Registration tool

Abstract

The utility model provides a registration tool, which comprises a registration frame, the registration frame comprises a plurality of rod-shaped structures, the plurality of rod-shaped structures form at least two feature surfaces, the registration frame forms different intersection points with a first plane on different feature surfaces, and the registration frame forms at least three intersection points with the first plane on at least one feature surface. The first plane is a plane where an image scanning surface of the medical imaging equipment is located when the medical imaging equipment scans the registration frame; the multiple rod-shaped structures comprise at least one rod piece set, each rod piece set is of an axisymmetric structure with a symmetric axis, and one rod piece set is located on one tool rod body feature face. The registration tool can be used for realizing registration of a coordinate system of a surgical robot system and a coordinate system of a medical image system, and the registration tool is simple in structure and convenient to process, mount and calibrate precision.

Description

Technical Field

[0001] This application belongs to the technical field of medical devices, and particularly relates to a registration tooling fixture. Background Art

[0002] With the development of robot technology, there are currently navigation and positioning surgical robots on the market that are applied to interventional puncture surgeries, improving the puncture accuracy. During the process of performing a puncture surgery using a puncture robot system, first, a medical imaging system scans the patient to obtain medical images and a surgical plan is formulated based on the medical images, and then the puncture robot system is controlled to perform the puncture surgery according to the surgical plan; the registration accuracy between the coordinate system of the puncture robot system and the coordinate system of the medical imaging system directly affects the puncture accuracy of the puncture surgery. Currently, there is a three-sided Z-shaped registration frame that can be used to achieve the registration between the coordinate system of the puncture robot system and the coordinate system of the medical imaging system. Due to the existence of three Z-shaped surfaces, it is difficult to process, install, and calibrate the accuracy of the registration frame.

[0003] Therefore, how to achieve the registration between the coordinate system of the puncture robot system and the coordinate system of the medical imaging system while ensuring that the structure of the registration frame is simple, thereby simplifying the processing, installation, and accuracy calibration processes of the registration frame has become an urgent technical problem to be solved. Utility Model Content

[0004] The embodiments of this application provide a registration tooling fixture that can be used to achieve the registration between the coordinate system of a surgical robot system and the coordinate system of a medical imaging system, and the registration tooling fixture has a simple structure, is convenient for processing, installation, and accuracy calibration.

[0005] The embodiments of this application provide a registration tooling fixture. The registration tooling fixture includes a registration frame. The registration frame includes multiple rod-shaped structures. The multiple rod-shaped structures form at least two feature surfaces. The registration frame forms different intersection points with a first plane on different feature surfaces. The registration frame forms at least three intersection points with the first plane on at least one feature surface; the first plane is the plane where the image scanning surface of the medical imaging device is located when the medical imaging device scans the registration frame; the multiple rod-shaped structures include at least one rod group. The rod group is an axisymmetric structure with one axis of symmetry, and one rod group is located on one feature surface.

[0006] In a possible implementation, at least one rod group includes a first rod group. The first rod group includes a semi-circular rod and a first straight rod. In the first rod group: the semi-circular rod and the first straight rod are connected. The first end of the first straight rod is connected to the middle of the semi-circular rod, and the first straight rod passes through the center of the semi-circular rod.

[0007] In a possible implementation, the second end of the first straight rod is located at the center of the semi-circular rod.

[0008] In a possible implementation, at least one rod group includes a second rod group. The second rod group includes two second straight rods and one third straight rod. In the second rod group: the first ends of the two second straight rods and the first end of the third straight rod are connected to each other. The included angle between the two second straight rods is greater than 0 degrees and less than 180 degrees. The third straight rod is located on the angular bisector of the included angle between the two second straight rods. The two second straight rods are symmetric with respect to the third straight rod.

[0009] In a possible implementation, the second end of the third straight rod is located at the midpoint of the line connecting the second ends of the two second straight rods.

