Positioning marker, positioning probe, optical tracking and positioning system and surgical robot

Abstract

The utility model discloses a positioning marker, a positioning probe, an optical tracking and positioning system and a surgical robot. The positioning marker comprises a positioning mark and a mark base body, the positioning mark is arranged on the mark base body, the positioning mark comprises a light reflecting body and a non-light reflecting body, the light reflecting body is provided with a light reflecting single body, the non-light reflecting body is provided with a non-light reflecting single body, and the light reflecting body and the non-light reflecting body intersect to form corner points used for recognition of a positioning system. A positioning probe comprises a positioning marker and a probe base body. An optical tracking and positioning system comprises an image acquisition device and a positioning marker. A surgical robot comprises a control trolley, a mechanical arm and an optical tracking and positioning system. The technical problems that in the optical positioning process, due to the fact that a positioning marker pattern is not reasonable enough and is prone to being interfered by ambient light, recognition angular points are not clear enough, and the optical positioning precision is low are solved, and the positioning precision can be remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular, to a positioning marker, a positioning probe, an optical tracking positioning system and a surgical robot. Background Art

[0002] In surgical navigation systems, especially surgical robot navigation systems, there are generally three systems working together: the navigation system - the "brain", the robotic arm - the "hand", and the optical tracking locator - the "eye". The surgical navigation system is used to achieve functions such as surgical navigation, surgical planning, surgical positioning, and surgical registration. The robotic arm, as an executable mechanism, can operate patients more accurately in real time, and the optical tracking locator can assist in precise positioning, so that doctors can perform more accurate and minimally invasive surgery on patients.

[0003] Currently, the positioning device is generally composed of an optical camera, a bracket and auxiliary tools. The optical camera is installed on the bracket, and the optical camera collects information of the target object from top to bottom. The auxiliary tools generally have positioning markers to assist in positioning and establish the coordinate system conversion relationship between the patient, the optical camera and the medical image, and obtain the patient's spatial coordinates in space.

[0004] Existing positioning markers generally use visible light QR codes pasted on flat objects, such as black and white blocks. This method is greatly affected by ambient light. If the light is dark, the recognition error is large. At this time, if the light is increased, the temperature of the surrounding environment and the positioning instrument will increase, which will also affect the recognition accuracy. If the light is too strong, it is easy to cause exposure, so that the coordinates of the identified corner points will also be unclear. In summary, the present invention will solve the above technical problems and solve the technical problems that in the optical positioning process, the positioning marker pattern is not reasonable and is easily disturbed by ambient light, resulting in unclear corner point recognition and low optical positioning accuracy. Summary of the invention

[0005] In order to solve the above-mentioned technical problems, the present application provides a positioning marker, a positioning probe, an optical tracking and positioning system and a surgical robot, so as to at least solve the technical problems that during the optical positioning process, the positioning marker pattern is not reasonable and is easily disturbed by ambient light, resulting in unclear identification of corner points and low optical positioning accuracy. The present technical solution can improve accuracy, has strong resistance to ambient light interference, has wide practicability, is applicable to many scenarios, and has a small size.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a positioning marker is provided, including: a positioning mark and a marking substrate, the positioning mark is arranged on the marking substrate, the positioning mark is coated or attached to the marking substrate, the positioning mark includes a reflective body and a non-reflective body, the reflective body is provided with a plurality of reflective monomers, the non-reflective body is provided with a plurality of non-reflective monomers, the reflective body and the non-reflective body intersect to form a corner point, and the corner point is used for identification and positioning by a positioning system.

[0007] Preferably, the reflector is made of flexible material.

[0008] Preferably, the surface of the reflector is covered with reflective particles arranged in a dot matrix.

[0009] Preferably, there is at least one positioning mark on the marking substrate; an "X-shaped" corner point formed between two adjacent reflective monomers and two adjacent non-reflective monomers;

[0010] Alternatively, a "V-shaped" corner point is formed between the reflective monomer and the two adjacent non-reflective monomers.

[0011] The reflective monomer and the non-reflective monomer are in any one of polygonal, sectoral, circular and heterogeneous shapes.

[0012] Preferably, the marking substrate comprises: a calibration plate and / or a calibration metal piece, and the shape of the marking substrate is any one of circular, elliptical, polygonal, and irregular.

[0013] Preferably, the reflector comprises, from top to bottom, an ink layer, a light-transmitting film and a light-reflecting layer, the ink layer is coated on the light-transmitting film, and the light-transmitting film is bonded to the light-reflecting layer.

