Calibration assembly of C-arm machine

Abstract

The utility model discloses a calibration assembly of a C-arm machine, and the calibration assembly is used for calibrating the C-arm machine, and comprises a fixed support which is fixed on a receiver of the C-arm machine and comprises a frame body matched with the shape of the receiver; the first calibration plate comprises a first calibration plate body connected with the frame body and a plurality of first calibration balls arranged on the first calibration plate body; the second calibration plate comprises a second calibration plate body and a plurality of second calibration balls arranged on the second calibration plate body; the at least one connecting rod is positioned between the first calibration plate and the second calibration plate and is used for connecting the second calibration plate and the first calibration plate; wherein the projections of the plurality of first calibration balls and the plurality of second calibration balls on the surface of the receiver are not overlapped. According to the calibration assembly provided by the invention, only the first calibration plate is connected with the frame body of the fixed bracket, and the first calibration plate and the second calibration plate are connected through the at least one connecting rod, so that the weight and the structural complexity of the calibration assembly are reduced.

Description

Technical Field

[0001] The present application relates to the field of calibration technology, and in particular to a calibration component of a C-arm machine. Background Art

[0002] As an X-ray imaging device, C-arm is widely used in surgical navigation systems. However, in order to ensure the accuracy of the internal and external parameters of the C-arm, it is necessary to calibrate the C-arm using calibration components and calibration algorithms to obtain accurate internal and external parameters of the C-arm.

[0003] At present, the calibration assembly of a C-arm machine usually includes a single-layer calibration plate or a double-layer calibration plate. However, the calibration assembly of a C-arm machine including a double-layer calibration plate is usually complex in structure and heavy in weight, making it difficult to install and remove the calibration assembly from the C-arm machine. Therefore, how to reduce the weight and structural complexity of the calibration assembly of a C-arm machine including a double-layer calibration plate so as to facilitate the installation and removal of the calibration assembly from the C-arm machine is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] In view of the shortcomings of the above-mentioned related technologies, the purpose of the present application is to provide a calibration component for a C-arm machine to overcome the technical problem existing in the above-mentioned related technologies of how to reduce the weight and structural complexity of the calibration component of the C-arm machine including a double-layer calibration plate.

[0005] To achieve the above-mentioned purpose and other related purposes, the present application provides a calibration component of a C-arm machine, which is used to calibrate the C-arm machine, including: a fixed bracket, fixed on the receiver of the C-arm machine, including a frame adapted to the shape of the receiver; a first calibration plate, including a first calibration plate body connected to the frame and a plurality of first calibration balls arranged on the first calibration plate body; a second calibration plate, including a second calibration plate body and a plurality of second calibration balls arranged on the second calibration plate body; at least one connecting rod, located between the first calibration plate and the second calibration plate, for connecting the second calibration plate and the first calibration plate; wherein the projections of the plurality of first calibration balls and the plurality of second calibration balls on the surface of the receiver do not overlap.

[0006] In certain embodiments disclosed in the present application, an outer contour area of ​​the first calibration plate body is greater than an outer contour area of ​​the second calibration plate body.

[0007] In certain embodiments disclosed in the present application, the frame has a hollow area, and the first calibration plate body and the second calibration plate body partially cover the hollow area when supported on the frame.

[0008] In certain embodiments disclosed in the present application, the surface of the first calibration plate body has a first mounting area for arranging the plurality of first calibration spheres, and the surface of the second calibration plate body has a second mounting area for arranging the plurality of second calibration spheres.

[0009] In certain embodiments disclosed herein, projections of the first mounting area and the second mounting area on the surface of the receiver do not overlap.

[0010] In certain embodiments disclosed in the present application, the projections of the first mounting area and the second mounting area on the receiver surface overlap, and the plurality of first calibration spheres and the plurality of second calibration spheres are staggered relative to the receiver surface.

[0011] In certain embodiments disclosed in the present application, a hollow area is provided on the first calibration plate body and / or the second calibration plate body to reduce the weight of the calibration assembly.

[0012] In certain embodiments disclosed in the present application, the first calibration plate body and the second calibration plate body are plastic plates, and the first calibration ball and the second calibration ball are tantalum beads.

[0013] In certain embodiments disclosed in the present application, the calibration assembly includes four connecting rods, one end of the four connecting rods are respectively connected to the four corners of the second calibration plate body, and the other end of the four connecting rods is connected to the first calibration plate body.

[0014] In certain embodiments disclosed in the present application, the frame is configured as a circular frame or a square frame, and a first fixing portion and a second fixing portion are provided on the first calibration plate body, the first fixing portion is used to connect to the circular frame, and the second fixing portion is used to connect to the square frame.

[0015] In certain embodiments disclosed in the present application, the calibration assembly further includes an adapter plate connected to the annular frame or the square frame, and the first calibration plate body is disposed on the adapter plate to be connected to the frame.

[0016] In certain embodiments disclosed in the present application, the fixing bracket further includes a fixing structure, and the fixing structure is used to fix the frame on the receiver.

[0017] In certain embodiments disclosed in the present application, a protrusion having a plurality of mounting positions is provided on the edge of the frame, the plurality of mounting positions are arranged at intervals in the radial direction of the frame, and cooperate with the fixing structure to adapt to receivers of different sizes.

