Optical positioning target and surgical system

Abstract

The utility model relates to an optical positioning target and a surgical system. The optical positioning target comprises: a target support having a fixing member located on a second surface; the reflective mark comprises an installation thin plate and a reflective layer, the reflective layer is arranged on the installation thin plate, the reflective mark is provided with a matching part corresponding to the fixing part, and the matching part is matched with the fixing part so that the reflective mark can be installed on the target support in a pluggable mode. And the reflective layer can be identified by navigation equipment. Therefore, the reflective mark is detachably mounted on the target bracket by adopting the pluggable matching of the fixing part and the matching part, so that the reflective mark and the target bracket can be quickly disassembled and assembled, the assembly complexity of the reflective mark and the target bracket can be simplified, the mounting operation is convenient, and the production cost is reduced. Moreover, the reflective layer is arranged on the installation thin plate and can reflect light so as to facilitate recognition and positioning of navigation equipment, the size precision requirement of the reflective mark is reduced, and the machining difficulty and cost are reduced.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to an optical positioning target and a surgical system. Background Art

[0002] Orthopedic surgical robots are an advanced medical technology. Optical positioning targets are mainly used to identify and track the position and posture of orthopedic robotic surgery. Before surgery, doctors can set the surgical path and the position of surgical instruments through a computer, and place the optical positioning target at the set position. The robot can obtain the surgical position and surgical tool posture by identifying the positioning target, and finally complete the surgical operation.

[0003] At present, optical positioning targets mainly include reflective markers and target brackets. Reflective markers are usually spheres with special reflective coatings on the surface, or distorted lenses with light-transmitting surfaces and special reflective coating structures on the bottom. The reflective structure is fixed in the outer sleeve of the reflective marker. The target bracket is rigid and can stably fix the outer sleeve of the reflective marker and other feature points. The target bracket and the outer sleeve of the reflective marker need strong positioning and strong matching. Repeated installation needs to ensure that the position after installation is consistent to meet the positioning accuracy requirements.

[0004] The reflective marker on the sphere has a special reflective coating on the surface, the surface coating is easy to fall off and cannot be cleaned, and the surface size accuracy of the sphere is high, which makes the reflective marker itself have high requirements and high processing costs; the sphere is large in size, the fixing method is complex, the matching accuracy is high, the installation operation is difficult, the position difference after repeated installation is large, and the corresponding target bracket for matching installation has a complex structure and high processing costs.

[0005] The structure is a translucent distorted lens with a special reflective coating on the bottom, and then the reflective marker is fixed in the sleeve; the translucent distorted lens has high light transmittance requirements, the surface is easy to wear, and the reflective spherical surface has high requirements for external dimensions, which makes the reflective marker itself have high requirements and high processing costs; in addition, the sphere is large in size and needs to be firmly fixed in the sleeve without damaging the back coating, and the overall fixing method of the sleeve is complicated; finally, when the sleeve is installed on the target bracket, the sleeve and the target bracket are required to fit closely, and the position change after repeated installation should be small, which makes the structure of the target bracket complex, the processing cost high, and the installation operation difficult. Utility Model Content

[0006] Based on this, it is necessary to provide an optical positioning target and surgical system to address the current problems of easy falling off of the coating on the surface of the reflective marker, high cost, and complex assembly of the reflective marker and the target bracket. The system can ensure that the reflective layer does not fall off in the event of accidental touch or simple wiping, thereby ensuring the reflective effect and reducing the dimensional accuracy requirements of the reflective marker. At the same time, it can also achieve rapid disassembly and assembly of the reflective marker and the target bracket, simplify the complexity of their assembly, facilitate assembly, and reduce production costs.

[0007] An optical positioning target, comprising:

[0008] a target support having a fixing component located on the second surface; and

[0009] The reflective marker comprises a mounting plate and a reflective layer, wherein the reflective layer is arranged on the mounting plate, and the reflective marker has a matching component corresponding to the fixing component, wherein the matching component cooperates with the fixing component to enable the reflective marker to be pluggable and installed on the target bracket, and the reflective layer can be identified by the navigation device.

[0010] In one embodiment of the present application, the target bracket has a light-transmitting hole arranged on the first surface, and the reflective layer of the reflective mark is exposed through the light-transmitting hole to form a reflective area;

[0011] The target bracket has a light-transmitting cover, which is arranged around the light-transmitting hole and is a trumpet-shaped, and the diameter of the light-transmitting cover on the first surface is larger than the diameter on the second surface; and / or the light-transmitting hole is circular, elliptical or polygonal; and / or the reflective layer is reflective paper, and the reflective layer is affixed to the target position of the mounting plate.

[0012] In one embodiment of the present application, the fixing component is a clamping cap, and the matching component is a mounting hole, and the mounting hole is used to clamp and mount the clamping cap.

[0013] In one embodiment of the present application, the clamping cap includes a fixing section and a limiting section, the fixing section is arranged on the second surface, the limiting section is arranged on the fixing section and protrudes circumferentially from the fixing section, the mounting hole includes a first hole section and a second hole section, the diameter of the first hole section is larger than the diameter of the second hole section, the first hole section is arranged corresponding to the limiting section and allows the limiting section to pass through, the second hole section allows the fixing section to pass through and is smaller than the cross-sectional size of the limiting section.

[0014] In one embodiment of the present application, the fixing component includes an installation groove and a limiting edge, the installation groove is recessed in the second surface, the limiting edge is arranged on the second surface and is located on the side of the installation groove, and the mating component is plugged in and installed in the installation groove and is limited by the limiting edge.

[0015] In one embodiment of the present application, the mating component is an elastic clip, one end of which is connected to the reflective mark, and there is a preset distance between the elastic clip and the reflective mark. The elastic clip can be deformed and contracted under extrusion to move into or out of the installation slot.

[0016] In one embodiment of the present application, the mounting groove includes a notch and a mounting area, the notch is connected to the mounting area, the size of the notch is smaller than the size of the mounting area, and the shape of the mounting area is adapted to the shape of the reflective mark having the elastic buckle.

[0017] In one embodiment of the present application, the installation slot also includes a guide surface, which is arranged at the end of the slot, and the guide surface is used to squeeze the elastic buckle so that the elastic buckle can deform and shrink and enter the installation area through the slot.

[0018] In one embodiment of the present application, the fixing component and the matching component are magnetic attraction components, or one of the fixing component and the matching component has a smooth surface and the other is an adhesive component.

[0019] In one embodiment of the present application, the target support has a through light-transmitting hole, the number of the light-transmitting holes is at least three, the hole distance between any two of the light-transmitting holes is a constant value, and the hole distances are different;

[0020] Each of the light-transmitting holes corresponds to one of the reflective marks, or the reflective mark has a plurality of reflective areas, and each of the light-transmitting holes corresponds to one of the reflective areas.

[0021] In one embodiment of the present application, the reflective mark further includes a protective layer, and the protective layer covers the reflective layer.

[0022] In one embodiment of the present application, the target bracket further includes a plurality of characteristic points, and the number and / or shape of the plurality of characteristic points are different.

