gasket 14.

[0036] Please continue reading Figure 3 , Figure 4 In some embodiments, the inner wall of the through hole 12 is further provided with a snap ring 16, and the inner edge of the snap ring 16 is evenly provided with a plurality of notches 17 along the circumferential direction, and the outer edge of the pressure cap 15 is evenly provided with a plurality of flanges 18 matching the notches 17 along the circumferential direction, and the thickness of the flange 18 matches the spacing between the snap ring 16 and the gasket 14; by providing the snap ring 16, and providing a plurality of notches 17 on the inner edge of the snap ring 16, and providing a plurality of flanges 18 on the outer edge of the pressure cap 15, the pressure cap 15 is conveniently inserted into the pressure cap 15 through the cooperation between the flange 18 and the notches 17. between the snap ring 16 and the gasket 14, thereby facilitating the installation and removal of the reflective sheet 10; when installing the reflective sheet 10, first put the reflective sheet 10 into the inner ring of the gasket 14, then align the three flanges 18 of the pressing cap 15 with the three notches 17 of the snap ring 16 and put it in, and then rotate the pressing cap 15 to stagger the flange 18 of the pressing cap 15 with the notches 17 of the snap ring 16; when removing the reflective sheet 10, first rotate the pressing cap 15 to align the three flanges 18 of the pressing cap 15 with the three notches 17 of the snap ring 16, and then take out the pressing cap 15 and the reflective sheet 10 in turn.

[0037] In some embodiments, screw holes 8 may be provided on the gasket 14 and the pressing cap 15 , and the pressing cap 15 may be fixed to the gasket 14 by screws, thereby fixing the reflective sheet 10 .

[0038] Please continue reading Figure 3 , Figure 4 In some embodiments, a keyway 19 is provided on the back of the pressing cap 15, so that when the reflective sheet 10 needs to be installed or removed, the pressing cap 15 can be rotated with a key block (or a flat-blade screwdriver) to align or misalign the multiple flanges 18 on the outer edge of the pressing cap 15 with the multiple notches 17 on the inner edge of the retaining ring 16.

[0039] Please continue reading Figure 1 In some embodiments, a probe marking point 20 is provided on the optical bracket 1 for cooperating with the optical probe to calibrate the spatial posture of the optical reflective array device in the optical positioning camera coordinate system; the probe marking point 20 is a conical blind hole adapted to the tip of the optical probe.

[0040] The method of using the reflective array device of this embodiment is as follows:

[0041] First, the optical bracket 1 is installed on the end of the robotic arm, and the installation angle of the optical bracket 1 on the end of the robotic arm is adjusted according to actual conditions to ensure that the reflectors 10 on the optical bracket 1 can be captured by the optical positioning camera; when aligning the robotic arm, the position information of multiple reflectors 10 on the optical bracket 1 is captured by the optical positioning camera, and the spatial posture information of the end of the robotic arm in the optical positioning camera coordinate system is calculated by an algorithm, thereby achieving the purpose of aligning the robotic arm; before aligning the robotic arm, an optical probe can be used to calibrate the probe marking point 20 on the optical bracket 1 to eliminate the hardware error of the reflective array device itself; a lot of time is saved in actual use, and it is more convenient for doctors to operate.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A reflective array device for robot arm registration, comprising an optical support (1), wherein at least three reflective light sources are asymmetrically arranged on the optical support (1); characterized in that: The optical bracket (1) is provided with an assembly seat (3) connected to the end tool (2) of the robot arm, and the end tool (2) and the assembly seat (3) are connected by screws; a cylindrical assembly platform (4) is provided on one end face of the assembly seat (3), and a clamping block (5) is provided on the side of the assembly platform (4); a mounting groove (6) matching the assembly platform (4) is provided on one end face of the end tool (2), and a plurality of clamping grooves (7) matching the clamping block (5) are provided on the outer wall of the assembly groove (6) along the circumferential direction.

2. A reflective array device for robot arm registration according to claim 1, characterized in that: The end surface of the assembly groove (6) is provided with a screw hole (8) matched with a screw, and the end surface of the assembly platform (4) is provided with a mounting hole (9) corresponding to the screw hole (8).

3. A reflective array device for robot arm registration according to claim 2, characterized in that: The inner wall of the mounting hole (9) is provided with an internal thread matching the screw.

4. The reflective array device for robot arm registration according to claim 1, characterized in that: The reflective light source comprises a reflective ball or a reflective sheet (10).

5. The reflective array device for robot arm registration according to claim 1, characterized in that: At least three mounting seats (11) are asymmetrically arranged on the optical support (1), and a reflective sheet (10) is arranged on the mounting seats (11); The end surface of the mounting seat (11) is provided with a through hole (12), one end of the through hole (12) is provided with a limiting ring (13), the inner diameter of the limiting ring (13) is smaller than the outer diameter of the reflective sheet (10); the inner end surface of the limiting ring (13) is provided with a gasket (14), the thickness of the gasket (14) matches the thickness of the reflective sheet (10), the inner diameter of the gasket (14) matches the outer diameter of the reflective sheet (10), a pressure cap (15) is fixed on the gasket (14), and the reflective sheet (10) is clamped between the pressure cap (15) and the limiting ring (13).

6. The reflective array device for robot arm registration according to claim 5, characterized in that: The inner wall of the through hole (12) is also provided with a snap ring (16), and the inner edge of the snap ring (16) is evenly provided with a plurality of notches (17) along the circumferential direction. The outer edge of the pressure cap (15) is evenly provided with a plurality of flanges (18) matching the notches (17) along the circumferential direction, and the thickness of the flanges (18) matches the distance between the snap ring (16) and the gasket (14).

7. The reflective array device for robot arm registration according to claim 6, characterized in that: The back side of the pressing cap (15) is provided with a keyway (19).

8. The reflective array device for robot arm registration according to claim 1, characterized in that: The optical support (1) is provided with a probe marking point (20).

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