[0018] In certain embodiments disclosed in the present application, the fixing structure includes a fixing member connected to the frame and a locking member, wherein the locking member is connected to the fixing member to be locked to or released from the receiver by twisting.

[0019] In certain embodiments disclosed in the present application, the fixing structure is configured as an extension portion extending in a circumferential direction of the frame, and the extension portion is inserted into an adaptor structure on the receiver so that the frame is fixed on the receiver of the C-arm machine.

[0020] In certain embodiments disclosed in the present application, the extension portion is recessed toward the frame body to form a positioning hole, and the positioning hole is used to cooperate with a screw to lock the frame body on the receiver.

[0021] In certain embodiments disclosed in the present application, the calibration assembly further includes a positioning device for positioning the C-arm machine, and the positioning device is disposed on a side of the first calibration plate body and outside the frame.

[0022] In certain embodiments disclosed in the present application, the positioning device includes at least one of a two-dimensional code positioning device and an infrared positioning device.

[0023] In certain embodiments disclosed in the present application, the two-dimensional code positioning device is vertically arranged on the side of the first calibration plate body, and the two-dimensional code positioning device includes three two-dimensional codes distributed in a convex shape.

[0024] To summarize, the calibration assembly of the C-arm machine provided in the present application reduces the weight and structural complexity of the calibration assembly by only connecting the first calibration plate to the frame of the fixed bracket, and using at least one connecting rod to connect the first calibration plate and the second calibration plate, thereby reducing the difficulty of disassembly and assembly of the calibration assembly on the C-arm machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The features and advantages of the inventions of the present application can be better understood by referring to the exemplary embodiments and drawings described in detail below. The drawings are briefly described as follows:

[0026] Figure 1 and Figure 2 They are respectively shown as schematic diagrams of the structures of the C-arm machines in different embodiments of the present application.

[0027] Figures 3 to 6 Shown are schematic diagrams of the structures of the calibration components in different embodiments of the present application.

[0028] Figure 7 Shown is a schematic diagram of the disassembled structure of a fixing bracket in one embodiment of the present application.

[0029] Figure 8Show this application Figure 7 An enlarged schematic diagram of point A of the frame in the illustrated embodiment.

[0030] Fig. 9 Show this application Figure 3 A schematic diagram of the structure of the calibration component in the illustrated embodiment at a certain viewing angle.

[0031] Fig.10 Show this application Figure 5 The illustrated embodiment does not show a schematic structural diagram of a calibration component of the fixed bracket at a certain viewing angle.

[0032] Fig.11 Shown is a schematic structural diagram of the first calibration plate body at a viewing angle in one embodiment of the present application.

[0033] Fig.12 Show this application Fig.10 Schematic diagram of the split structure of the calibration component in the illustrated embodiment.

[0034] Fig.13 and Fig.14 They are respectively shown as schematic diagrams of the two-dimensional code positioning device configured on the first calibration plate body in different embodiments of the present application. DETAILED DESCRIPTION

[0035] The following is an explanation of the implementation of the present application by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification.

[0036] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The technical solutions in the embodiments of the present application are clearly and completely described. Obviously, the described embodiments are only embodiments of a part of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. The "one embodiment", "implementation method" or similar words mentioned in the whole text of this specification mean that the specific features, structures or characteristics described together with the implementation method are included in at least one implementation method of the present application. Therefore, in the whole text of this specification, the appearance of the phrases "in one embodiment", "in an embodiment", "in an embodiment" and similar words may (but not necessarily) relate to the same embodiment.

[0037] Although in some instances the terms first, second, etc. are used in this article to describe various elements or parameters, these elements or parameters should not be limited by these terms. These terms are only used to distinguish one element or parameter from another element or parameter. For example, the first calibration plate can be referred to as the second calibration plate, and similarly, the second calibration plate can be referred to as the first calibration plate without departing from the scope of the various described embodiments. The first calibration plate and the second calibration plate are both describing a calibration plate, but unless the context clearly indicates otherwise, they are not the same calibration plate. Similar situations also include a first calibration sphere and a second calibration sphere, a first mounting area and a second mounting area, a first fixing portion and a second fixing portion, etc.

[0038] Furthermore, as used in this article, the singular forms "one", "an" and "the" are intended to include plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way.

[0039] In view of the technical problems mentioned in the background technology, the present application discloses a calibration component for a C-arm machine. By only connecting the first calibration plate to the frame of a fixed bracket, and using at least one connecting rod to connect the first calibration plate and the second calibration plate, the weight and structural complexity of the calibration component are reduced, thereby reducing the difficulty of disassembly and assembly of the calibration component on the C-arm machine.

[0040] The calibration component described in the present application is configured on a C-arm machine and is used to calibrate the C-arm machine. The C-arm machine can be configured in a surgical navigation system to assist doctors in performing surgical operations, wherein the surgical navigation system is used to provide positioning information on the target object and / or navigation information of the surgical path to the doctor or the robotic arm performing the operation during the operation.