[0023] A surgical system, comprising a navigation device, a robotic arm, and an optical positioning target as described in any of the above technical features, wherein the navigation device comprises a navigation host, a display, and a binocular vision measurement device, the optical positioning target can locate a lesion site and / or an end tool of the robotic arm, and the binocular vision measurement device is used to identify a rigid marker of the optical positioning target and record position information;

[0024] The navigation host receives the position and posture information, and processes it into the position and posture information of the lesion site and / or the end tool in the coordinate system of the binocular vision measurement device.

[0025] After adopting the above technical solution, this application has at least the following technical effects:

[0026] The optical positioning target and surgical system of the present application, in the optical positioning target, the reflective layer of the reflective mark is arranged on the mounting thin plate, and the reflective layer is carried by the mounting thin plate. At the same time, the second surface of the target bracket has a fixed component, and the reflective mark has a matching component. When the reflective mark is installed on the target bracket, the fixed component and the matching component can be plugged and matched, so that the reflective mark can be installed on the target bracket. After the reflective mark is installed on the target bracket, the reflective layer can reflect light to be recognized by the navigation device. The optical positioning target adopts the fixed component and the matching component to be plugged and matched to removably install the reflective mark on the target bracket, ensure that the reflective mark can be reliably installed on the target bracket, and realize the rapid disassembly and assembly of the reflective mark and the target bracket, which can simplify the complexity of the assembly of the two, facilitate the installation operation, and reduce the production cost. Moreover, by mounting the thin plate to carry the reflective layer, after the reflective mark is installed on the target bracket, the reflective layer exposes the target bracket, so that the reflective layer can reflect light to facilitate the navigation device to identify and locate, reduce the dimensional accuracy requirements of the reflective mark, and thus reduce the processing difficulty and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] FIG1 is a scene diagram of the optical target of the present application being applied to a surgical system.

[0028] FIG. 2 is a schematic diagram of an optical positioning target according to the first embodiment of the present application.

[0029] FIG. 3 is a partial cross-sectional view of the reflective mark in the optical positioning mark shown in FIG. 2 .

[0030] FIG. 4 is a schematic diagram of a target support in the optical positioning target shown in FIG. 2 .

[0031] FIG. 5 is a partial exploded schematic diagram of the optical positioning target shown in FIG. 2 .

[0032] FIG. 6 is a schematic diagram showing the dimensions of the optical positioning target shown in FIG. 2 .

[0033] FIG. 7 is a process diagram of installing the reflective marker shown in FIG. 5 on the target bracket.

[0034] FIG8 is a schematic diagram of an optical positioning target in the second embodiment of the present application.

[0035] FIG. 9 is a rear view of the optical positioning target shown in FIG. 8 .

[0036] FIG. 10 is a side view of the optical positioning target shown in FIG. 8 .

[0037] FIG. 11 is a partial exploded view of the optical positioning target shown in FIG. 9 .

[0038] FIG. 12 is a cross-sectional view of the optical positioning target shown in FIG. 11 .

[0039] FIG13 is a partially enlarged view of the optical positioning target shown in FIG12 .

[0040] FIG. 14 is a schematic diagram of an optical positioning target in the third embodiment of the present application.

[0041] FIG. 15 is a rear view of the optical positioning target shown in FIG. 14 .

[0042] FIG. 16 is a schematic diagram of an optical positioning target in the fourth embodiment of the present application.

[0043] FIG. 17 is a rear view of the optical positioning target shown in FIG. 16 .

[0044] FIG. 18 is a schematic diagram of an optical positioning target in the fifth embodiment of the present application.

[0045] FIG. 19 is a schematic diagram showing the function of the trumpet mouth outside the light-transmitting hole shown in FIG. 2 to constrain the directions of incident and reflected light.

[0046] FIG. 20 is a functional schematic diagram of the light-transmitting hole shown in FIG. 2 being a bell mouth.

[0047] FIG. 21 is a schematic diagram showing the principle of reflection of the reflective marking shown in FIG. 3 .

[0048] FIG. 22 is a schematic diagram of setting characteristic points of the target bracket shown in FIG. 2 .

[0049] FIG23 is a schematic diagram of the cooperation between the optical positioning target and the binocular vision measurement device in the surgical system shown in FIG1.

[0050] FIG. 24 is a principle flow chart of a binocular vision measurement device.

[0051] FIG. 25 is a schematic diagram showing the principle of a binocular vision measurement device. DETAILED DESCRIPTION

[0052] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0053] Referring to FIG. 1 and FIG. 2 , the present application provides an optical positioning target 100. The optical positioning target 100 is applied to a surgical system to realize the positioning and tracking of the lesion site and / or the end tool 310 of the robotic arm 300. It can be understood that the surgical system is an orthopedic surgical system, and the optical positioning target 100 includes a tibia positioning target, a femur positioning target, and a tool positioning target. The tibia positioning target is fixed to the tibia, the femur positioning target is fixed to the femur, and the tool positioning target is fixed to the end tool 310 of the robotic arm 300 in the surgical system to realize the positioning and tracking of the tibia, femur, and the end tool 310. For the convenience of description in the following text, the optical positioning target 100 is installed at the target site. Of course, in other embodiments of the present application, the surgical system can also perform positioning and tracking for other types of surgeries.

[0054] It is understandable that the current optical positioning targets mainly include reflective markers and target brackets. The reflective marker is usually a sphere with a special reflective coating on the surface, or a distorted lens with a light-transmitting surface and a special reflective coating structure at the bottom. The spherical reflective marker with a special reflective coating on the surface has a surface coating that is easy to fall off, a complex fixing method, high matching accuracy requirements, and difficult installation operations. The surface of the structure with a light-transmitting distorted lens and a special reflective coating on the bottom is easy to wear, the processing cost is high, and the installation operation is difficult. To this end, the present application provides a new type of optical positioning target 100, which can ensure that the reflective layer 122 does not fall off in the event of accidental touch or simple wiping, ensure the reflective effect, and reduce the dimensional accuracy requirements of the reflective marker 120, thereby reducing the processing difficulty and cost of the reflective marker 120. At the same time, it can also realize the rapid disassembly and assembly of the reflective marker 120 and the target bracket 110, simplify the complexity of the assembly of the two, facilitate assembly, and reduce production costs. The specific structure of the optical positioning target 100 of an embodiment is introduced below.

[0055] Referring to FIGS. 1 to 3, 8, 14, 16 and 18, in one embodiment, the optical positioning target 100 includes a target bracket 110 and a reflective marker 120. The target bracket 110 has a fixing component disposed on the second surface 113. The reflective marker 120 includes a mounting plate 121 and a reflective layer 122, the reflective layer 122 is disposed on the mounting plate 121, and the reflective marker 120 has a matching component corresponding to the fixing component, and the matching component and the fixing component can make the reflective marker 120 pluggable and installed on the target bracket 110, and the reflective layer 122 can be identified by the navigation device 200.