[0010] In a possible implementation, multiple rod-shaped structures form two feature surfaces, and the two feature surfaces are parallel to each other.

[0011] In a possible implementation, multiple rod-shaped structures form two feature surfaces, and the two feature surfaces intersect.

[0012] In a possible implementation, the registration tooling further includes: a registration ball and a connecting portion. The registration ball is connected to the registration frame through the connecting portion. The size of the registration frame in at least one direction is greater than the diameter of the registration ball.

[0013] In a possible implementation, the connecting portion includes a tooling rod body and at least two connecting rods. The first end of the tooling rod body is fixedly connected to the registration ball. The first end of the connecting rod is connected to the side surface of the tooling rod body. The second end of the connecting rod is connected to the registration frame.

[0014] In a possible implementation, the axis of the tooling rod body is parallel to the feature surface, and the axis of the connecting rod is perpendicular to the feature surface.

[0015] In a possible implementation, a fixing portion is provided on the connecting portion. The fixing portion is used to connect to the execution arm of the surgical robot in the surgical robot system.

[0016] Exemplarily, the registration tooling can be arranged at the end of the execution arm of the surgical robot.

[0017] In a possible implementation, a fixing portion is provided on the tooling rod body or the connecting rod. The fixing portion is used to connect to the execution arm of the surgical robot in the surgical robot system.

[0018] In a possible implementation, the connecting portion includes a positioning outer frame. A spherical cavity and a frame cavity are formed in the positioning outer frame. The spherical cavity is filled with a material body to form the registration ball. The frame cavity is filled with a material body to form the registration frame. The imaging performance of the material body is higher than that of the positioning outer frame.

[0019] The embodiment of the present application further provides a registration tooling, which includes a registration ball, a connecting part and a registration frame. The registration ball is connected to the registration frame through the connecting part, and the size of the registration frame in at least one direction is greater than the diameter of the registration ball; the registration frame includes a plurality of rod-shaped structures, and the plurality of rod-shaped structures form two feature surfaces and a supplementary surface. The two feature surfaces are parallel to each other, and the two feature surfaces are respectively perpendicular to the supplementary surface; the plurality of rod-shaped structures include three Z-shaped rods. The Z-shaped rod includes two parallel cross bars and an inclined bar, and the two cross bars in the Z-shaped rod are connected by the inclined bar to form a Z shape; the three Z-shaped rods include a first Z-shaped rod, a second Z-shaped rod and a third Z-shaped rod. The first Z-shaped rod and the second Z-shaped rod are respectively located on one feature surface, and the third Z-shaped rod is located on the supplementary surface. The cross bars of the three Z-shaped rods are parallel to each other, and the first Z-shaped rod and the second Z-shaped rod share a cross bar with the third Z-shaped rod respectively.

[0020] In a possible implementation manner, the connecting part includes a positioning outer frame. A spherical cavity and a frame cavity are formed in the positioning outer frame. The spherical cavity is filled with a material body to form the registration ball, and the frame cavity is filled with a material body to form the registration frame. The imaging performance of the material body is higher than that of the positioning outer frame.

[0021] In a possible implementation manner, the two feature surfaces are parallel to each other, and / or the two feature surfaces are respectively perpendicular to the supplementary surface.

[0022] The beneficial effects of the registration tooling provided by the present application are as follows:

[0023] In the registration tooling of the present application, since the rod assembly is an axisymmetric structure with one axis of symmetry, the registration frame forms different intersection points with the first plane on different feature surfaces, and the registration frame forms at least three intersection points with the first plane on at least one feature surface. When using an imaging device to scan the registration frame, the scanning plane of the imaging device is located on the first plane, so that the number of scanning points obtained by the mounting frame under the scanning of the medical imaging device is greater than three and the points are not collinear. Registration calculation is performed based on the multiple scanning points to ensure the accuracy of the registration result.