[0014] According to another aspect of the present application, a positioning probe is provided, comprising a probe substrate and a positioning marker, wherein the positioning marker is fixed on the probe substrate.

[0015] Preferably, the probe base comprises: a holding piece and a probe piece, the holding piece and the probe piece are connected, the positioning marker is mounted on the holding piece, and there is at least one positioning marker.

[0016] Preferably, the probe member is provided with an arc-shaped or spherical probe structure at the end away from the holding member.

[0017] According to another aspect of the present application, an optical tracking and positioning system is provided, including an image acquisition device and a positioning marker, wherein the image acquisition device is used to identify the positioning marker placed on a target object.

[0018] Preferably, the optical tracking and positioning system also includes a line laser, which is electrically connected to an image acquisition device. The line laser is used to scan the target object, and the image acquisition device is used to obtain a contour image of the target object and a laser line emitted by the line laser.

[0019] Preferably, the optical tracking and positioning system further comprises a rotating mechanism, the line laser is mounted on the rotating mechanism, and the rotating mechanism rotates the line laser to scan the target object;

[0020] Alternatively, the line laser and the rotating mechanism are both installed on the image acquisition device, a reflector is provided on the rotating mechanism, and the driving mechanism drives the reflector to rotate to reflect the laser line emitted by the line laser onto the target object.

[0021] According to another aspect of the present application, a surgical robot is provided, including a control console trolley, a robotic arm and an optical tracking and positioning system, wherein the control console trolley is connected to the robotic arm, and the control console trolley controls the movement of the robotic arm; the optical tracking and positioning system is connected to the control console trolley, and data signals collected by the optical tracking and positioning system are transmitted to the control console trolley, and the control console trolley controls the movement of the robotic arm.

[0022] In the embodiment of the present application, a positioning mark and a marking substrate are used, the positioning mark is arranged on the marking substrate, the positioning mark is coated or attached to the marking substrate, the positioning mark includes a reflector and a non-reflector, the reflector is provided with a plurality of reflective monomers, the non-reflector is provided with a plurality of non-reflective monomers, the reflector and the non-reflector intersect to form a corner point, and the corner point is used for the positioning system to identify and locate. The present application solves the technical problem that the positioning marker pattern is not reasonable enough and is easily disturbed by ambient light during the optical positioning process, resulting in unclear identification of the corner point and low optical positioning accuracy. The present application can significantly improve the positioning accuracy.

[0023] This technical solution can significantly improve accuracy, has strong resistance to ambient light interference, low exposure, wide practicability, many applicable scenarios, and a small size. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The schematic embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0025] Figure 1 This is a schematic diagram of the first cross structure of the positioning marker according to an embodiment of the present application;

[0026] Figure 2 is a schematic diagram of a second X-shaped structure of a positioning marker according to an embodiment of the present application;

[0027] Figure 3 This is a schematic diagram of a third V-shaped structure of a positioning marker according to an embodiment of the present application;

[0028] Figure 4 This is a schematic diagram of an arc-shaped cross structure of the fourth structure of the positioning marker according to an embodiment of the present application;

[0029] Figure 5 is a schematic diagram of the positioning probe structure according to an embodiment of the present application;

[0030] Figure 6 is a schematic diagram of the structure of an optical tracking and positioning system according to an embodiment of the present application;

[0031] Figure 7 is a schematic diagram of the structure of a surgical robot system according to an embodiment of the present application;

[0032] Among them, the numbers shown in the figure indicate: 1. positioning mark; 11. reflective monomer; 12. non-reflective monomer; 2. marking substrate; 3. corner point; 4. probe substrate; 41. holding piece; 42. probe piece; 43. probe structure; 5. image acquisition device; 6. laser; 7. rotating structure; 8. control trolley; 9. robotic arm; 10. positioning system; 13. optical lens. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0034] It should be noted that the term "comprising" in the specification and claims of this application and the above-mentioned drawings is intended to cover non-exclusive inclusions. In this application, the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", etc. are based on the orientations or positional relationships shown in the drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated components to have specific orientations. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

[0035] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] like Figure 1-4 As shown, the present application relates to a positioning marker, including: a positioning mark 1 and a marking substrate 2, the positioning mark is arranged on the marking substrate, the positioning mark is coated or attached to the marking substrate, the positioning mark includes a reflector and a non-reflector, the reflector is provided with a plurality of reflective monomers 11, the non-reflector is provided with a plurality of non-reflective monomers 12, the reflector and the non-reflector intersect to form a corner point 3, and the corner point is used for identification and positioning by the positioning system. The optical tracking and positioning system identifies the corner point and identifies and locates the positioning marker by changing the different positions of the positioning marker in space. Generally, there are at least 2 corner points. Of course, the more corner points, the better. The more corner points there are, the better the accuracy will be during use. Moreover, if one corner point is damaged after long-term use, another corner point can be used. If there is only one corner point, it is also possible.