[0041] In one embodiment, the surgical navigation system may include an optical positioning tracking device (e.g., an NDI camera), a computer device, and a robot in addition to a C-arm. The computer device is connected to the optical positioning tracking device, the C-arm, and the robot in a communicative manner. For example, the computer device may match the X-ray image taken by the C-arm during surgery with the image data (e.g., CT data) before surgery. The optical positioning tracking device may use the tracking devices respectively arranged on the C-arm, the robot, and the target to track the positions of the three in real time. In other words, the optical positioning tracking device may determine the coordinate positions of the C-arm, the robot, and the target in its coordinate system in real time. Among them, the robot may be, for example, a mechanical arm for clamping surgical instruments, and the target may be, for example, a human body, an animal body, or a model.

[0042] See also Figure 1 and Figure 2 , respectively showing schematic diagrams of the structures of the C-arm machine in different embodiments of the present application. As shown in the figure, in one embodiment, the C-arm machine includes a transmitter 1, a receiver 2, and an arm support 3. The transmitter 1 is used to generate X-rays to pass through the target body. The receiver 2 is used to receive the X-rays that pass through the target body to form an X-ray image, and the transmitter 1 and the receiver 2 are respectively located at both ends of the arm support 3. The arm support 3 is a C-shaped support, which is used to support the transmitter 1 and the receiver 2, and can rotate around the target body to obtain X-ray images at different angles.

[0043] In order to provide a sufficient imaging range to meet different imaging requirements, the receiver can be configured in different shapes, for example, Figure 1 In the embodiment shown, the receiver 2 is a cylindrical structure. Figure 2 In the embodiment shown, the receiver 2 is a rectangular parallelepiped structure. Figure 1 The receiver with a cylindrical structure shown is called the first receiver. Figure 2 The receiver shown having a rectangular parallelepiped structure is referred to as a second receiver.

[0044] See also Figures 3 to 6 , respectively, are schematic diagrams of the structure of the calibration components in different embodiments of the present application. Figures 3 to 6 As shown, the calibration assembly 4 includes a fixing bracket 41 , a first calibration plate 42 , a second calibration plate 43 , and a connecting rod 44 .

[0045] The fixing bracket 41 is fixed on the receiver of the C-arm machine. Figures 3 to 6 As shown, the fixing bracket 41 includes a frame 411, and the frame 411 is adapted to the shape of the receiver. In this way, the weight of the fixing bracket 41 can be reduced and the calibration component and the receiver can be fixed.

[0046] For example, in one embodiment, in order to adapt to the first receiver, the frame 411 can be configured as a circular frame (in the shape of Figure 3 and Figure 5 In another embodiment, in order to match the second receiver, the frame 411 can be configured as a square frame (as shown in Figure 4 and Figure 6 Of course, in some other embodiments, the frame can also be configured in other shapes as long as it matches the shape of the receiver.

[0047] In one embodiment, a protrusion having a plurality of mounting positions is disposed on the edge of the frame, and the plurality of mounting positions are arranged at intervals in the radial direction of the frame to accommodate receivers of different sizes.

[0048] The radial direction refers to the straight line direction from the center point of the frame to the outside. In other words, the radial direction refers to the straight line direction from the center point of the frame to the edge of the frame. Specifically, when the frame is in a circular ring shape (such as Figure 3 and Figure 5 The radial direction refers to the direction along the diameter of the frame. When the frame is square (shown as Figure 4 and Figure 6 The radial direction refers to the direction from the center point of the frame toward the edge of the frame, but is not limited to this. The protrusion with multiple mounting positions can be configured on frames of various shapes to adapt to receivers with different shapes and sizes.

[0049] In one embodiment, the frame and the protrusion are connected in a fixed manner, and the fixed connection includes but is not limited to welding, bonding, mortise and tenon connection, and integral molding connection, etc. Preferably, the frame and the protrusion can be formed in an integral molding manner.

[0050] In one embodiment, see Figure 7 , which is a schematic diagram of the disassembled structure of the fixing bracket in one embodiment of the present application. As shown in the figure, a protrusion 413 is provided on the edge of the frame 411. Figure 3 and Figure 5 In the example shown, the protrusions are configured in four numbers and are evenly distributed along the circumference of the frame 411. Figure 8 , shown as this application Figure 7 The enlarged schematic diagram of the frame A in the embodiment shown. Figure 8 As shown, the protrusion 413 has a mounting position 414, and the mounting position 414 is configured as three through holes arranged at intervals along the radial direction of the frame to adapt to receivers of different sizes.

[0051] In some embodiments, in order to reduce the overall weight of the frame and make the calibration components easy to install and move, the frame also has a plurality of hollow structures, and the hollow structures can be configured into any shape. For example, the hollow structures can be configured into long strips and symmetrically distributed on the frame so that the center of gravity of the frame coincides with the center.

[0052] In order to cooperate with the protrusion having multiple installation positions on the frame to achieve the fixation of receivers of different sizes, the fixing bracket includes a fixing structure.

[0053] In one embodiment, if Figure 7 As shown, the fixing bracket 41 includes a fixing structure 412, and the fixing structure 412 is used to fix the frame 411 on a receiver (for example, a first receiver). Figure 7 In the example shown, four fixing structures 412 are configured and evenly distributed along the circumference of the frame 411. Figure 7 The fixing structure 412 shown is used to fix the frame on the first receiver for illustration purposes only and should not be construed as a limitation to the present application.