[0024] The registration tooling provided by the present application, which includes a registration frame and a registration ball, can achieve two-level registration. That is, after the rough registration is completed using the registration frame, the registration ball is used for fine registration. High-precision registration can be achieved through two registrations. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 Schematic structural diagram of a registration framework with a three-sided Z shape;

[0027] Figure 2 For Figure 1 side view of the registration framework shown in

[0028] Figure 3a Schematic structural diagram of a registration tooling provided in an embodiment of the present application;

[0029] Figure 3b Schematic structural diagram of a registration tooling provided in an embodiment of the present application;

[0030] Figure 4a Schematic structural diagram of a registration tooling provided in an embodiment of the present application;

[0031] Figure 4b Schematic structural diagram of a registration tooling provided in an embodiment of the present application;

[0032] Figure 5 Schematic structural diagram of a registration tooling provided in an embodiment of the present application;

[0033] Figure 6 Schematic structural diagram of a registration tooling provided in an embodiment of the present application;

[0034] Figure 7 Schematic structural diagram of a registration tooling provided in an embodiment of the present application;

[0035] Figure 8 Schematic structural diagram of a registration tooling provided in an embodiment of the present application;

[0036] Figure 9 Side view of the assembly tooling in an embodiment of the present application. Detailed implementation manners

[0037] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer and more understandable, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0039] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0040] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0041] In order to illustrate the technical solutions described in the present disclosure, the following will be described in detail with reference to specific drawings and embodiments.

[0042] See Figure 1 It is a schematic structural view of a registration frame of a three-sided Z-shaped rod as an example. As Figure 1 shown, multiple rod-shaped structures in the registration frame 120 form two feature planes, and multiple rod-shaped structures also form a supplementary plane. The two feature planes are parallel to each other, and the two feature planes are respectively perpendicular to the supplementary plane; the multiple rod-shaped structures include three Z-shaped rods, and the three Z-shaped rods include a fourth Z-shaped rod 101, a fifth Z-shaped rod 102, and a sixth Z-shaped rod 103. The fourth Z-shaped rod 101 and the fifth Z-shaped rod 102 are respectively located on one feature plane, and the sixth Z-shaped rod 103 is located on the supplementary plane.

[0043] The main problem with the three-sided Z-shaped registration frame is that it must have Z-shaped rods on three faces to determine the coordinates of the corresponding points on the registration frame according to the points on the image scanning plane, that is Figure 1 the Z-shaped rods on the two feature planes and the Z-shaped rod on the supplementary plane described in

[0044] Figure 2 For Figure 1 the side view of the registration frame shown in Figure 2 shown, point M is the center point of the diagonal rod on the fifth Z-shaped rod 102, and the straight line L passing through point M is perpendicular to the cross bar in the fifth Z-shaped rod 102. On the fifth Z-shaped rod 102, point A and point C are symmetric about L, and point B and point D are also symmetric about L.

[0045] Specifically, as Figure 2As shown, the scanned images of the scanning surface of the imaging device passing through two points A and B, and the scanned images formed by the scanning surface of the imaging device passing through points C and D, both pass through the center point M of the inclined rod of the fifth Z-shaped rod 102. The distance between the scanned points extracted from the two scanned images and the proportional relationship between the distances are the same. According to the distance between the points extracted from the scanned image and the proportional relationship between the distances, it is impossible to distinguish the scanned image passing through two points A and B and the scanned image formed by passing through points C and D. In order to accurately distinguish similar scanned images passing through two points A and B and the scanned image formed by passing through points C and D, it is necessary to set the sixth Z-shaped rod 103 located on the supplementary surface as shown in Figure 1 shown. And setting three Z-shaped rods as shown in Figure 1 shown will bring certain difficulties to the processing, installation and precision calibration of the frame.