[0056] The target bracket 110 is a rigid structural member, and the reflective marker 120 is reliably supported by the target bracket 110. The rigid structure of the target bracket 110 can ensure that the reflective marker 120 and other characteristic points 117 (mentioned later) will not be deformed or displaced during normal use. The reflective marker 120 can reflect specific light. After the reflective marker 120 is set on the target bracket 110, the reflective marker 120 and the target bracket 110 have a unique three-dimensional coordinate relationship. After the navigation device 200 recognizes the light reflected by the reflective marker 120, the position of the target bracket 110 in the coordinate system of the navigation device 200 can be determined, and then the position of the target part connected to the optical positioning target 100 can be determined according to the position of the target bracket 110 in the three-dimensional space, so as to facilitate the subsequent surgical operation.

[0057] Referring to FIG. 2 , FIG. 4 and FIG. 5 , the front surface of the target bracket 110 is the first surface 112 , and the back surface is the second surface 113 . The reflective marker 120 is arranged on the second surface 113 (back surface) of the target bracket 110 . After the light emitted by the light source 232 can be projected onto the reflective area 102 of the reflective marker 120 , the reflective area 102 can reflect the light and be recognized by the navigation device 200 . As shown in FIG. 2 and FIG. 3 , the reflective marker 120 is arranged in a flat plate shape, the mounting plate 121 is the mounting substrate of the reflective marker 120 , and each film layer of the reflective marker 120 is stacked and arranged on the mounting substrate to form the reflective area 102 of the reflective marker 120 . Specifically, the reflective layer 122 is arranged on the mounting plate 121 , and the light is reflected by the reflective layer 122 . The reflective layer 122 is a component for the reflective marker 120 to realize light reflection, and the reflective layer 122 is arranged on the mounting plate 121 . When the reflective marker 120 is installed on the target bracket 110 , the reflective layer 122 is exposed from the target bracket 110 . At this time, the reflective layer 122 can reflect light and can be identified by the navigation device 200 .

[0058] As shown in Fig. 2, Fig. 8, Fig. 14, Fig. 16 and Fig. 18, the second surface 113 of the target bracket 110 has a fixing component, and the surface of the reflective mark 120 has a matching component, and the matching component and the fixing component are correspondingly arranged, and the matching component and the fixing component can realize the pluggable connection between the reflective mark 120 and the target bracket 110. When the reflective mark 120 is installed on the target bracket 110, the fixing component and the matching component are matched correspondingly to reliably fix the reflective mark 120 to the target bracket 110. Moreover, when the reflective mark 120 is disassembled, the fixing component and the matching component can be separated to remove the reflective mark 120 from the target bracket 110. The structure of the fixing component and the matching component is simple, and the target bracket 110 and the reflective mark 120 can be quickly disassembled and assembled through the cooperation of the two, and the assembly form of the target bracket 110 and the reflective mark 120 is simplified, which is convenient for installation and use.

[0059] The optical positioning target 100 of the above embodiment uses a fixing component and a matching component to realize the pluggable matching of the reflective marker 120 and the target bracket 110, so that the reflective marker 120 can be detachably installed on the target bracket 110, ensuring that the reflective marker 120 is reliably installed on the target bracket 110, and realizing the rapid disassembly and assembly of the target bracket 110 and the reflective marker 120, which can simplify the complexity of the assembly of the two, facilitate the installation operation, and reduce the production cost. Moreover, after the reflective marker 120 is installed on the target bracket 110, the reflective layer 122 is exposed from the target bracket 110, so that the reflective layer 122 can reflect light to facilitate the identification and positioning of the navigation device 200, reduce the dimensional accuracy requirements of the reflective marker 120, and thus reduce the processing difficulty and cost.

[0060] Referring to FIGS. 1 to 3, 8, 14, 16 and 18, in one embodiment, the target bracket 110 further has a light-transmitting hole 111, which is disposed on the first surface 112. The reflective layer of the reflective marker 120 is exposed through the light-transmitting hole 111 to form a reflective region 102. After the reflective marker 120 is mounted on the target bracket 110, the reflective layer 122 is exposed through the light-transmitting hole 111, and the light-transmitting hole 111 constrains the shape of the reflective layer 122 exposed through the light-transmitting hole 111. The portion of the reflective layer 122 exposed through the light-transmitting hole 111 is the reflective region 102. When light is projected onto the reflective region 102 through the light-transmitting hole 111, the reflective region 102 can reflect the light and emit it through the light-transmitting hole 111, so as to facilitate recognition by the navigation device 200.

[0061] In one embodiment of the present application, the light-transmitting hole 111 passes through the first surface 112 and the second surface 113. The reflective area 102 of the reflective mark 120 corresponds to the light-transmitting hole 111. After the light emitted by the light source 232 is projected onto the reflective area 102 of the reflective mark 120 through the light-transmitting hole 111, the reflective area 102 can reflect the light and be recognized by the navigation device 200. Of course, in other embodiments of the present application, the light-transmitting hole 111 may also be a blind hole. That is, the light-transmitting hole 111 is not set through the target bracket 110. After the reflective mark 120 is plugged in and installed in the target bracket 110, the reflective layer 122 is located in the light-transmitting hole 111 so that the reflective layer 122 is exposed through the light-transmitting hole 111.

[0062] Referring to FIG. 3 , in one embodiment, the reflective mark 120 further includes a protective layer 123, and the protective layer 123 covers the reflective layer 122. That is, the reflective layer 122 is covered with the protective layer 123, and the reflective layer 122 is protected by the protective layer 123, so that the reflective layer 122 can be protected from falling off in the case of accidental touch or disinfection and sterilization, thereby ensuring the reflective effect of the reflective layer 122 on light. Optionally, the protective layer 123 is a colorless, light-transmitting film layer.

[0063] Referring to FIG. 2 , FIG. 8 , FIG. 14 , FIG. 16 and FIG. 18 , in one embodiment, the number of light-transmitting holes 111 is at least three, and the hole distance between any two light-transmitting holes 111 is a fixed value, and each hole distance is different. When there are at least three light-transmitting holes 111, the accuracy of positioning and tracking can be guaranteed. It can be understood that one or more reflective markers 120 can determine the spatial position of the reflective marker 120, and three or more reflective markers 120 can determine the overall spatial position and posture of the target bracket 110. The navigation device 200 can determine which two reflective markers 120 correspond to the two light-transmitting holes 111 according to the hole distance between any two light-transmitting holes 111, and the spatial posture of each reflective marker 120 can be determined one by one through each hole distance, and then the spatial posture of the entire target bracket 110 can be determined, thereby realizing the positioning and tracking of the target part. Exemplarily, the number of light-transmitting holes 111 is four, and accordingly, each light-transmitting hole 111 corresponds to a reflective area 102.

[0064] Referring to FIG. 2 , FIG. 8 , FIG. 14 , and FIG. 16 , in one embodiment, each light-transmitting hole 111 corresponds to a reflective mark 120. That is, the light-transmitting hole 111 and the reflective mark 120 are in a one-to-one correspondence, and each reflective mark 120 has a reflective area 102. After the reflective mark 120 is installed on the target bracket 110, the reflective area 102 of the reflective mark 120 corresponds to the light-transmitting hole 111. After the light passes through the light-transmitting hole 111 and enters the reflective area 102, the reflective area 102 reflects the light and emits it through the light-transmitting hole 111. Exemplarily, the number of reflective marks 120 is four, and the four reflective marks 120 correspond to the four light-transmitting holes 111. Of course, in other embodiments of the present application, other numbers of reflective marks 120 and light-transmitting holes 111 may also be used.