[0054] In one embodiment, the fixing structure 412 includes a fixing member 4121 and a locking member 4122 . The fixing member 4122 is connected to the frame 411 . The locking member 4122 is connected to the fixing member 4121 to be locked to or released from the first receiver 2 by twisting.

[0055] In some embodiments, the end surface where the fixing member and the first receiver meet has a certain curvature, which can match the curvature of the circumferential surface of the first receiver to expand the force range of the first receiver on the circumferential surface. In some embodiments, an elastic element is also provided on the end surface where the fixing member contacts the first receiver, and the elastic element can be attached to the circumferential surface of the first receiver, and while pressing the first receiver, it can buffer the first receiver to prevent damage to the first receiver due to rigid contact. The elastic element can be, for example, rubber.

[0056] In one embodiment, the locking member 4122 may be fixedly connected to the fixing member 4121. For example, the fixing member 4121 may be provided with a screw hole. Matchingly, the locking member 4122 may be provided with a thread. The thread and the screw hole cooperate with each other to achieve the fixed connection between the locking member 4122 and the fixing member 4121. When the locking member 4122 rotates clockwise along the screw hole, the fixing member 4121 is tightened on the first receiver 2. When the locking member 4122 rotates counterclockwise along the screw hole, the fixing member 4121 is loosened on the first receiver 2.

[0057] When it is necessary to adapt to first receivers of different sizes, a screw hole is provided on the fixing member 4121, and the bolt 415 passes through the through hole of the protrusion 413 and is connected with the screw hole on the fixing member 4121, so as to realize the connection between the fixing structure 412 and the frame 411. When the frame is fixed to the receiver, the locking member 4122 is tightened so that the fixing member 4121 is against the circumferential surface of the first receiver, and the frame can be fixed. When the first receiver to be connected has a larger diameter, the bolt 415 and the fixing structure 412 only need to be moved outward along the radial direction of the frame to another through hole to fix the frame to the first receiver of the larger diameter. In this way, first receivers of different sizes can be adapted by adjusting the position of the bolt and the fixing structure relative to the through hole.

[0058] Of course, the fixing bracket may also be in other forms. For example, in another embodiment, Figure 4 and Figure 6 As shown, the fixing bracket includes a fixing structure 412, and the fixing structure 412 is used to fix the frame on the receiver. For example, the fixing structure 412 can Figure 4 or Figure 6 The square frame shown is fixed on a second receiver having a rectangular parallelepiped structure. Figure 4 and Figure 6 In the illustrated embodiment, the fixing structure 412 is configured as an extension portion extending in the circumferential direction of the frame body 411 , and the extension portion is inserted into a matching structure on the receiver 2 so that the frame body 411 is fixed on the receiver 2 .

[0059] In some embodiments, the receiver 2 is provided with a groove on the circumference of the end face close to the transmitter 1, and the extension part can be inserted into the groove from one side of the end face of the transmitter to fix the frame on the receiver. In some other embodiments, the receiver is provided with a magnetic structure or a suction cup structure, and the frame is fixed on the receiver through the magnetic structure or the suction cup structure.

[0060] In one embodiment, if Figure 4 As shown, the depression of the extension portion toward the frame body forms a positioning hole 416, and the positioning hole 416 is used to cooperate with a screw to lock the frame body 411 on the receiver of the C-arm machine. In some other embodiments, the positioning holes can be configured as multiple, specifically, they can be configured in the circumference of the frame body, and respectively cooperate with screws to firmly lock the frame body on the receiver.

[0061] It should be noted here that Figure 4 and Figure 6 The fixed structure 412 shown is only for illustrative purposes and should not be construed as limiting the present application. The configuration of the fixed structure is flexible. Figure 4 , Figure 6 and Figure 7 The fixing structure 412 shown can be respectively configured on frames of various shapes, and further adapted to receivers of corresponding shapes.

[0062] See also Fig. 9 and Fig.10 ,in, Fig. 9 Show this application Figure 3 A schematic diagram of the structure of the calibration component in the embodiment shown in FIG. 1 at a certain viewing angle, Fig.10 Show this application Figure 5 The illustrated embodiment does not show a schematic diagram of the structure of the calibration component of the fixed bracket under a certain viewing angle. Fig. 9 and Fig.10 As shown, the first calibration plate 42 includes a first calibration plate body 421 and a first calibration ball 422, wherein the first calibration plate body 421 is connected to the frame 411, and the first calibration ball 422 is configured as a plurality and arranged on the first calibration plate body 421. The second calibration plate 43 includes a second calibration plate body 431 and a second calibration ball 432, wherein the second calibration ball 432 is configured as a plurality and arranged on the second calibration plate body 431. The second calibration plate 43 is connected to the first calibration plate 42 by a connecting rod 44, and further, the connecting rod 44 connects the first calibration plate body 421 and the second calibration plate body 431.