[0037] The positioning mark is on the marking substrate, and the shape of the positioning substrate can be a regular flat plate, or a marking substrate with a bent surface or an arc surface. The positioning mark is on the marking substrate, and the overall shape can be a flat surface or a curved surface.

[0038] The reflective monomer can emit more than 60% of the incident light, preferably more than 80% of the light, and the direction of the emitted light is opposite to and parallel to the direction of the incident light. The non-reflective monomer can absorb most of the incident light, at least more than 60% of the light, preferably more than 80% of the light.

[0039] The reflector is made of flexible material, such as reflective paper, reflective film, or reflective cloth. In this embodiment, reflective paper is used, but other reflective materials are also acceptable. The reflective particles arranged in a dot matrix are laid on the surface of the reflector. The reflective particles are glass beads, which are fixed on the body of the reflector.

[0040] There is at least one positioning mark on the logo substrate; an "X-shaped" corner point 3 (such as Figure 2 ), or it can be a "cross" corner point (such as Figure 1 shown);

[0041] Alternatively, a "V-shaped" corner point 3 is formed between the reflective monomer and the two adjacent non-reflective monomers (such as Figure 3 shown).

[0042] The shape of the reflective monomer and the non-reflective monomer is any one of polygon, sector, and circle, and of course, it can also be a heterogeneous structure. The corner point shape can be an X-shaped corner point, a cross-shaped corner point, or a V-shaped corner point. Of course, other schemes can also be adopted, such as the corner point shape is formed by two arcs crossing, similar to the shape of the number "8" (such as Figure 4 As shown), this is also possible.

[0043] The identification substrate includes: any one of a calibration plate and a calibration metal part. The shape of the identification substrate is any one of a circle, an ellipse, a polygon, and an irregular shape. The shape of the identification substrate is not specifically described.

[0044] The reflector comprises, from top to bottom, an ink layer, a light-transmitting film and a light-reflecting layer. The ink layer is coated on the light-transmitting film, and the light-transmitting film is bonded to the light-reflecting layer.

[0045] like Figure 5 As shown, another aspect of this embodiment provides a positioning probe, including a probe substrate 4 and a positioning marker, wherein the positioning marker is fixed on the probe substrate.

[0046] The probe base 4 includes: a holding member 41 and a probe member 42, the holding member and the probe member are connected, a positioning marker is installed on the holding member, and there is at least one positioning marker. In this embodiment, there are two positioning markers, one above and one below.

[0047] like Figure 5 As shown, a spherical probe structure 43 is provided at the lower end of the probe member.

[0048] like Figure 6 As shown, according to another aspect of this embodiment, an optical tracking and positioning system is provided, including an image acquisition device 5 and a positioning marker, wherein the image acquisition device is used to identify the positioning marker placed on the target object. The image acquisition device is provided with a binocular lens and two optical lenses 13.

[0049] like Figure 6 As shown, the optical tracking and positioning system also includes a line laser 6, which is electrically connected to the image acquisition device. The line laser is used to scan the target object, and the image acquisition device is used to obtain the contour image of the target object and the laser line emitted by the line laser.

[0050] like Figure 6 As shown, the optical tracking and positioning system further includes a rotating mechanism 7, on which the line laser is mounted, and the rotating mechanism rotates to drive the line laser to rotate and scan the target object;

[0051] Of course, there is another solution. The line laser and the rotating mechanism are both installed on the image acquisition device. The rotating mechanism is provided with a reflector. The driving mechanism drives the reflector to rotate to reflect the laser line emitted by the line laser onto the target object. Both of these can achieve the same effect. The main purpose is to make the laser line emitted by the line laser scan the target object (i.e., the patient's lesion site).