[0065] It is worth noting that the specific structural form of the optical positioning target 100 is not limited to the following embodiments, and can also be other structural forms, which will not be repeated here. Moreover, the structural form of the reflective mark 120 in the first embodiment is also applicable to other embodiments. The specific structures of the optical positioning target 100 of several embodiments will be introduced later. Moreover, in the first to fourth embodiments, the matching form of each reflective mark 120 and the target bracket 110 is the same. Here, only one of the reflective marks 120 is used as an example for description.

[0066] Referring to FIG. 2 and FIG. 14 , in one embodiment, the fixing component includes a mounting groove 114 and a limiting edge 115, the mounting groove 114 is recessed in the second surface 113, the limiting edge 115 is disposed on the second surface 113 and is located on the side of the mounting groove 114, and the matching component is plugged and installed in the mounting groove 114 and is limited by the limiting edge 115. In other words, the reflective marker 120 can be fixed to the target bracket 110 by plugging and unplugging. During use, the target bracket 110 and the reflective marker 120 can realize the rapid installation and removal of the reflective marker 120 through the cooperation of the matching component and the mounting groove 114.

[0067] The fixing component is a mounting groove 114 disposed on the second surface 113 of the target bracket 110. One side of the mounting groove 114 is an opening and is located at the edge of the target bracket 110. The mounting groove 114 extends toward the inner side of the target bracket 110. One end of the reflective marker 120 passes through the opening of the mounting groove 114 and extends into the mounting groove 114 to install the reflective marker 120 in the mounting groove 114. In addition, the fixing component also includes a limiting edge 115, which is disposed on the second surface 113 of the target bracket 110 and protrudes from the groove wall of the mounting groove 114. After the reflective marker 120 is installed in the mounting groove 114, one side of the reflective marker 120 is the target bracket 110, and the other side is the limiting edge 115. The limiting edge 115 and the target bracket 110 are used to limit the reflective marker 120, so as to prevent the reflective marker 120 from falling from the direction of the second surface 113.

[0068] Optionally, the reflective marker 120 is fixed to the mounting groove 114 through a matching component, as shown in Figures 2 and 14. Of course, in other embodiments of the present application, the matching component can also be a matching protrusion or a mounting member capable of interference fit, and the reflective marker 120 is directly installed in the mounting groove 114 through the matching component.

[0069] Referring to Figures 2 and 4 to 7, in the first embodiment of the present application, the mating component is an elastic buckle 124, one end of the elastic buckle 124 is connected to the reflective mark 120, and there is a preset distance between the elastic buckle 124 and the reflective mark 120. The elastic buckle 124 can be deformed and contracted under the action of squeezing to move into or out of the installation groove 114.

[0070] The elastic buckle 124 is located on one side of the reflective mark 120. In the absence of external force, there is a certain distance between the elastic buckle 124 and the reflective mark 120. When an external force squeezes the elastic buckle 124, the elastic buckle 124 can be deformed and contracted, and move toward the reflective mark 120. At this time, the elastic buckle 124 is close to the reflective mark 120. When the external force is removed from the elastic buckle 124, the elastic force of the elastic buckle 124 causes the elastic buckle 124 to reset in a direction away from the reflective mark 120. It can be understood that the elastic buckle 124 can be deformed and contracted under the action of external force to reduce the shape and size of the elastic buckle 124 and the reflective mark 120, thereby facilitating the later installation of the elastic buckle 124 and the reflective mark 120 into the installation groove 114, as shown in (a) of FIG. 7. Subsequently, the elastic buckle 124 can be gradually installed into the installation groove 114, as shown in FIG. 7 (b). When the elastic buckle 124 is completely installed in the installation groove 114 , the elastic buckle 124 is no longer squeezed, that is, the elastic buckle 124 is no longer subjected to external force and returns to the initial state, as shown in FIG. 7 ( c ).

[0071] In this embodiment, the matching component is an elastic buckle 124, and the fixing component is an installation groove 114. The reflective marker 120 having the elastic buckle 124 is installed in the installation groove 114 of the second surface 113 of the target bracket 110. The elastic buckle 124 is squeezed and deformed under the action of external force to facilitate the installation of the reflective marker 120 in the installation groove 114. After the reflective marker 120 is installed in place, the elastic buckle 124 is reset and abuts against the inner wall of the installation groove 114. In this way, the reflective marker 120 can be reliably installed in the installation groove 114 through the cooperation of the elastic buckle 124 and the limiting edge 115. At the same time, the reflective marker 120 is installed in the target bracket 110 through the cooperation of the elastic buckle 124 and the installation groove 114, which can achieve quick and easy installation and removal, and there is no relative movement during use, see Figures 2, 4 to 7.

[0072] Optionally, one end of the elastic buckle 124 is connected to the reflective marker 120, and the other end of the elastic buckle 124 is a free end, that is, in the absence of external force, the preset spacing between the elastic buckle 124 and the reflective marker 120 has a gap, so that the elastic buckle 124 can be compressed and deformed, thereby facilitating the reflective marker 120 to be installed in the installation groove 114. Optionally, the matching part of the reflective marker 120, the elastic buckle 124 and the installation groove 114 adopts an arc profile. The arc-shaped elastic buckle 124 can make the reflective marker 120 clamped in place by its own elastic contraction during the installation and removal process. After being installed in place, it can be fixed in the installation groove 114 by the elastic extrusion of this part.

[0073] Referring to FIGS. 2 and 4 to 7 , in one embodiment, the mounting groove 114 includes a notch 1141 and a mounting area 1142. The notch 1141 is connected to the mounting area 1142. The size of the notch 1141 is smaller than the size of the mounting area 1142. The shape of the mounting area 1142 matches the shape of the reflective marker 120 having the elastic buckle 124. The notch 1141 is the opening position of the mounting groove 114. The mounting area 1142 is the main body of the mounting groove 114. The notch 1141 is connected to the mounting area 1142. When the reflective marker 120 is installed in the mounting groove 114, the reflective marker 120 is first located in the notch 1141. At this time, the elastic buckle 124 contacts the inner wall of the notch 1141 and is deformed and contracted to abut against the reflective marker 120. Subsequently, the reflective mark 120 is pushed into the installation area 1142 through the notch 1141 , and the elastic buckle 124 is reset in the installation area 1142 and abuts against the inner wall of the installation area 1142 .