[0063] In order to realize the connection between the first calibration plate body 421 and the frame body 411, in one embodiment, refer to Fig.11 Combined with Figure 4 , which is a schematic diagram of the structure of the first calibration plate body in one embodiment of the present application at a certain viewing angle. As shown in the figure, the first calibration plate body 421 is provided with a first fixing portion 4211 and a second fixing portion 4212. Fig.11 In the example shown, the first fixing portion 4211 is configured as four and is used to connect with the annular frame (eg Figure 3 and Figure 5 The frame 411 shown is connected to present Figure 3 or Figure 5 The first fixing portion 4211 may be, for example, a screw hole, in which a thread is provided, and matchingly, the first calibration plate body 421 and the frame body 411 may be connected by a screw, for example, when the screw is rotated clockwise along the screw hole, the frame body 411 is fixed to the first calibration plate body 421, and when the screw is rotated counterclockwise along the screw hole, the frame body 411 may be detached from the first calibration plate body 421.

[0064] The second fixing parts 4212 are configured in four numbers and are used to connect with a square frame (eg Figure 4 and Figure 6 The frame 411 shown is connected to present Figure 4 or Figure 6The structure of the second fixing portion 4212 can be the same as that of the first fixing portion 4211, and will not be described in detail here.

[0065] In order to avoid the situation where the first calibration plate is set on the frame and is limited by the length of the first calibration plate and cannot simultaneously connect the circular frame and the square frame, in one embodiment, refer to Fig.12 , shown as this application Fig.10 The schematic diagram of the disassembled structure of the calibration component in the embodiment shown in the figure, as shown in the figure, the calibration component 4 also includes an adapter plate 46, and the adapter plate 46 is used to connect with the circular frame or the square frame. Figure 5 and Figure 6 As shown, the length of the first calibration plate 42 can be directly connected to the square frame, but cannot be directly connected to the annular frame, and the first calibration plate 42 can be connected to the annular frame through the adapter plate 46. For another example, the length of the first calibration plate can be directly connected to the annular frame, but cannot be directly connected to the square frame, and the first calibration plate can be connected to the square frame through the adapter plate.

[0066] In one embodiment, the first calibration plate body 421 is disposed on the adapter plate 46 to be connected to the frame 411. Fig.10 In the example shown, the first calibration plate body 421 is disposed at the central position of the adapter plate 46, and the connection method between the first calibration plate body and the adapter plate can be configured as a fixed connection, and the fixed connection method includes but is not limited to welding, bonding, mortise and tenon connection, and one-piece molding connection. For example, the first calibration plate body 421 and the adapter plate 46 can be provided with screw holes correspondingly, and the connection between the first calibration plate body 421 and the adapter plate 46 is achieved by connecting the bolts with the screw holes on the first calibration plate body 421 and the screw holes on the adapter plate 46. In order to ensure that the first calibration plate body 421 is stably connected to the adapter plate 46, the screw holes can be configured as multiple, and the specific number is determined according to the actual application requirements.

[0067] Furthermore, in order to realize the connection between the adapter plate and the frame, and then realize the connection between the first calibration plate body and the frame, screw holes may be correspondingly provided on the adapter plate 46 and the frame 411, and the connection between the adapter plate 46 and the frame 411 is realized by connecting the bolts with the screw holes on the adapter plate 46 and the screw holes on the frame 411. In order to ensure that the adapter plate 46 is stably connected to the frame 411, the screw holes may be configured to be multiple, and the specific number is determined according to the actual application requirements.

[0068] In order to reduce the weight of the adapter plate and thus reduce the weight of the calibration assembly, in one embodiment, Fig.12 As shown, a hollow structure is provided on the adapter plate 46. It should be noted that: Fig.12The hollow structure shown is only a schematic illustration, and the shape and occupation range of the hollow structure are not limited thereto, as long as there is space on the adapter plate to connect the first calibration plate body and the frame.

[0069] The present application does not limit the length of the adapter plate 46, as long as the first calibration plate body can be connected to the circular frame or the square frame when it is set thereon. Of course, if the length of the first calibration plate body is sufficient to connect to the circular frame and the square frame, the calibration assembly may not be provided with an adapter plate.

[0070] It should be noted that, since the first calibration plate body is connected to the frame, and the connecting rod connects the first calibration plate body and the second calibration plate body, the first calibration plate body and the second calibration plate body are both supported on the frame.

[0071] Furthermore, the frame has a hollow area, and the first calibration plate body 421 and the second calibration plate body 431 partially cover the hollow area when supported on the frame. Figure 3 In the example shown, the annular frame 411 has a circular hollow area 417. When the first calibration plate body and the second calibration plate body are supported on the frame 411, the circular hollow area 417 is partially covered to form two semicircular spaces. Figure 6 In the example shown, the square frame 411 has a square hollow area 417. When the first calibration plate body and the second calibration plate body are supported on the frame 411, the square hollow area 417 is partially covered to form two square spaces. It should be understood that the first calibration plate body 421 does not necessarily cover the middle position of the hollow area, and the specific installation position should be determined according to actual use requirements.

[0072] In order to realize the arrangement of the first calibration ball and the second calibration ball on the first calibration plate body and the second calibration plate body respectively, as shown in FIG. Fig. 9 and Fig.10 As shown, the surface of the first calibration plate body 421 has a first installation area 4210, and the surface of the second calibration plate body 431 has a second installation area 4310. It should be understood that the first installation area and the second installation area are determined by the installation range of the first calibration ball and the second calibration ball. Fig. 9 In the example shown, the ranges of the first installation area 4210 and the second installation area 4310 are respectively the square ranges occupied by the first calibration ball 422 and the second calibration ball 432. Fig.10In the example shown, the ranges of the first installation area 4210 and the second installation area 4310 are respectively the trapezoidal ranges occupied by the first calibration sphere 422 and the second calibration sphere 432. Of course, in some other examples, the first installation area and the second installation area can also be expressed as other shapes.