[0046] To solve the above technical problems, the present application provides a registration tooling. The registration tooling includes a registration frame. The registration frame includes a plurality of rod-shaped structures. The plurality of rod-shaped structures form at least two feature surfaces. The registration frame forms different intersection points with the first plane on different feature surfaces. The registration frame forms at least three intersection points with the first plane on at least one feature surface. The plurality of rod-shaped structures include at least one rod group. The rod group is an axisymmetric structure with one axis of symmetry. One rod group is located on one feature surface.

[0047] The registration tooling provided by the present application will be exemplarily described below in combination with specific embodiments.

[0048] Refer to Figure 3a , which is a schematic structural diagram of a registration tooling provided in an embodiment of the present application. As shown in Figure 3a , the registration tooling includes a registration frame 200. The registration frame 200 includes a plurality of rod-shaped structures. The plurality of rod-shaped structures form two feature surfaces. The registration frame 200 forms different intersection points with the first plane on different feature surfaces. The registration frame 200 forms at least three intersection points with the first plane on each feature surface. The first plane is the plane where the image scanning surface of the medical imaging device is located when the medical imaging device scans the registration frame 200. The plurality of rod-shaped structures include two rod groups. The rod group is an axisymmetric structure with one axis of symmetry. One rod group is located on one feature surface.

[0049] In some embodiments, as shown in Figure 3aAs shown, the multiple rod-shaped structures in the registration framework 200 include a first group of rods 210. The first group of rods 210 includes a semi-circular rod 211 and a first straight rod 212. In the first group of rods 210: the semi-circular rod 211 and the first straight rod 212 are connected. The first end of the first straight rod 212 is connected to the middle of the semi-circular rod 211, and the first straight rod 212 passes through the center of the semi-circular rod 211. In this embodiment, the first group of rods 210 includes a semi-circular rod 211 and a first straight rod 212 passing through the center of the semi-circular rod 211, ensuring the symmetry of the registration framework 200, making the subsequent registration calculation simple and convenient.

[0050] In the embodiment of the present application, among the multiple rod-shaped structures in the registration framework 200, the cross-section of each rod-shaped structure is circular, that is, each rod-shaped structure is a round rod, as Figure 3a shown, the axis of the semi-circular rod 211 is semi-circular.

[0051] Exemplarily, the second end of the first straight rod 212 is located at the center of the semi-circular rod 211. By setting the second end of the first straight rod 212 at the center of the semi-circular rod 211, the entire first straight rod 212 in the first group of rods 210 is located within the range framed by the semi-circular rod 211, making the scanning range of the CT device system for scanning the registration framework 200 relatively clear, that is, only the range framed by the semi-circular rod 211 needs to be scanned, ensuring that three imaging points can be obtained on the scanned image for each first group of rods 210, ensuring that there are a certain number of points available for the subsequent registration calculation, and ensuring the simplicity and beauty of the structure of the scanned registration framework 200.

[0052] It can be understood that, as Figure 3a shown, since the first group of rods 210 in the registration framework 200 is in a semi-circular shape as a whole, therefore Figure 3a shown, the registration framework 200 can also be called a semi-circular framework. It can be understood that, Figure 3a in the embodiment shown in

[0053] In Figure 3a the embodiment shown, the two first groups of rods 210 are respectively located on a feature plane. The first group of rods 210 is located on a feature plane. Specifically, the axes of the rod-shaped structures in the first group of rods 210 are located on a feature plane.

[0054] Figure 3b This is a schematic structural diagram of a registration tooling provided in another embodiment of the present application. As Figure 3b Shown in Figure 3aThe differences are as follows: the number of the first rod groups 210 is different. In the Figure 3a embodiment shown, the registration frame 200 includes two first rod groups 210, while in the Figure 3b embodiment shown, the registration frame 200 includes one first rod group 210. Below, the differences between Figure 3b and Figure 3a will be mainly described. For other content not mentioned, reference can be made to the relevant description about Figure 3a .