[0052] like Figure 7As shown, according to another aspect of the present embodiment, a surgical robot is provided, including a control console trolley 8, a robotic arm 9 and an optical tracking and positioning system 10. A universal wheel is provided under the control console trolley, the control console trolley is connected to the robotic arm, and the control console trolley controls the movement of the robotic arm; the optical tracking and positioning system is connected to the control console trolley, and the data signal collected by the optical tracking and positioning system is transmitted to the control console trolley, and the control console trolley controls the movement of the robotic arm to perform surgical navigation positioning and surgical planning navigation on the patient's body part, and assist doctors in performing precise and minimally invasive surgical operations on patients using the surgical robot, such as cerebral hemorrhage surgery, SEEG surgery, biopsy surgery, spinal surgery, oral implant surgery, etc.

[0053] In the embodiment of the present application, a positioning mark and a marking substrate are used. The positioning mark is arranged on the marking substrate, the positioning mark is coated or attached to the marking substrate, the positioning mark includes a reflector and a non-reflector, the reflector is provided with a plurality of reflective monomers, the non-reflector is provided with a plurality of non-reflective monomers, the reflector and the non-reflector intersect to form a corner point, and the corner point is used for the positioning system to identify and locate. The present application solves the technical problem that the positioning marker pattern is not reasonable and is easily disturbed by ambient light during the optical positioning process, resulting in unclear identification of the corner point and low optical positioning accuracy. The present application can significantly improve the positioning accuracy.

[0054] This technical solution can significantly improve accuracy, has strong resistance to ambient light interference, low exposure, wide practicability, many applicable scenarios, and a small size.

[0055] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A positioning marker, comprising: A positioning mark (1) and a marking substrate (2), wherein the positioning mark is arranged on the marking substrate, and is characterized in that the positioning mark is coated or attached to the marking substrate, the positioning mark comprises a reflective body and a non-reflective body, the reflective body is provided with a plurality of reflective monomers (11), the non-reflective body is provided with a plurality of non-reflective monomers (12), the reflective body and the non-reflective body intersect to form a corner point (3), and the corner point is used for identification and positioning by a positioning system.

2. The positioning marker according to claim 1, characterized in that: The reflector is made of flexible material.

3. The positioning marker according to claim 1, characterized in that: The surface of the reflector is paved with reflective particles arranged in a dot matrix.

4. The positioning marker according to claim 1, characterized in that: At least one positioning mark (1) is provided on the marking substrate (2); an "X-shaped" corner point (3) is formed between two adjacent reflective monomers (11) and two adjacent non-reflective monomers (12); Alternatively, a "V-shaped" corner point is formed between the reflective monomer (11) and the two adjacent non-reflective monomers (12).

5. The positioning marker according to claim 1, characterized in that: The marking substrate (2) comprises: a calibration plate and / or a calibration metal part.

6. The positioning marker according to claim 1, characterized in that: The reflector comprises, from top to bottom, an ink layer, a light-transmitting film and a light-reflecting layer. The ink layer is coated on the light-transmitting film, and the light-transmitting film is bonded to the light-reflecting layer.

7. A positioning probe, characterized in that: It comprises a probe substrate and a positioning marker as described in any one of claims 1 to 6, wherein the positioning marker is fixed on the probe substrate (4).

8. The positioning probe according to claim 7, characterized in that: The probe base (4) comprises: a holding piece (41) and a probe piece (42), wherein the holding piece and the probe piece are connected, and the positioning marker is mounted on the holding piece, and there is at least one positioning marker.

9. The positioning probe according to claim 8, characterized in that: The probe piece (42) is provided with an arc-shaped or spherical probe structure (43) at the end away from the holding piece.

10. An optical tracking and positioning system, characterized in that: It comprises an image acquisition device (5) and a positioning marker as described in any one of claims 1 to 6, and the image acquisition device is used to identify the positioning marker placed on the target object.

11. The optical tracking and positioning system according to claim 10, characterized in that: The optical tracking and positioning system also includes a line laser (6), which is electrically connected to an image acquisition device. The line laser is used to scan a target object, and the image acquisition device is used to acquire a contour image of the target object and a laser line emitted by the line laser.

12. The optical tracking and positioning system according to claim 11, characterized in that: The optical tracking and positioning system also includes a rotating mechanism (7), on which the line laser is mounted, and the rotating mechanism rotates to drive the line laser to rotate and scan the target object.

13. A surgical robot, characterized in that: It comprises a control console trolley (8), a mechanical arm (9) and an optical tracking and positioning system (10) as described in any one of claims 10 to 12, wherein the control console trolley is connected to the mechanical arm, and the control console trolley controls the movement of the mechanical arm; the optical tracking and positioning system is connected to the control console trolley, and the data signal collected by the optical tracking and positioning system is transmitted to the control console trolley, and the control console trolley controls the movement of the mechanical arm.

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