Reflective array device for optical positioning

Abstract

The utility model provides a reflective array device for optical positioning, which comprises an optical support, a plurality of mounting planes are arranged on the optical support, and a plurality of reflective sources are arranged on each mounting plane. According to the utility model, the plurality of mounting planes are arranged on the optical bracket, and the plurality of light reflecting sources are respectively arranged on each mounting plane, so that when the position or posture of a patient is greatly changed, even if part of light reflecting sources on a certain mounting plane are shielded, the light reflecting sources on other mounting planes can also emit infrared light signals; and the infrared positioning device can receive enough reflected light signals, so that the positioning precision is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a reflective array device for optical positioning. 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 infrared positioning device 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] However, most of the current reflective array devices only arrange multiple infrared reflection sources on one plane. When the patient's position or posture changes significantly, some of the infrared reflection sources are easily blocked, so that the infrared positioning device cannot receive the light signal reflected by the blocked infrared reflection source, thereby affecting the positioning accuracy. Summary of the invention

[0004] The present application provides a reflective array device for optical positioning, which solves the problem that most reflective array devices in the prior art only arrange multiple infrared reflection sources on one plane, resulting in low positioning accuracy.

[0005] The present application provides a reflective array device for optical positioning, comprising an optical bracket, wherein the optical bracket is provided with a plurality of mounting planes, and a plurality of reflective light sources are arranged on each mounting plane.

[0006] In the technical solution provided in the present application, by setting multiple mounting planes on the optical bracket and arranging a number of reflective light sources on each mounting plane, when the patient's position or posture changes greatly, even if part of the reflective light source on a certain mounting plane is blocked, the reflective light sources on other mounting planes can still emit infrared light signals, ensuring that the infrared positioning device can receive sufficient reflected light signals, thereby ensuring positioning accuracy.

[0007] In some embodiments, the reflective light source includes a reflective ball, a reflective sheet and / or a reflective strip.

[0008] In some embodiments, the multiple mounting planes include a first mounting plane, a second mounting plane, and a third mounting plane, and the first mounting plane, the second mounting plane, and the third mounting plane are perpendicular to each other. By setting three mounting planes that are perpendicular to each other on the optical bracket, the infrared positioning device can receive the light signal reflected by the reflective light source at different angles. At the same time, it is also convenient to establish a three-dimensional spatial coordinate system of the reflective array under the infrared positioning device.

[0009] In some embodiments, at least three reflective sheets or reflective balls are asymmetrically arranged on the first mounting plane.

[0010] In some embodiments, a plurality of through holes are provided on the first mounting plane, 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, the reflector is clamped between the pressure cap and the limiting ring, and the position of the reflector can be firmly fixed by the cooperation of the pressure cap, the limiting ring and the gasket.

[0011] 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.

[0012] In some embodiments, reflective ball arrays are arranged on the second mounting plane and the third mounting plane, and the reflective ball arrays include one large reflective ball and several small reflective balls; the infrared positioning device can determine the mounting plane where the reflective ball array is located and the corresponding spatial position information by receiving light signals reflected by one large reflective ball and several small reflective balls.

[0013] In some embodiments, a plurality of reflective strips are arranged on the second mounting plane and / or the third mounting plane, and the reflective strips are used to assist the infrared positioning device in determining the mounting plane where the reflective ball array is located and the corresponding spatial posture information.

[0014] In some embodiments, the optical support is provided with a probe marking point for cooperating with the optical probe to calibrate the position and posture of the optical support.

[0015] In some embodiments, an assembly hole is provided at the end of the optical bracket for mounting the optical bracket to the end of a robotic arm, and the optical bracket is driven by the robotic arm to move to the target position of the patient.

[0016] 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

[0017] 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.

[0018] Figure 1 A three-dimensional diagram of a reflective array device in one embodiment of the present application;

[0019] Figure 2 Another stereoscopic view of a reflective array device in one embodiment of the present application;

[0020] Figure 3 This is a schematic diagram of a reflective sheet installed on a first installation plane in one embodiment of the present application;

[0021] Figure 4 This is a schematic diagram of the assembly structure of the reflective sheet, the pressure cap and the through hole in one embodiment of the present application;

[0022] Figure 5 This is a schematic diagram of the internal structure of a through hole in one embodiment of the present application;

[0023] Icons: 1. Optical bracket; 2. Reflective ball; 3. Reflective sheet; 4. Reflective strip; 5. First mounting plane; 6. Second mounting plane; 7. Third mounting plane; 8. Through hole; 9. Limiting ring; 10. Gasket; 11. Pressure cap; 12. Retaining ring; 13. Slot; 14. Flange; 15. Probe marking point; 16. Assembly hole. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with specific embodiments. Obviously, the described embodiments are only a 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 the present application.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] See also Figure 1-Figure 5An embodiment of the present application provides a reflective array device for optical positioning, including an optical bracket 1, on which a plurality of mounting planes are provided (the number of mounting planes can be flexibly adjusted according to actual conditions), and a plurality of reflective light sources are arranged on each mounting plane (the number of reflective light sources can be flexibly adjusted according to actual conditions).