[0055] Figure 3b In the embodiment shown, multiple rod-shaped structures form two feature surfaces: the first rod group 210 forms one feature surface, and two first straight rods 212 form another feature surface A. Among the two first straight rods 212: one first straight rod 212 belongs to the first rod group 210, and the other first straight rod 212 is a separately arranged rod-shaped structure.

[0056] It can be understood that on the feature surface formed by the first rod group 210, the registration frame 200 forms three intersections with the first plane; on the feature surface A, the registration frame 200 forms two intersections with the first plane. Since the first straight rod 212 in the first rod group 210 belongs to both feature surfaces at the same time, the registration frame 200 forms a total of four different intersections with the two feature surfaces.

[0057] As Figure 3b shown, the two feature surfaces in this embodiment are perpendicular to each other.

[0058] Figure 4a is a schematic structural diagram of a registration tooling provided in another embodiment of the present application. As Figure 4a shown, the difference between this embodiment and Figure 3a is the specific structure of the rod group in the registration frame 200. Below, the difference points will be mainly described. For other content, reference can be made to the relevant description about Figure 3a .

[0059] As Figure 4aAs shown, the rod group in the registration framework 200 includes a second rod group 220. The second rod group 220 includes two second straight rods 221 and one third straight rod 222. In the second rod group 220: the first ends of the two second straight rods 221 and the first end of the one third straight rod 222 are connected to each other. The included angle between the two second straight rods 221 is greater than 0 degrees and less than 180 degrees. The third straight rod 222 is located on the angular bisector of the included angle between the two second straight rods 221. The two second straight rods 221 are symmetric about the third straight rod 222. In this embodiment, the second rod group 220 includes two second straight rods 221 and one third straight rod 222, and the two second straight rods 221 are symmetric about the third straight rod 222, which ensures the symmetry of the registration framework 200 and makes the subsequent registration calculation simple and convenient.

[0060] In some embodiments, the included angle between the two second straight rods 221 is 90 degrees. With such a setting, the second rod group 220 as a whole forms an isosceles right triangle, making the subsequent registration calculation simple and convenient.

[0061] Exemplarily, the second end of the third straight rod 222 is located at the midpoint of the line connecting the second ends of the two second straight rods 221. By setting the second end of the third straight rod 222 at the midpoint of the line connecting the second ends of the two second straight rods 221, the third straight rod 222 in the second rod group 220 as a whole is located within the range of the isosceles triangle defined by the two second straight rods 221, making the scanning range of the medical imaging device for scanning the registration framework 200 relatively clear, that is, only the range defined by the two second straight rods 221 needs to be scanned, ensuring that three imaging points can be obtained on the scanned image for each second rod group 220, ensuring that there are a certain number of points available for the subsequent registration calculation, and ensuring the simplicity and beauty of the structure of the scanned registration framework 200.

[0062] It can be understood that, as Figure 4a shown, since the second rod group 220 in the registration framework 200 as a whole is triangular, therefore Figure 4a the registration framework 200 shown can also be called a triangular framework. It can be understood that, in Figure 4a the embodiment shown, the registration framework 200 includes two second rod groups 220. In some other embodiments, the registration framework 200 may also include three or more second rod groups 220, which will not be elaborated in this application.

[0063] In some embodiments, the rod group in the registration framework 200 may include both Figure 3a and Figure 3b the first rod group 210 shown, and also include Figure 4a and Figure 4bThe second rod group 220 shown; that is, the rod groups in the registration frame 200 can be a combination of two different rod groups. For example, the rod groups in the registration frame 200 can include a first rod group 210 and a second rod group 220.

[0064] In some other embodiments, in the registration frame 200, two first rod groups 210 can be included on the same feature plane, or two second rod groups 220 can be included on the same feature plane; or one first rod group 210 and one second rod group 220 can be included on the same feature plane.

[0065] It should be understood that the number of the first rod group 210 and the second rod group 220 in the registration frame 200, and the number of the first rod group 210 and the second rod group 220 on each feature plane can be changed as needed, and this application will not elaborate on this.