[0073] In one embodiment, projections of the first installation area and the second installation area on the receiver surface of the C-arm do not overlap, wherein the receiver surface is parallel to the imaging plane of the C-arm. Fig.10 In the example shown, the first installation area 4210 and the second installation area 4310 are spatially staggered relative to the receiver surface, and the projections of the first installation area 4210 and the second installation area 4310 on the receiver surface of the C-arm machine are separated from each other. Further, the projections of the first calibration ball 422 and the second calibration ball 432 respectively configured on the first installation area 4210 and the second installation area 4310 on the receiver surface of the C-arm machine do not overlap, so that the receiver surface can present more projections and position information of the calibration balls for calibration, thereby improving the precision and accuracy of the calibration.

[0074] In one embodiment, the projections of the first installation area and the second installation area on the receiver surface overlap, and the plurality of first calibration balls and the plurality of second calibration balls are arranged in a staggered manner relative to the receiver surface. Fig. 9 In the example shown, the first installation area 4210 and the second installation area 4310 can be set as square areas, the projections of the two square areas on the receiver surface overlap, the second calibration ball 432 configured on the second installation area 4310 and the first calibration ball 422 configured on the first installation area 4210 are both distributed in a U-shaped pattern, but the two U-shaped curves are misaligned relative to the receiver surface. In this example, the projections of the first installation area 4210 and the second installation area 4310 on the receiver surface overlap, while the projections of the first calibration ball 422 and the second calibration ball 432 on the receiver surface do not overlap.

[0075] In order to save materials and reduce the weight of the calibration assembly, in one embodiment, the outer contour area of ​​the first calibration plate body is larger than the outer contour area of ​​the second calibration plate body. Fig.11 and Figure 4 As shown, in addition to being used to set the first calibration ball, the first calibration plate body 421 also needs to be provided with a first fixing portion 4211 and a second fixing portion 4212 for connecting to the frame 411. Therefore, the range occupied by the first installation area 4210 is larger than the range occupied by the second installation area 4310. Furthermore, the area of ​​the outer contour of the first calibration plate body 421 can be set to be larger than the area of ​​the outer contour of the second calibration plate body 431.

[0076] In order to further reduce the weight of the calibration assembly, a hollow area is provided on the first calibration plate body or / and the second calibration plate body. It should be understood that the hollow area can be provided on one or both of the first calibration plate body and the second calibration plate body. Fig.10 As shown, when the projections of the first installation area 4210 and the second installation area 4310 on the receiver surface of the C-arm machine do not overlap, the hollow area on the first calibration plate body and the hollow area on the second calibration plate can be staggered. The setting position and size of the hollow area can also be changed. For example, the other ranges except the range occupied by the first installation area and the second installation area can be set as hollow areas to minimize the weight of the calibration assembly. Of course, the hollow area may not be set, which is determined according to the actual application requirements.

[0077] In one embodiment, please combine Figure 3 and Fig. 9 , or combined Fig.10 and Fig.12 As shown in the figure, the first calibration ball 422 and the second calibration ball 432 are respectively installed on one side of the first calibration plate body 421 and the second calibration plate body 431. When the calibration assembly is configured on the receiver, the first calibration ball 422 and the second calibration ball 432 face the receiver. In one implementation, the first calibration plate body 421 is provided with a first countersunk hole for installing the first calibration ball 422, and the second calibration plate body 431 is provided with a second countersunk hole for installing the second calibration ball 432. In order to stably fix the first calibration ball and the second calibration ball on the first calibration plate body and the second calibration plate body, respectively, the diameter of the first countersunk hole is slightly smaller than the diameter of the first calibration ball, and the diameter of the second countersunk hole is slightly smaller than the diameter of the second calibration ball. In this way, when a certain pressure is applied to the first calibration ball and the second calibration ball, the first calibration ball and the second calibration ball can be firmly engaged in the first countersunk hole and the second countersunk hole, respectively. Of course, the first countersunk hole and the second countersunk hole can both be set as through holes, and the first calibration ball and the second calibration ball can be embedded in the through holes, but it is not limited to this, as long as the first calibration ball and the second calibration ball can be fixed and the X-ray emitted by the transmitter of the C-arm machine cannot penetrate the first calibration ball and the second calibration ball.

[0078] In one embodiment, the first calibration plate body 421 and the second calibration plate body 431 are plastic plates, and the first calibration ball 422 and the second calibration ball 423 are both configured as tantalum beads. It should be understood that the plastic plate can be penetrated by the X-rays emitted by the transmitter of the C-arm machine, while the tantalum beads cannot be penetrated. Therefore, the high visual contrast makes the imaging of the first calibration ball and the second calibration ball on the C-arm machine clearer, thereby improving the accuracy of the calibration and making the calibration process more reliable. In certain other embodiments, the material of the first calibration plate body and the second calibration plate body can also be glass, and the material of the first calibration ball and the second calibration ball can be other metals such as lead.

