Reflective trolley for intraoperative image positioning

Abstract

The utility model provides a light reflecting trolley for image positioning in operation, which comprises a trolley body, a mechanical arm, a light reflecting matrix and a universal joint arm, the mechanical arm is arranged on the trolley body, the light reflecting matrix is arranged on the universal joint arm, the universal joint arm is arranged on the trolley body, and the mechanical arm is arranged on the trolley body. The position and the angle of the reflective matrix can be flexibly adjusted through the universal joint arm, and a surgical instrument is arranged on the mechanical arm; the position and the angle of the reflective matrix are flexibly adjusted by moving the universal joint arm, so that the infrared optical locator smoothly captures the coordinate position of the reflective ball, and the specific position of the surgical instrument during the mechanical arm surgery is calculated according to the coordinate position of the reflective ball and parameters of an optical camera of the infrared optical locator. In the actual using process, a large amount of time is saved, smooth completion of an operation is facilitated, operation of a doctor is facilitated, and the operation efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a reflective trolley used for intraoperative image positioning. Background Art

[0002] During the operation of joint surgery robots, the robotic surgery system needs the robotic arm to adjust multiple postures. During the operation, it is necessary to use a reflective ball device and a calibrator to cooperate with the robotic arm to assist the operation, so as to facilitate the surgical plan. However, the adjustment of the reflective ball position and angle of the existing reflective ball device is limited, and it cannot cooperate well with the robotic arm operation, resulting in low efficiency of the operation.

[0003] In view of this, it is necessary to provide a new type of reflective trolley for intraoperative image positioning to overcome the above-mentioned defects. Utility Model Content

[0004] The utility model aims to provide a reflective trolley for intraoperative image positioning, which is conducive to the smooth completion of the operation, convenient for the doctor's operation, and improves the efficiency of the operation.

[0005] In order to achieve the above-mentioned purpose, the utility model provides a reflective trolley for intraoperative image positioning, comprising: a trolley body, a mechanical arm, a reflective matrix and a universal joint arm, the mechanical arm is mounted on the trolley body, the reflective matrix is ​​mounted on the universal joint arm, the universal joint arm is mounted on the trolley body, the position and angle of the reflective matrix can be flexibly adjusted through the universal joint arm, and the mechanical arm is equipped with surgical instruments.

[0006] Preferably, rollers are provided at the bottom of the trolley body.

[0007] Preferably, a positioning foot is further provided at the bottom of the trolley body, and the positioning foot comprises a mounting tube and a rotating support block, and the rotating support block is threadedly connected to the mounting tube.

[0008] Preferably, the reflective matrix comprises an array substrate and a plurality of reflective balls, and the plurality of reflective balls are mounted on the array substrate in a matrix manner.

[0009] Preferably, the reflective matrix further comprises a plurality of reflective ball mounting posts, the reflective ball mounting posts are detachably mounted on the array substrate in a matrix manner, and a plurality of reflective balls are respectively mounted on the plurality of reflective ball mounting posts.

[0010] Preferably, the reflective matrix includes an array substrate and a plurality of reflective sheets, and the plurality of reflective sheets are mounted on the array substrate in a matrix manner.

[0011] Preferably, the reflective matrix further comprises a plurality of reflective sheet mounting plates, the reflective sheet mounting plates are detachably mounted on the array substrate in a matrix manner, and a plurality of reflective sheets are respectively mounted on the plurality of reflective sheet mounting plates.

[0012] Compared with the existing technology, the beneficial effect is that the position and angle of the reflective matrix can be flexibly adjusted by moving the universal joint arm, so that the infrared optical locator can successfully capture the coordinate position of the reflective ball, and the specific position of the surgical instrument during robotic arm surgery is calculated according to the coordinate position of the reflective ball and the parameters of the optical camera of the infrared optical locator. A lot of time is saved in actual use, which is conducive to the smooth completion of the operation, facilitates the doctor's operation, and improves the efficiency of the operation.