[0066] It should also be understood that the registration frame 200 can also include three or more first rod groups 210 and / or second rod groups 220. The three or more first rod groups 210 and / or second rod groups 220 can be distributed on two feature planes, or can be distributed on three or more feature planes, and this application will not elaborate on this.

[0067] In some embodiments, each rod group is located on one feature plane, that is, one rod group forms one feature plane. As Figure 3a and Figure 4a shown, two feature planes are formed in the registration frame 200, and the two feature planes are parallel to each other. Through such a setting, the structure of the registration frame 200 is made simpler and more aesthetic, and the processing of the registration frame 200 is also more convenient.

[0068] In some other embodiments, the two feature planes can also intersect.

[0069] For example, after rotating one of the first rod groups 210 in Figure 3a by a certain angle α around a straight line parallel to the feature plane where the first rod group 210 is located, the feature plane where the first rod group 210 is located and the feature plane where another first rod group 210 is located are no longer parallel, where α≠N×180° and N is an integer. That is, in addition to being parallel to each other, the two feature planes in the registration tooling can also form a certain angle.

[0070] Figure 4a A similar rotation can also be performed on the second rod group 220 in

[0071] In some embodiments, as Figure 3b shown and as Figure 4b shown, the two feature planes in the registration frame 200 are perpendicular to each other.

[0072] It is understandable that the parallelism and perpendicularity described in the embodiments of the present application may be parallelism and perpendicularity within a certain error range, and the present application does not make strict requirements in this regard.

[0073] Figure 4b The following is a schematic structural diagram of a registration tooling provided in another embodiment of the present application, as Figure 4b Compared with Figure 4a The difference lies in that the number of the second rod groups 220 is different. In the embodiment shown in Figure 4a the registration frame 200 includes two second rod groups 220, while in the embodiment shown in Figure 4b the registration frame 200 includes one second rod group 220. The following mainly describes the differences between Figure 4b and Figure 4a , and other contents can be referred to the relevant description about Figure 4a .

[0074] Figure 4b In the embodiment shown in, multiple rod-shaped structures form two feature surfaces: the second rod group 220 forms one feature surface, and the feature surface B formed by the two third straight rods 222. Among the two third straight rods 222: one third straight rod 222 belongs to the second rod group 220, and the other third straight rod 222 is a separately provided rod-shaped structure.

[0075] It is understandable that on the feature surface formed by the second rod group 220, the registration frame 200 forms three intersections with the first plane; on the feature surface B, the registration frame 200 forms two intersections with the first plane. Since the third straight rod 222 in the second rod group 220 belongs to both feature surfaces at the same time, the registration frame 200 forms a total of four different intersections with the two feature surfaces.

[0076] It is understandable that in the registration frame in the embodiments of the present application: the relative positional relationship between the feature surfaces is fixed, and the relative positional relationship between the multiple rod-shaped structures is also fixed. For example, at least two feature surfaces can be connected by rod-shaped structures to make the registration frame 200 integral.

[0077] Figures 3a to 4b In the embodiment shown in, the rod-shaped structures located on different feature surfaces in the same registration frame 200 can be connected by the connecting parts such as Figure 5 and Figure 6 . For the sake of concise description, corresponding markings and descriptions are not made in Figures 3a to 4b , but it can be undoubtedly determined by referring to the relevant descriptions in Figure 5 and Figure 6 , and no further elaboration is made here.

[0078] Figure 5 and Figure 6 are respectively the structural schematic diagrams of a registration tooling provided in an embodiment of the present application. As shown in Figure 5 and Figure 6 , in addition to the registration frame 200, the registration tooling further includes: a registration ball 300 and a connecting portion. The registration ball 300 is connected to the registration frame 200 through the connecting portion, and the size of the registration frame 200 in at least one direction is greater than the diameter of the registration ball.