[0074] In the absence of external force, the elastic buckle 124 is in an open state, as shown in FIG7 (a). During the insertion process, the elastic buckle 124 touches the inner wall of the slot 1141 of the installation slot 114. The thrust is continuously applied, and the elastic buckle 124 is squeezed by the slot 1141. The elastic buckle 124 shrinks as shown in FIG7 (b), and finally shrinks to the width of the reflective mark 120 equal to the width of the slot 1141. The thrust is continuously applied, and the reflective mark 120 passes through the narrowest position of the slot 1141 and enters the final installation area 1142. The reflective mark 120 is reset to the open state, as shown in FIG7 (c). In the absence of external force or slight external force, the elastic buckle 124 cooperates with other non-elastic areas of the reflective mark 120 to achieve positioning and fixation, ensuring that the reflective mark 120 does not fall off from the installation slot 114 during use. After use, apply pulling force to the exposed position of the reflective mark 120 by hand and pull it toward the outside of the slot 1141. Similarly, the slot 1141 applies squeezing force to the elastic buckle 124, and the elastic buckle 124 deforms and contracts. The reflective mark 120 passes through the narrowest position of the slot 1141 and is removed from the installation slot 114 to complete the removal.

[0075] Referring to FIG. 7 , in one embodiment, the installation slot 114 further includes a guide surface 1143, which is disposed at the end of the slot 1141. The guide surface 1143 is used to squeeze the elastic buckle 124 so that the elastic buckle 124 can be deformed and contracted and enter the installation area 1142 through the slot 1141. In other words, the slot 1141 is smoothly transitioned by the guide surface 1143, which facilitates squeezing the elastic buckle 124 and further facilitates the installation of the reflective marker 120.

[0076] As shown in FIG6 (a), the aperture size of the light-transmitting hole 111 in the target bracket 110 is A1. As shown in FIG6 (c), the outer dimension of the mounting groove 114 of the target bracket 110 for mounting, matching, and clamping the reflective marker 120 is C1. As shown in FIG6 (b), the thickness size of the mounting groove 114 is L1, and the thickness size of the reflective marker 120 is L2. As shown in FIG6 (d), the minimum diameter size of the effective reflective area 102 of the reflective marker 120 is A2, and the outer dimension of the reflective marker 120 is C2. The present application requires that during use, the effective reflective area 102 of the reflective marker 120 can cover the light-transmitting hole 111. Therefore, under the permission of the structure of the present application, the low assembly accuracy requirements of the thickness L1 of the mounting groove 114 and the thickness L2 of the reflective marker 120 can be achieved, and when the size difference between the effective reflective area 102A2 and the aperture A1 of the light-transmitting hole 111 is increased, the requirements of the matching dimensions C1 and C2 can be relaxed.

[0077] Referring to FIG8 , in one embodiment, the fixing component is a cap 116, and the matching component is a mounting hole 125, and the mounting hole 125 is fixedly mounted with the cap 116. In other words, the fixing component and the matching component are in the form of a structure in which a protrusion matches a hole position. As shown in FIG8 , the cap 116 is installed in the mounting hole 125, and the position of the cap 116 in the mounting hole 125 is adjusted to achieve reliable installation of the reflective marker 120. Of course, in other embodiments of the present application, the cap 116 and the mounting hole 125 can also be installed in an interference fit manner.

[0078] Referring to Figures 8 to 13, in the second embodiment of the present application, the cap 116 includes a fixing section 1161 and a limiting section 1162, the fixing section 1161 is arranged on the second surface 113, the limiting section 1162 is arranged on the fixing section 1161, and protrudes circumferentially from the fixing section 1161, the mounting hole 125 includes a first hole section 1251 and a second hole section 1252, the diameter of the first hole section 1251 is larger than the diameter of the second hole section 1252, the first hole section 1251 is arranged corresponding to the limiting section 1162 and allows the limiting section 1162 to pass through, the second hole section 1252 allows the fixing section 1161 to pass through, and is smaller than the cross-sectional size of the limiting section 1162.

[0079] The cap 116 is divided into two parts, one part is a fixed section 1161, and the other part is a limiting section 1162. One end of the fixed section 1161 is arranged on the second surface 113 of the target bracket 110, and the fixed section 1161 is arranged to protrude from the second surface 113, and the limiting section 1162 is installed on the other end of the fixed section 1161. The circumference of the limiting section 1162 protrudes from the circumference of the fixed section 1161. In other words, the limiting section 1162 and the fixed section 1161 are in a T-shaped structure, and the diameter of the limiting section 1162 is larger than the diameter of the fixed section 1161.

[0080] Furthermore, in order to cooperate with the limiting section 1162 and the fixing section 1161, the mounting hole 125 of the matching component is provided with a first hole section 1251 and a second hole section 1252, and the diameter of the first hole section 1251 is larger than the diameter of the second hole section 1252. Furthermore, the limiting section 1162 can move into or out of the first hole section 1251, but cannot move into or out of the second hole section 1252, and the fixing section 1161 can move into or out of the first hole section 1251 and the second hole section 1252. In this way, when installing the reflective marker 120, the first hole segment 1251 is aligned with the limiting segment 1162, the limiting segment 1162 passes through the first hole segment 1251, and the first hole segment 1251 is sleeved on the fixed segment 1161, and then the reflective marker 120 is moved so that the second hole segment 1252 is sleeved on the fixed segment 1161. At this time, the second hole segment 1252 cannot allow the limiting segment 1162 to pass through, and the reflective marker 120 can be reliably installed on the target bracket 110.

[0081] That is, the reflective marker 120 has a combination structure of a large hole and a small hole, and the cap 116 passes through the reflective marker 120 at one end of the large hole, so that the reflective marker 120 moves, and the limiting section 1162 of the cap 116 is inserted into the small hole to fix the reflective marker 120 during use. Optionally, the first hole section 1251 and the second hole section 1252 are arranged in an arc shape. In this way, rotating the reflective marker 120 can make the fixing section 1161 cooperate with the first hole section 1251 and the second hole section 1252, so as to realize the quick disassembly and assembly of the reflective marker 120, which is convenient for use, and at the same time, it can also prevent the reflective marker 120 from falling off.

[0082] After use, the installation process is reversed, the reflective marker 120 is rotated to align the cap 116 with the first hole section 1251, and then the cap 116 passes through the first hole section 1251 to remove the reflective marker 120. Optionally, each reflective marker 120 has two groups of mounting holes 125, and accordingly, two groups of caps 116 are arranged at the position of the second surface 113 of the target bracket 110 corresponding to the reflective marker 120, and each cap 116 corresponds to one mounting hole 125.

[0083] Referring to FIG. 14 and FIG. 15 , in the third embodiment of the present application, the fixing component and the matching component are magnetic attracting components 126. The matching component of the magnetic attracting component 126 is arranged on the reflective mark 120, and the fixing component of the magnetic attracting component 126 is arranged on the target bracket 110. The two magnetic attracting components 126 are adsorbed to fix the reflective mark 120. Optionally, the magnetic attracting component 126 includes a magnet and an iron plate, a magnet and a magnet, or other magnetic structures.