[0013] Other features and advantages of the utility model will be stated in the following description, and some will be apparent from the description, or can be understood through the implementation of the utility model. The features and advantages of the utility model can be realized and obtained by the elements and combinations specifically pointed out in the attached application scope. These and other features of the utility model will become more clearly understood according to the following description and the attached claims, or can be understood through the implementation of the embodiments described in the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 A three-dimensional diagram of a reflective trolley for intraoperative image positioning according to an embodiment of the present invention.

[0016] Figure 2 for Figure 1 A partial structural schematic diagram of a reflective trolley used for intraoperative image positioning is shown.

[0017] Figure 3 for Figure 2 Magnified view of region A is shown.

[0018] Figure 4 This is a stereoscopic diagram of a reflective trolley for intraoperative image positioning according to another embodiment of the present invention.

[0019] Figure 5 for Figure 4 Magnified view of region B is shown.

[0020] Figure numerals: 1. trolley body; 11. roller; 12. positioning foot; 121. mounting cylinder; 122. rotating support block; 2. mechanical arm; 3. reflective matrix; 31. array substrate; 32. reflective ball; 33. reflective ball mounting column; 34. reflective sheet; 35. reflective sheet mounting plate; 4. universal joint arm. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and beneficial technical effect of the utility model clearer, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described in this specification are only for explaining the utility model, and are not intended to limit the utility model.

[0022] It should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0023] It should also be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be determined according to the specific circumstances.

[0024] In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features. In addition, the meaning of "multiple" and "several" refers to two or more, unless otherwise clearly and specifically defined.

[0025] See also Figure 1 to Figure 2The utility model provides a reflective trolley for intraoperative image positioning, comprising: a trolley body 1, a mechanical arm 2, a reflective matrix 3 and a universal joint arm 4, the mechanical arm 2 is mounted on the trolley body 1, the reflective matrix 3 is mounted on the universal joint arm 4, the universal joint arm 4 is mounted on the trolley body 1, the position and angle of the reflective matrix 3 can be flexibly adjusted through the universal joint arm 4, and the mechanical arm 2 is equipped with surgical instruments.

[0026] In this way, when alignment and positioning are required during surgery, the position and angle of the reflective matrix 3 can be flexibly adjusted by moving the universal joint arm 4, so that the infrared optical locator can successfully capture the coordinate position of the reflective ball 32. The specific position of the surgical instrument during surgery by the robotic arm 2 can be calculated based on the coordinate position of the reflective ball 32 and the parameters of the optical camera of the infrared optical locator, which is conducive to the smooth completion of the surgery and improves the efficiency of the surgery.

[0027] In a preferred embodiment, rollers 11 are provided at the bottom of the trolley body 1 to facilitate the movement of the reflective trolley used for intraoperative image positioning during surgery, so that the reflective trolley used for intraoperative image positioning can be transported to the surgical site.

[0028] In a preferred embodiment, a positioning foot 12 is further provided at the bottom of the trolley body 1, and the positioning foot 12 includes a mounting tube 121 and a rotating support block 122, and the rotating support block 122 is threadedly connected to the mounting tube 121. When the reflective trolley for intraoperative image positioning is transported to the surgical site, the rotating support block 122 is rotated to lower the height of the rotating support block 122, so that the rotating support block 122 contacts the ground, and the reflective trolley for intraoperative image positioning is prevented from moving during the surgical process; conversely, when the reflective trolley for intraoperative image positioning needs to be moved, the rotating support block 122 is rotated in the opposite direction to increase the height of the rotating support block 122, and the reflective trolley for intraoperative image positioning is pushed.

[0029] Please also read Figures 3 to 5 In a preferred embodiment, the reflective matrix 3 includes an array substrate 31 and a plurality of reflective balls 32 , and the plurality of reflective balls 32 are mounted on the array substrate 31 in a matrix manner.