[0079] It can be understood that the registration frame 200 is a three-dimensional hollow frame structure. The size of the registration frame 200 refers to the size of the space occupied by the frame structure. The size of the registration frame 200 can be expressed as the sizes in three directions, that is, the size of the registration frame 200 includes: the size along the length direction of the occupied space, the size along the width direction of the occupied space, and the size along the height direction of the occupied space.

[0080] It should be understood that the size of the registration frame 200 in at least one direction is greater than the diameter of the registration ball, which makes it easier to ensure that the registration frame 200 is located within the image scanning plane of the scanning frame of a medical imaging device (such as a CT device system), and further ensures that the process of rough registration using the registration frame 200 is easily achieved. The registration tooling in this embodiment includes a registration frame and a registration ball, so two-stage registration can be achieved. That is, after rough registration is completed using the registration frame, fine registration is then performed using the registration ball, and high-precision registration can be achieved through two registrations.

[0081] It should be understood that the connecting portion is used to connect the registration ball 300 and the registration frame 200 together, so as to keep the relative positional relationship between the registration ball 300 and the registration frame 200 unchanged, and further make the registration tooling as a whole used in the registration process, which is convenient to use and has high registration accuracy.

[0082] In some embodiments, as shown in Figure 5 and Figure 6 , the connecting portion includes a tooling rod body 431 and four connecting rods 432. The first end of the tooling rod body 431 is fixedly connected to the registration ball 300. The first end of each connecting rod 432 is connected to the side surface of the tooling rod body 431, and the second end of the connecting rod 432 is connected to the registration frame 200. Specifically, the second end of each connecting rod 432 is connected to a feature surface of the registration frame. Through such a setting, the registration ball 300 is located outside the range defined by the registration frame 200, making the division of the parts with different functions in the registration tooling clearer, and the processing of such a registration tooling is simpler and more convenient.

[0083] It can be understood that in Figure 5 and Figure 6In the illustrated embodiment, each feature surface in the registration framework 200 is connected to the tool rod body 431 by two connecting rods 432.

[0084] In some other embodiments, each feature surface may be connected to the tool rod body 431 by one connecting rod 432; of course, each feature surface may also be connected to the tool rod body 431 by three or more connecting rods 432, which will not be elaborated herein.

[0085] It can be understood that the relative positional relationship between the registration ball 300 and the registration framework 200 may also be in other forms. For example, the registration ball 300 may also be located within the range defined by the registration framework 200, which will not be elaborated in this application.

[0086] In some embodiments, as Figure 5 and Figure 6 shown, a fixing portion 433 is provided on the tool rod body 431, and the fixing portion 433 is used to connect to the execution arm of the surgical robot in the surgical robot system.

[0087] It can be understood that the fixing portion 433 can be provided at any position of the connecting portion. Therefore, the fixing portion 433 can be provided on the connecting rod 432, which will not be elaborated and limited in this application.

[0088] Exemplarily, the fixing portion 433 can be directly connected to the execution arm of the surgical robot. For example, the fixing portion 433 can be detachably connected to the execution arm of the surgical robot. The specific manner of the detachable connection can be: snap connection, socket connection, threaded connection, etc.

[0089] For another example, the fixing portion 433 can be cooperatively connected to the execution end of the execution arm of the surgical robot. For example Figure 5 and Figure 6 in the illustrated embodiment, two fixing portions 433 are provided. When in use: the execution end of the execution arm of the surgical robot fixes the registration tooling by clamping on the fixing portion 433.

[0090] It can be understood that in Figure 5 and Figure 6 the illustrated embodiment, the fixing portion 433 is located near both ends of the tool rod body 431, making it easier to install the assembly tooling onto the execution end of the execution arm; in some other embodiments, the position of the fixing portion 433 can also be set near the middle of the tool rod body, and the specific position of the fixing portion 433 in this application is not limited.