[0079] In some embodiments, in order to avoid collision and accidental injury, the corners and sides of the first calibration plate body and the second calibration plate body may be ground and polished to present a certain curvature.

[0080] The connecting rod described in the foregoing embodiments of the present application is configured as at least one, in one embodiment, as Fig.10 As shown, the connecting rods 44 are configured as four, specifically, one end of the four connecting rods is respectively connected to the four corners of the second calibration plate body 431, and the other end of the four connecting rods is connected to the first calibration plate body 421. The connection method can be configured as a fixed connection. For example, both ends of the connecting rod 44 are respectively provided with threads, and the first calibration plate body 421 and the second calibration plate body 431 are correspondingly provided with screw holes. The connecting rod 44 is connected to the first calibration plate body 421 and the second calibration plate body 431 through the threads and screw holes.

[0081] exist Fig.10 In the embodiment shown, the four connecting rods are of equal length, so that the first calibration plate body 421 and the second calibration plate body 431 are parallel to each other in space. In order to reduce the overall weight of the calibration assembly, the connecting rods can be made of the same material as the first calibration plate body and the second calibration plate body, such as plastic.

[0082] In one embodiment, the calibration assembly 4 further includes a positioning device 45 for positioning the C-arm machine. Figures 3 to 6 As shown, the positioning device 45 is arranged on the side of the first calibration plate body 421 and is located outside the frame 411.

[0083] exist Figures 3 to 6 In the illustrated embodiment, the positioning device includes a QR code positioning device, on which a QR code is provided, which can be recognized, for example, by AR glasses. The AR glasses are provided with a camera and a reading head, which can recognize and read the QR code on the QR code positioning device, thereby obtaining the position information of the C-arm machine and realizing accurate positioning of the C-arm machine.

[0084] In another embodiment, the positioning device includes an infrared positioning device. For example, the infrared positioning device can be a steel ball coated with a material capable of reflecting infrared light, which can be recognized by an NDI camera, for example. The NDI camera can track and capture the infrared positioning device, thereby obtaining the position information of the C-arm machine.

[0085] In another embodiment, the positioning device includes a QR code positioning device and an infrared positioning device. Through the cooperation of the two positioning devices, the positioning requirements of the C-arm machine under different conditions can be met, and high-precision positioning and real-time position monitoring can be achieved, thereby improving the reliability of the C-arm machine positioning.

[0086] In an embodiment in which the positioning device includes a two-dimensional code positioning device, the two-dimensional code positioning device is vertically arranged on the side of the first calibration plate body, and the connection method between the two-dimensional code positioning device and the first calibration plate body is a fixed connection, and the fixed connection method includes but is not limited to welding, bonding, mortise and tenon connection, etc. For example, screw holes are arranged at one end of the two-dimensional code positioning device and the side of the first calibration plate body, and the two-dimensional code positioning device and the first calibration plate body are fixed by screws.

[0087] See also Fig.13 and Fig.14 , respectively showing schematic diagrams of the two-dimensional code positioning device configured on the first calibration plate body in different embodiments of the present application. As shown in the figure, the two-dimensional code positioning device includes three two-dimensional codes distributed in a convex shape. Fig.13 and Fig.14 In the illustrated embodiment, the vertical distance between the center of each of the two-dimensional codes and the center of the first calibration sphere, or the vertical distance between the center of each of the two-dimensional codes and the center of the second calibration sphere is an integer multiple of 10 mm. Specifically, taking one of the two-dimensional codes as an example, Fig.13 and Fig.14 The black dot shown represents the center of the QR code. The vertical distance refers to the distance between the center of the QR code and the center of the first calibration sphere 422 in the direction perpendicular to the first calibration plate body. Since the first calibration plate body and the second calibration plate body are parallel, the vertical distance may also refer to the distance between the center of the QR code and the center of the second calibration sphere 432 in the direction perpendicular to the second calibration plate body.

[0088] exist Fig.13 In the example shown, the vertical distance between the center of the QR code and the center of the first calibration sphere 422 is denoted as d1, and the vertical distance between the center of the QR code and the center of the second calibration sphere 432 is denoted as d2. In this example, d1 and d2 are both integer multiples of 10 mm. Fig.13In the example shown, the vertical distance between the center of the two-dimensional code and the center of the first calibration sphere 422 is represented as d3, and the vertical distance between the center of the two-dimensional code and the center of the second calibration sphere 432 is represented as d4. In this example, d3 and d4 are both integer multiples of 10 mm. It should be understood that d1 is not necessarily equal to d3, and d2 is not necessarily equal to d4, as long as d1, d2, d3, and d4 are all integer multiples of 10 mm.