[0084] Moreover, the magnetic attraction member 126 can also cooperate with the mounting groove 114 and the limiting edge 115 mentioned above. The reflective marker 120 is inserted along the notch 1141 of the mounting groove 114 of the target bracket 110. When inserted into the use position, the magnetic attraction member 126 of the reflective marker 120 and the magnetic attraction member 126 of the target bracket 110 are just opposite to each other, so as to achieve the maximum magnetic attraction force. During use, when the force in the removal direction of the reflective marker 120 is less than the magnetic force, the reflective marker 120 maintains its position and is used normally. When removing, a removal force greater than the magnetic force is applied, and the reflective marker 120 is pulled out of the mounting groove 114. Of course, in other embodiments of the present application, the reflective marker 120 is directly fixed to the target bracket 110 by means of the magnetic attraction member 126, and there is no need to design the mounting groove 114.

[0085] 16 and 17 , in the fourth embodiment of the present application, one of the fixing component and the matching component is a smooth surface and the other is an adhesive 127. The adhesive 127 is disposed on the surface of the reflective marker 120, and the second surface 113 of the target bracket 110 is a smooth surface at least in the area around the light-transmitting hole 111, and the adhesive 127 is bonded to the smooth surface to achieve the installation of the reflective marker 120.

[0086] Optionally, the adhesive 127 may also cooperate with the mounting groove 114 and the limiting edge 115 mentioned above. The reflective marker 120 is inserted along the notch 1141 of the mounting groove 114 of the target bracket 110. When inserted into the use position, the adhesive 127 of the reflective marker 120 and the smooth surface of the target bracket 110 are bonded and matched. During use, when the force in the pull-out direction of the reflective marker 120 is less than the adhesive force, the reflective marker 120 maintains its position and is used normally. When removing, a pull-out force greater than the adhesive force is applied, and the reflective marker 120 is pulled out of the mounting groove 114. Of course, in other embodiments of the present application, the reflective marker 120 is directly fixed to the target bracket 110 by the adhesive 127, and there is no need to design the mounting groove 114.

[0087] Referring to FIG. 18 , in the fifth embodiment of the present application, the reflective marker 120 has a plurality of reflective regions 102, and each light-transmitting hole 111 corresponds to a reflective region 102. In other words, the reflective marker 120 is an integral structural member, and a plurality of light-transmitting holes 111 are covered by a reflective marker 120. A plurality of reflective regions 102 are arranged on a reflective marker 120, and after the reflective marker 120 is mounted on the target bracket 110, the plurality of reflective markers 120 correspond to the plurality of light-transmitting holes 111, respectively.

[0088] In this embodiment, the reflective marker 120 is detachably mounted to the target bracket 110 through the matching of the cap 116 and the mounting hole 125. The specific mounting principle has been mentioned above and will not be repeated here. Of course, in other embodiments of the present application, the elastic buckle 124 in the first embodiment, the magnetic suction member 126 in the third embodiment, the adhesive member 127 in the fourth embodiment, or other interference fit methods can also be used to fix it to the target bracket 110, which will not be repeated here.

[0089] Referring to FIG. 2 , in one embodiment, the target bracket 111 further has a light-transmitting cover, which is arranged around the light-transmitting hole 111 and is a trumpet-shaped mouth 1111. The diameter of the light-transmitting cover on the first surface 112 is greater than the diameter of the light-transmitting cover on the second surface 113. In other words, the light-transmitting cover is an open structure on the first surface 112 of the target bracket 110. The trumpet-shaped mouth 1111 has the function of restricting incident and reflected light, which can facilitate light to pass through the light-transmitting hole 111 into the reflective area 102, and also facilitate the reflective area 102 to reflect light through the light-transmitting hole 111, thereby facilitating identification by the navigation device 200.

[0090] It can be understood that the navigation device 200 includes a binocular vision measurement device 230, which tracks and locates the light reflected by the reflective mark 120 in the optical positioning target 100. As shown in Figures 19 and 20, the single-hole positioning principle of the binocular vision measurement device 230 is to first image the light transmitted through the light-transmitting hole 111 in the binocular camera 231 of the binocular vision measurement device 230, calculate the coordinate position of the center of the imaging pattern in the entire imaging photo according to the image fitting, and then calculate the spatial position of the single light-transmitting hole 111 under the binocular vision measurement device 230 in combination with the relative spatial position of the binocular camera 231.

[0091] One of the reasons that affect the positioning accuracy of the reflective marker 120 is that the greater the difference between the actual single-hole imaging pattern and the single-hole prototype set in the system, the greater the difference in the recognized position. Therefore, setting the bell-mouth 1111 structure can prevent the position and posture of the light-transmitting hole 111 and the binocular camera 231 from being too different, resulting in too large changes in the imaging pattern or insufficient light intensity, causing too large errors in spatial position recognition. When the light-transmitting hole 111 is at the bell-mouth 1111 position a, the angle between the binocular camera 231 and the light-transmitting hole 111 is too large, and the light projected by the light-transmitting hole 111 cannot be captured by the binocular camera 231, and the spatial position cannot be recognized; when the light-transmitting hole 111 is at the bell-mouth 1111 position c, the relative position deviation between the binocular camera 231 and the light-transmitting hole 111 is too large, and the light projected by the light-transmitting hole 111 cannot be fully captured by the binocular camera 231 or the captured light intensity is insufficient, and the spatial position cannot be recognized. Therefore, only when the light hole 111 is at position b of the horn mouth 1111 and the boundary of the light hole 111 can be captured by the binocular camera 231, the spatial position of the light hole 111 can be accurately identified.

[0092] As shown in FIG20, after using the binocular vision measurement device 230, the relative position of the binocular camera 231 is known and introduced as a reference. Through the imaging of the binocular camera 231, the relative positions of the different imaging of the same reflective area 102 are compared by an algorithm, and finally the spatial coordinates are fitted and calculated to complete the depth of field measurement. However, if the binocular camera 231 is on the same plane, the accuracy of the depth of field measurement is relatively poor. For the light-transmitting hole 111 without a horn mouth 1111, as shown in a and b of FIG20, when the angle between the reflective area 102 and the plane of the binocular camera 231 is large, the depth of field of the reflective area 102 is difficult to be accurately calculated, which will eventually lead to an increase in the spatial coordinate error of the reflective plane. After the horn mouth 1111 is added to the light-transmitting hole 111, as shown in c of FIG20, when the angle between the reflective area 102 and the camera plane is large, the horn mouth 1111 will block the line of sight of the binocular camera 231, and finally the imaging cannot be captured and the position cannot be identified, thus avoiding the occurrence of a result with a large recognition error.

[0093] Referring to FIG. 2 , in one embodiment, the light-transmitting hole 111 is circular, elliptical or polygonal. It is understandable that the shape of the light-transmitting hole 111 is not limited in principle, as long as it can facilitate the incidence and reflection of light and is easy to process and shape. Preferably, the shape of the light-transmitting hole 111 is circular, so as to facilitate positioning according to the center of the circle. Of course, in other embodiments of the present application, the shape of the light-transmitting hole 111 can also be regular or irregular shapes such as elliptical, polygonal, or a combination of arc and curve.

[0094] 2 and 3, in one embodiment, the mounting plate 121 has a recessed mounting space, the reflective layer 122 and the protective layer 123 are arranged in the mounting space, and the surface of the protective layer 123 is flush with the surface of the mounting plate 121. In this way, the reflective marker 120 is in the shape of a flat plate as a whole, and there are no protrusions or depressions on its surface, which facilitates the reflective marker 120 to be mounted on the target bracket 110 and ensures the reflective effect.