[0031] In the technical solution provided in the embodiment of the present application, by setting multiple installation planes on the optical bracket 1 and arranging a number of reflective light sources on each installation plane, when the patient's position or posture changes greatly, even if part of the reflective light source on a certain installation plane is blocked, the reflective light sources on other installation planes can still emit infrared light signals, ensuring that the infrared positioning device can receive sufficient reflected light signals, thereby ensuring positioning accuracy.

[0032] Please continue reading Figure 1 , Figure 2 In some embodiments, the reflective light source includes a reflective ball 2, a reflective sheet 3 and a reflective strip 4.

[0033] Please continue reading Figure 1 , Figure 2 In some embodiments, the plurality of mounting planes include a first mounting plane 5, a second mounting plane 6 and a third mounting plane 7, wherein the first mounting plane 5, the second mounting plane 6 and the third mounting plane 7 are perpendicular to each other in pairs; by setting three mounting planes perpendicular to each other in pairs on the optical bracket 1, it is convenient for the infrared positioning device to receive the light signal reflected by the reflective light source at different angles; at the same time, it is also convenient to establish a three-dimensional spatial coordinate system of the reflective array under the infrared positioning device.

[0034] Please continue reading Figure 1 , Figure 2 In some embodiments, at least three reflective sheets 3 or reflective balls 2 are asymmetrically arranged on the first mounting plane 5. In this embodiment, four reflective sheets 3 are asymmetrically arranged on the first mounting plane 5 (in the specific implementation process, reflective balls 2 can also be arranged, and the number can be no less than 3).

[0035] Please continue reading Figures 3 to 5 In some embodiments, four through holes 8 are provided on the first mounting plane 5, and a limiting ring 9 is provided at one end of the through hole 8, and the inner diameter of the limiting ring 9 is smaller than the outer diameter of the reflector 3; a gasket 10 is provided on the inner end face of the limiting ring 9, and the thickness of the gasket 10 matches the thickness of the reflector 3, and the inner diameter of the gasket 10 matches the outer diameter of the reflector 3, and a pressure cap 11 is fixed on the gasket 10, and the reflector 3 is clamped between the pressure cap 11 and the limiting ring 9. The position of the reflector 3 can be firmly fixed by the cooperation of the pressure cap 11, the limiting ring 9 and the gasket 10.

[0036] Please continue reading Figures 3 to 5 In some embodiments, a retaining ring 12 is further provided on the inner wall of the through hole 8, and three notches 13 (not less than two) are evenly arranged on the inner edge of the retaining ring 12 along the circumferential direction, and three flanges 14 matching the notches 13 are evenly arranged on the outer edge of the pressing cap 11 along the circumferential direction, and the thickness of the flange 14 matches the spacing between the retaining ring 12 and the gasket 10; through the cooperation between the flange 14 and the notches 13, it is convenient to insert the pressing cap 11 between the retaining ring 12 and the gasket 10, thereby facilitating the installation and removal of the reflector 3; when installing the reflector 3, first put the reflector 3 into the inner ring of the gasket 10, and then align the three flanges 14 of the pressing cap 11 with the three notches 13 of the retaining ring 12 and put it in, and then rotate the pressing cap 11 so that the flange 14 of the pressing cap 11 is staggered with the notches 13 of the retaining ring 12.

[0037] In some embodiments, screw holes may be provided on the gasket 10 and the pressing cap 11 , and the pressing cap 11 may be fixed to the gasket 10 by screws, so as to fix the reflective sheet 3 .

[0038] Please continue reading Figure 1 , Figure 2 In some embodiments, an array of reflective balls 2 is arranged on the second mounting plane 6 and the third mounting plane 7, and the array of reflective balls 2 includes one large reflective ball 2 and several small reflective balls 2; the infrared positioning device can determine the mounting plane where the array of reflective balls 2 is located and the corresponding spatial posture information by receiving light signals reflected by one large reflective ball 2 and several small reflective balls 2.