[0089] In summary, in order to overcome the technical problem that the calibration assembly in the related art is complicated in structure and heavy in weight, which makes it difficult to install and remove the calibration assembly from the C-arm machine, the calibration assembly of the C-arm machine provided in the present application reduces the weight and structural complexity of the calibration assembly by only connecting the first calibration plate to the frame of the fixed bracket, and connecting the first calibration plate and the second calibration plate by at least one connecting rod, thereby reducing the difficulty of disassembling and assembling the calibration assembly on the C-arm machine. By setting a frame that is compatible with the shape of the receiver of the C-arm machine and fixing the fixed bracket on the receiver, the correct installation of the calibration plate on the receiver can be ensured, thereby ensuring the accuracy and precision of the calibration. By setting an adapter plate, the calibration assembly can be configured in both a square frame and a circular frame, thereby improving the applicability of the calibration assembly. By setting a raised portion with multiple mounting positions on the edge of the frame, the frame can be adapted to receivers of different sizes. Further, in conjunction with the fixed structure, the installation and replacement of the calibration assembly on the receiver are more convenient. By providing a hollow area on the first calibration plate body and / or the second calibration plate body, the weight of the calibration component is further reduced.

[0090] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A calibration component for a C-arm machine, used for calibrating the C-arm machine, characterized in that: include: A fixed bracket, fixed on the receiver of the C-arm machine, comprising a frame body adapted to the shape of the receiver; A first calibration plate, comprising a first calibration plate body connected to the frame and a plurality of first calibration balls arranged on the first calibration plate body; A second calibration plate, comprising a second calibration plate body and a plurality of second calibration balls arranged on the second calibration plate body; at least one connecting rod, located between the first calibration plate and the second calibration plate, for connecting the second calibration plate and the first calibration plate; Wherein, projections of the plurality of first calibration spheres and the plurality of second calibration spheres on the surface of the receiver do not overlap.

2. The C-arm calibration assembly according to claim 1, characterized in that: The outer contour area of ​​the first calibration plate body is greater than the outer contour area of ​​the second calibration plate body.

3. The calibration assembly of the C-arm machine according to claim 1, characterized in that: The frame has a hollow area, and the first calibration plate body and the second calibration plate body partially cover the hollow area when supported on the frame.

4. The calibration assembly of the C-arm machine according to claim 1, characterized in that: The surface of the first calibration plate body has a first installation area for arranging the plurality of first calibration spheres, and the surface of the second calibration plate body has a second installation area for arranging the plurality of second calibration spheres.

5. The calibration assembly of the C-arm machine according to claim 4, characterized in that: The projections of the first mounting area and the second mounting area on the receiver surface do not overlap.

6. The calibration assembly of the C-arm machine according to claim 4, characterized in that: The projections of the first installation area and the second installation area on the receiver surface overlap, and the plurality of first calibration spheres and the plurality of second calibration spheres are staggered relative to the receiver surface.

7. The calibration assembly of the C-arm machine according to claim 1, characterized in that: The first calibration plate body and / or the second calibration plate body is provided with a hollow area to reduce the weight of the calibration component.

8. The calibration assembly of the C-arm machine according to claim 1, characterized in that: The first calibration plate body and the second calibration plate body are plastic plates, and the first calibration ball and the second calibration ball are tantalum beads.

9. The calibration assembly of a C-arm machine according to claim 1, characterized in that: The calibration assembly includes four connecting rods, one end of the four connecting rods is respectively connected to the four corners of the second calibration plate body, and the other end of the four connecting rods is connected to the first calibration plate body.

10. The calibration assembly of a C-arm machine according to claim 1, characterized in that: The frame is configured as a circular frame or a square frame, and the first calibration plate body is provided with a first fixing portion and a second fixing portion, the first fixing portion is used to connect with the circular frame, and the second fixing portion is used to connect with the square frame.

11. The C-arm calibration assembly according to claim 10, characterized in that: The calibration component also includes an adapter plate connected to the annular frame or the square frame, and the first calibration plate body is arranged on the adapter plate to be connected to the frame.

12. The C-arm calibration assembly according to claim 1, characterized in that: The fixing bracket also includes a fixing structure, and the fixing structure is used to fix the frame on the receiver.

13. The C-arm calibration assembly according to claim 12, characterized in that: A protrusion with a plurality of mounting positions is arranged on the edge of the frame. The plurality of mounting positions are arranged at intervals in the radial direction of the frame and cooperate with the fixing structure to adapt to receivers of different sizes.

14. The C-arm calibration assembly according to claim 12 or 13, characterized in that: The fixing structure comprises a fixing member connected to the frame and a locking member, wherein the locking member is connected to the fixing member to be locked to or released from the receiver by twisting.

15. The C-arm calibration assembly according to claim 13, characterized in that: The fixing structure is configured as an extension portion extending in the circumferential direction of the frame, and the extension portion is inserted into an adapting structure on the receiver so that the frame is fixed on the receiver of the C-arm machine.

16. The C-arm calibration assembly according to claim 15, characterized in that: The extension portion is recessed toward the frame body to form a positioning hole, and the positioning hole is used to cooperate with a screw to lock the frame body on the receiver.

17. The C-arm calibration assembly according to claim 1, characterized in that: The calibration component also includes a positioning device for positioning the C-arm machine, and the positioning device is arranged on the side of the first calibration plate body and located outside the frame.

18. The C-arm calibration assembly according to claim 17, characterized in that: The positioning device includes at least one of a two-dimensional code positioning device and an infrared positioning device.

19. The C-arm calibration assembly according to claim 18, characterized in that: The two-dimensional code positioning device is vertically arranged on the side of the first calibration plate body, and the two-dimensional code positioning device includes three two-dimensional codes distributed in a convex shape.

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