[0095] Optionally, the reflective layer 122 is reflective paper. Optionally, the reflective mark 120 further includes a reflective paper adhesive layer 129, and the reflective layer 122 is fixed to the mounting plate 121 through the reflective paper adhesive layer 129 to ensure that the reflective layer 122 is reliably fixed to the mounting plate 121. Optionally, the reflective layer 122 is a reflective coating. Optionally, the reflective mark 120 further includes a reflective paper substrate 128, and the reflective paper substrate 128 is disposed between the reflective paper adhesive layer 129 and the reflective layer 122, and the reflective layer 122 is supported by the reflective paper substrate 128. Optionally, the reflective layer 122 has an adhesive layer, and the reflective layer 122 fixes the protective layer 123 through the adhesive layer to prevent the position of the protective layer 123 from shifting.

[0096] Optionally, the area of ​​the reflective layer 122 is larger than the area of ​​the light-transmitting hole 111 on the second surface 113. The area of ​​the reflective layer 122 is the reflective area 102. Thus, after the reflective marker 120 is mounted on the target bracket 110, the reflective area 102 of the reflective marker 120 can completely cover the range of the light-transmitting hole 111.

[0097] Referring to FIG. 21 , in one embodiment, the reflective layer 122 is made of a micro-reflective bead coating, a prism coating, or other special-shaped reflective surface structures. In this way, the surface of the reflective layer 122 is a rough surface, and the whole surface can achieve the function of full-angle diffuse reflection. Optionally, the reflective layer 122 is evenly coated, so as to meet the demand for uniform diffuse reflection.

[0098] The measurement principle of the binocular vision measuring device 230 is to rely on the binocular camera 231 to capture the imaging of the active light source 232 or the object reflecting other light sources 232, and finally calculate the spatial position and posture of the light source 232 or the object by identifying and calculating the contour information of the imaging in the camera. The present application adopts the method of capturing the reflected light of the reflective marker 120 to identify the spatial position and posture of the reflective marker 120. During the use of the imaging of reflected light, the binocular camera 231 and the light source 232 will have various relative positions as shown in Figure 19. This requires that at various relative positions, the light reflected by the reflective marker 120 has sufficient intensity to enter the camera to meet the requirements of imaging and recognition. Therefore, the reflective marker 120 adopts the principle of diffuse reflection on the entire reflective layer 122, and can reflect at all angles under the incident light at various angles. The diffuse reflection of the surface of the reflective marker 120 can be achieved by the reflective surface meeting certain requirements, such as the a-glass bead coated reflective paper in Figure 21 or the b-prism coated reflective paper in Figure 21.

[0099] Referring to FIG. 22 , in one embodiment, the target support 110 further includes a plurality of feature points 117, and the number and / or shape of the plurality of feature points 117 are different. The feature points 117 include, but are not limited to, feature schematic diagrams such as points, lines, surfaces, holes, grooves, and cone tips. The plurality of feature points 117 are distributed on the target support 110, and the spatial position of the target support 110 is determined by combining different feature points 117.

[0100] Exemplarily, the reflective marker 120 is mounted on the target bracket 110, and all the feature points 117 can be directly processed on the target bracket 110 like the tapered hole on the target bracket 110, or can be processed on other rigid bodies of the target bracket 110 like the hole features, surface features, line features, and groove features on the target bracket 110, and rigidly connected to the target bracket 110. When in use, the multiple feature points 117 can assist the target bracket 110 in identifying and determining the spatial position and posture (x, y, z, a, b, c), and the relative position and posture (x, y, z, a, b, c) of each feature point 117 and the target bracket 110 determined by the design or other measurement equipment can be used to identify and determine the spatial position and posture (x, y, z, a, b, c) of each feature point 117 and the target bracket 110. r ,y r ,z r ,a r ,b r ,c r ), and finally the spatial coordinates and posture of the required features can be obtained through calculation (xx r ,yy r ,zz r ,aa r ,bb r ,cc r ).

[0101] The optical positioning target 100 of the present application protects the reflective layer 122 of the reflective mark 120 through the protective layer 123, which can ensure that the reflective layer 122 does not fall off in the case of accidental touch or simple wiping, thereby ensuring the reflective effect of the reflective mark 120. In addition, the reflective layer 122 and the protective layer 123 are arranged on the mounting plate 121, and cooperate with the light-transmitting hole 111 of the target bracket 110 to facilitate the navigation device 200 to identify and locate, reduce the dimensional accuracy requirements of the reflective mark 120, and thus reduce the processing difficulty and cost. At the same time, the reflective mark 120 and the target bracket 110 can be quickly disassembled and assembled through the fixing parts and the matching parts, which can simplify the complexity of the assembly of the two, facilitate the installation operation, and reduce the production cost.

[0102] The positioning accuracy of the navigation device 200 can be ensured by the processing accuracy of the target bracket 110 and the light-transmitting hole 111. The reflective marker 120 only needs to ensure that the reflective area 102 covers the light-transmitting hole 111. The installation error of the reflective marker 120 and the target bracket 110 will not affect the positioning accuracy, which reduces the requirements for the installation matching surface of the target bracket 110 and the reflective marker 120, thereby reducing the processing accuracy and production cost. In addition, the reflective marker 120 uses a flat reflective layer 122, which also reduces the design requirements of the reflective marker 120 and reduces the processing requirements. A light-transmitting protective layer 123 is pasted on the reflective layer 122 to ensure that the plane after the protective layer 123 is pasted meets certain flatness requirements and protects the reflective layer 122. The overall change of the reflective marker 120 and the optical positioning target bracket 110 reduces the requirements for material performance, makes it easier to reuse or use it once, and reduces the cost. The overall shape of the reflective marker 120 can also be designed by cooperating with the fixing method of the target bracket 110. A simple thin plate structure can be used, and the reflective marker 120 can be clamped at the rear of the light-transmitting hole 111 through the mounting groove 114. The positioning accuracy is guaranteed by the size of the target bracket 110 and the light-transmitting hole 111. The reflective marker 120 only needs to ensure that the reflective surface covers the light-transmitting hole 111 and does not fall off during use.

[0103] Referring to FIG. 1 and FIG. 23 to FIG. 25 , the present application further provides a surgical system, including a navigation device 200, a robotic arm 300, and an optical positioning target 100 as in any of the above embodiments, wherein the navigation device 200 includes a navigation host 210, a display 220, and a binocular vision measurement device 230, wherein the optical positioning target 100 can locate the lesion site and / or the end tool 310 at the end of the robotic arm 300, and the binocular vision measurement device 230 is used to identify the rigid mark of the optical positioning target 100 and record the pose information. The navigation host 210 receives the pose information and processes it into the pose information of the lesion site and / or the end tool 310 in the coordinate system of the binocular vision measurement device 230.