[0030] In a preferred embodiment, the reflective matrix 3 further includes a plurality of reflective ball mounting posts 33, which are detachably mounted on the array substrate 31 in a matrix manner, and a plurality of reflective balls 32 are respectively mounted one by one on the plurality of reflective ball mounting posts 33. In this way, when the plurality of reflective balls 32 are mounted on the array substrate 31 in a matrix manner, damaged reflective balls 32 can be easily disassembled and replaced.

[0031] In a preferred embodiment, the reflective matrix 3 includes an array substrate 31 and a plurality of reflective sheets 34 , and the plurality of reflective sheets 34 are mounted on the array substrate 31 in a matrix manner.

[0032] In another preferred embodiment, the reflective matrix 3 further includes a plurality of reflective sheet mounting pieces 35, which are detachably mounted on the array substrate 31 in a matrix manner, and a plurality of reflective sheets 34 are respectively mounted one by one on the plurality of reflective sheet mounting pieces 35. In this way, when a plurality of reflective balls 32 are mounted on the array substrate 31 in a matrix manner, it is also convenient to disassemble and replace damaged reflective sheets 34.

[0033] When alignment and positioning are required during surgery, the position and angle of the reflective matrix 3 are flexibly adjusted by moving the universal joint arm 4, so that the infrared optical locator can successfully capture the coordinate position of the reflective ball 32 or the reflective sheet 34. The specific position of the surgical instrument during surgery by the robotic arm 2 is calculated based on the coordinate position of the reflective ball 32 and the parameters of the optical camera of the infrared optical locator. This saves a lot of time in actual use, is conducive to the smooth completion of the surgery, facilitates the doctor's operation, and improves the efficiency of the surgery.

[0034] The present invention is not limited to what is described in the specification and implementation modes, and therefore, additional advantages and modifications can be easily realized by those familiar with the art. Therefore, without departing from the spirit and scope of the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details, representative devices, and illustrative examples shown and described herein.

Claims

1. A reflective trolley for intraoperative image positioning, characterized in that: include: A trolley body (1), a mechanical arm (2), a reflective matrix (3) and a universal joint arm (4), wherein the mechanical arm (2) is mounted on the trolley body (1), the reflective matrix (3) is mounted on the universal joint arm (4), and the universal joint arm (4) is mounted on the trolley body (1). The position and angle of the reflective matrix (3) can be flexibly adjusted by the universal joint arm (4), and the mechanical arm (2) is equipped with a surgical instrument.

2. The reflective trolley for intraoperative image positioning according to claim 1, characterized in that: Rollers (11) are provided at the bottom of the trolley body (1).

3. The reflective trolley for intraoperative image positioning according to claim 1, characterized in that: The bottom of the trolley body (1) is also provided with a positioning foot (12), and the positioning foot (12) comprises a mounting tube (121) and a rotating support block (122), and the rotating support block (122) is threadedly connected to the mounting tube (121).

4. The reflective trolley for intraoperative image positioning according to claim 1, characterized in that: The reflective matrix (3) comprises an array substrate (31) and a plurality of reflective balls (32), wherein the plurality of reflective balls (32) are mounted on the array substrate (31) in a matrix manner.

5. The reflective trolley for intraoperative image positioning according to claim 4, characterized in that: The reflective matrix (3) further comprises a plurality of reflective ball mounting columns (33), wherein the reflective ball mounting columns (33) are detachably mounted on the array substrate (31) in a matrix manner, and the plurality of reflective balls (32) are respectively mounted on the plurality of reflective ball mounting columns (33).

6. The reflective trolley for intraoperative image positioning according to claim 1, characterized in that: The reflective matrix (3) comprises an array substrate (31) and a plurality of reflective sheets (34), wherein the plurality of reflective sheets (34) are mounted on the array substrate (31) in a matrix manner.

7. The reflective trolley for intraoperative image positioning according to claim 6, characterized in that: The reflective matrix (3) further comprises a plurality of reflective sheet mounting plates (35), wherein the reflective sheet mounting plates (35) are detachably mounted on the array substrate (31) in a matrix manner, and the plurality of reflective sheets (34) are respectively mounted on the plurality of reflective sheet mounting plates (35).

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