[0039] In a specific embodiment, the diameter of the large reflective ball 2 is 6 mm, and the diameter of the small reflective ball 2 is 3 mm; a plurality of embedding holes for embedding the reflective balls 2 and embedding grooves for embedding the reflective strips 4 are provided on the mounting plane.

[0040] Please continue reading Figure 2 In some embodiments, a plurality of reflective strips 4 are arranged on the third installation plane 7, and the reflective strips 4 are used to assist the infrared positioning device in determining the installation plane where the reflective ball array 2 is located and the corresponding spatial posture information.

[0041] Please continue reading Figure 2 In some embodiments, the optical bracket 1 is provided with a probe marking point 15 for calibrating the position and posture of the optical bracket 1 in cooperation with the optical probe.

[0042] Please continue reading Figure 1 , Figure 2 In some embodiments, an assembly hole 16 is provided at the end of the optical bracket 1 for mounting the optical bracket 1 to the end of a robotic arm, and the optical bracket 1 is driven by the robotic arm to move to the target position of the patient.

[0043] The method of using the optical array device of this embodiment is as follows:

[0044] First, the optical array device is installed on the end of the robotic arm, and the optical array device is moved to the patient's target position by the robotic arm, and photographed by the infrared positioning device (infrared positioning camera). The reflective light source installed on the optical array device can be recognized by the infrared positioning device, and the relative posture relationship between the patient and the optical array device can be obtained through spatial coordinate conversion, so that the spatial posture information of the patient is obtained by acquiring the spatial posture information of the optical array device, providing data support for planning the surgical channel, saving a lot of time in actual use, and making it more convenient for doctors to operate; in the positioning process, even if part of the reflective light source on a certain installation plane of the optical array device is blocked, the reflective light sources on other installation planes can also emit infrared light signals, ensuring that the infrared positioning device can receive sufficient reflected light signals, thereby ensuring positioning accuracy.

[0045] 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 optical positioning, characterized in that: It comprises an optical bracket (1), wherein the optical bracket (1) is provided with a plurality of mounting planes, and a plurality of reflective light sources are arranged on each mounting plane; The multiple installation planes include a first installation plane (5), a second installation plane (6) and a third installation plane (7), wherein the first installation plane (5), the second installation plane (6) and the third installation plane (7) are perpendicular to each other.

2. A reflective array device for optical positioning according to claim 1, characterized in that: The reflective light source comprises a reflective ball (2), a reflective sheet (3) and / or a reflective strip (4).

3. The reflective array device for optical positioning according to claim 1, characterized in that: At least three reflective sheets (3) or reflective balls (2) are asymmetrically arranged on the first mounting plane (5).

4. A reflective array device for optical positioning according to claim 3, characterized in that: A plurality of through holes (8) are provided on the first mounting plane (5), and a limiting ring (9) is provided at one end of the through hole (8), and the inner diameter of the limiting ring (9) is smaller than the outer diameter of the reflective sheet (3); a gasket (10) is provided on the inner end face of the limiting ring (9), and the thickness of the gasket (10) matches the thickness of the reflective sheet (3), and the inner diameter of the gasket (10) matches the outer diameter of the reflective sheet (3); a pressure cap (11) is fixed on the gasket (10), and the reflective sheet (3) is clamped between the pressure cap (11) and the limiting ring (9).

5. A reflective array device for optical positioning according to claim 4, characterized in that: The inner wall of the through hole (8) is also provided with a snap ring (12), the inner edge of the snap ring (12) is evenly provided with a plurality of notches (13) along the circumferential direction, the outer edge of the pressure cap (11) is evenly provided with a plurality of flanges (14) matching the notches (13) along the circumferential direction, and the thickness of the flanges (14) matches the distance between the snap ring (12) and the gasket (10).

6. The reflective array device for optical positioning according to claim 1, characterized in that: An array of reflective balls (2) is arranged on both the second mounting plane (6) and the third mounting plane (7), wherein the array of reflective balls (2) comprises one large reflective ball (2) and a plurality of small reflective balls (2).

7. The reflective array device for optical positioning according to claim 1, characterized in that: A plurality of reflective strips (4) are arranged on the second installation plane (6) and / or the third installation plane (7).

8. The reflective array device for optical positioning according to claim 1, characterized in that: The optical support (1) is provided with a probe marking point (15).

9. The reflective array device for optical positioning according to claim 1, characterized in that: The end of the optical bracket (1) is provided with a mounting hole (16) for mounting the optical bracket (1) on the end of a mechanical arm.

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