[0104] The surgical system of the present application is an orthopedic surgical system, which can be used in knee replacement surgery. The tibia, femur, and end tool 310 are positioned by an optical positioning target 100, and the binocular vision measurement device 230 of the tracking device is used to realize auxiliary positioning of the patient and the surgical tool during the operation. Optionally, the binocular vision measurement device 230 includes a binocular camera 231, a light source 232, and a binocular host 233. The binocular camera 231 is arranged on the binocular body and includes a left camera 2311 and a right camera 2312. The left camera 2311 and the right camera 2312 are symmetrically arranged on both sides of the light source 232. The binocular vision measurement device is arranged on the navigation host 210 of the navigation device 200.

[0105] 23 to 25 , the optical positioning target 100 cooperates with the binocular vision measurement device 230 to realize the positioning of the spatial position and posture of the target. The reflective marker 120 is installed on the target bracket 110. The reflective marker 120 can reflect the light of a certain band actively emitted by the binocular vision measurement device 230 or the light of the band in the environment to the binocular vision measurement device 230. The binocular vision measurement device 230 combines its own partial hardware structure, calculates the 2D coordinate data of the single reflective marker 120 recognized by the binocular camera 231, and obtains the 3D coordinate of the single reflective marker 120 in space. By simultaneously calculating the 3D coordinates of three or more reflective markers 120 on the target bracket 110, the position and posture of the target bracket 110 in space are finally obtained.

[0106] The binocular camera 231 can simultaneously obtain the data of the imaging profile of the reflective mark 120 (Xm left, Ym left) (L left, W left, etc.) and (Xm right, Ym right) (L right, W right, etc.). Assuming that a spatial coordinate system is established with a point O on the left camera 2311 as the origin, the relative coordinate conversion parameters of the reference point O' of the right camera 2312's own coordinate system in the coordinate system of the left camera 2311 are the translation vector M (a, b, c) and the rotation matrix R (α, β, γ). The coordinates of the spatial coordinate system of the reflective mark 120 established by a point on the left camera 2311 in the binocular vision measurement device 230 are P (X, Y, Z). The model relationship established by the above data is expressed by the following formula:

[0107]

[0108] When the relative position of the center point of the reflective mark 120 in the photo is obtained by converting and fitting the contour, the contour can be simply considered as a curve connecting continuous points (connected to the border) with the same color or grayscale. In the process of finding the contour, a binary image is generally used, which requires thresholding or Canny boundary detection of the original color or grayscale difference image. The final result can be understood as finding the contour of a white object in a black background. When calculating the contour, the actual contour is not required, but only an approximate polygon close to the contour. The polygon approximating the contour can be fitted by a variety of methods, such as the minimum enclosing rectangle, the minimum enclosing circle, the best fitting ellipse, the best fitting straight line, the minimum enclosing triangle and the approximation polygon. After fitting, the center point position coordinates of the contour in the photo can be obtained (X m , Y m ) and the characteristic parameters of the contour (L, W, etc.).

[0109] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An optical positioning target, characterized in that: include: a target support, the target support having a fixing component located on the second surface; as well as The reflective marker comprises a mounting plate and a reflective layer, wherein the reflective layer is arranged on the mounting plate, and the reflective marker has a matching component corresponding to the fixing component, wherein the matching component cooperates with the fixing component to enable the reflective marker to be pluggable and installed on the target bracket, and the reflective layer can be identified by the navigation device.

2. The optical positioning target according to claim 1, characterized in that: The target bracket has a light-transmitting hole arranged on the first surface, and the reflective layer of the reflective mark is exposed through the light-transmitting hole to form a reflective area; The target bracket has a light-transmitting cover, which is arranged around the light-transmitting hole and is a trumpet-shaped, and the diameter of the light-transmitting cover on the first surface is larger than the diameter on the second surface; and / or the light-transmitting hole is circular, elliptical or polygonal; and / or the reflective layer is reflective paper, and the reflective layer is affixed to the target position of the mounting plate.

3. The optical positioning target according to claim 1, characterized in that: The fixing component is a card cap, and the matching component is a mounting hole, and the mounting hole is used to fix and mount the card cap.

4. The optical positioning target according to claim 3, characterized in that: The clamping cap includes a fixing section and a limiting section, the fixing section is arranged on the second surface, the limiting section is arranged on the fixing section and protrudes circumferentially from the fixing section, the mounting hole includes a first hole section and a second hole section, the diameter of the first hole section is larger than the diameter of the second hole section, the first hole section is arranged corresponding to the limiting section and allows the limiting section to pass through, the second hole section allows the fixing section to pass through and is smaller than the cross-sectional size of the limiting section.

5. The optical positioning target according to claim 1, characterized in that: The fixing component includes an installation groove and a limiting edge, the installation groove is recessed in the second surface, the limiting edge is arranged on the second surface and is located on the side of the installation groove, and the matching component is plugged and installed in the installation groove and is limited by the limiting edge.

6. The optical positioning target according to claim 5, characterized in that: The matching component is an elastic buckle, one end of which is connected to the reflective mark, a preset distance exists between the elastic buckle and the reflective mark, and the elastic buckle can be deformed and contracted under the extrusion to move into or out of the installation groove.

7. The optical positioning target according to claim 6, characterized in that: The mounting groove includes a notch and a mounting area, the notch is connected to the mounting area, the size of the notch is smaller than the size of the mounting area, and the shape of the mounting area is adapted to the shape of the reflective mark with the elastic buckle.

8. The optical positioning target according to claim 7, characterized in that: The installation slot also includes a guide surface, which is arranged at the end of the slot, and the guide surface is used to squeeze the elastic buckle so that the elastic buckle can be deformed and contracted and enter the installation area through the slot.

9. The optical positioning target according to claim 1 or 5, characterized in that: The fixing component and the matching component are magnetically attracted components, or one of the fixing component and the matching component has a smooth surface and the other is an adhesive component.

10. The optical positioning target according to any one of claims 1 to 8, characterized in that: The target support has through light-transmitting holes, the number of the light-transmitting holes is at least three, the hole distance between any two of the light-transmitting holes is a fixed value, and the hole distances are different; Each of the light-transmitting holes corresponds to one of the reflective marks, or the reflective mark has a plurality of reflective areas, and each of the light-transmitting holes corresponds to one of the reflective areas.

11. The optical positioning target according to any one of claims 1 to 8, characterized in that: The reflective mark also includes a protective layer, and the protective layer covers the reflective layer.

12. The optical positioning target according to any one of claims 1 to 8, characterized in that: The target support also includes a plurality of characteristic points, and the number and / or shape of the plurality of characteristic points are different.

13. A surgical system, characterized in that: The invention comprises a navigation device, a robotic arm and an optical positioning target as claimed in any one of claims 1 to 12, wherein the navigation device comprises a navigation host, a display and a binocular vision measurement device, the optical positioning target can locate the lesion site and / or the end tool of the robotic arm, and the binocular vision measurement device is used to identify the rigid mark of the optical positioning target and record the position information; The navigation host receives the position and posture information, and processes it into the position and posture information of the lesion site and / or the end tool in the coordinate system of the binocular vision measurement device.

Images