[0091] In addition, in Figure 5 and Figure 6The number of the fixing parts 433 in the illustrated embodiment is two, which can avoid the registration tooling rotating relative to the execution end while ensuring the stable clamping of the execution end of the execution arm. In some other embodiments, the number of the fixing parts 433 can also be one, three or more, and the present application does not limit this.

[0092] In the embodiments such as Figure 5 and Figure 6 shown, the fixing part 433 is located outside the range defined by the registration frame 200. Such a setting facilitates the connection between the fitting tooling and the execution arm of the surgical robot.

[0093] In some other embodiments, the fixing part 433 can also be located within the range defined by the registration frame 200, and the present application does not enumerate this.

[0094] In some embodiments, such as Figure 5 and Figure 6 shown, the registration tooling can further include a support rod 434, and the support rod 434 is used to support the first rod group 210 and the second rod group 220 to ensure the stability of the first rod group 210 and the second rod group 220.

[0095] In some other embodiments, the registration tooling may not include the support rod 434, as long as the registration frame 200 can be stably formed, and the present application does not elaborate on this.

[0096] Such as Figure 5 shown, both ends of the support rod 434 are respectively connected to both ends of the semi-circular rod 211, and the second end of the first straight rod 212 is connected to the middle of the support rod 434. Such as Figure 6 shown, both ends of the support rod 434 are respectively connected to the second ends of a second straight rod 221, and the second end of the third straight rod 222 is connected to the middle of the support rod 434.

[0097] In some embodiments, such as Figure 5 and Figure 6 shown, the tooling rod body 431 is of a straight rod structure, the axis of the tooling rod body 431 is parallel to the feature surface, the axes of the first straight rod 212 and the third straight rod 222 are respectively perpendicular to the axis of the tooling rod body 431, the axis of the connecting rod 432 is perpendicular to the axis of the tooling rod body 431, and the axis of the tooling rod body 431 is perpendicular to the feature surface where the corresponding rod group is located. Through such a setting, there are many right-angle connections in the registration tooling, which facilitates the processing and manufacturing of the registration tooling.

[0098] It can be understood that, in some other embodiments, the axis of the tooling rod body 431 may not be parallel to the feature surface; in some other embodiments, the axis of the connecting rod 432 may not be perpendicular to the axis of the tooling rod body 431, and the present application does not elaborate on this.

[0099] Figure 7 The following is a schematic structural diagram of a registration tooling provided in another embodiment of the present application. As Figure 7 shown, the registration tooling includes a registration ball 300, a connecting portion, and a registration frame 200. The registration ball 300 is connected to the registration frame 200 through the connecting portion. The size of the registration frame 200 in at least one direction is greater than the diameter of the registration ball 300. The registration frame 200 includes a plurality of rod-shaped structures, and the plurality of rod-shaped structures form two feature surfaces and a supplementary surface. In Figure 7 the illustrated embodiment, the plurality of rod-shaped structures include three Z-shaped rods. The Z-shaped rod includes two parallel cross bars and an inclined bar. The two cross bars in the Z-shaped rod are connected by the inclined bar to form a Z shape. The three Z-shaped rods include a first Z-shaped rod 701, a second Z-shaped rod 702, and a third Z-shaped rod 703. The first Z-shaped rod 701 and the second Z-shaped rod 702 are respectively located on one feature surface, and the third Z-shaped rod 703 is located on the supplementary surface. The cross bars of the three Z-shaped rods are parallel to each other, and the first Z-shaped rod 701 and the second Z-shaped rod 702 share a cross bar with the third Z-shaped rod 703 respectively.

[0100] In some embodiments, the two feature surfaces are parallel to each other.

[0101] In some embodiments, the two feature surfaces are respectively perpendicular to the supplementary surface.

[0102] In some embodiments, the two feature surfaces may also intersect with each other. For example, the lengths of the connecting rods 432 at different positions can be adjusted so that the feature surfaces are inclined at different angles, and further the two feature surfaces.

[0103] In some embodiments, the inclined bar in the first Z-shaped rod has the same or opposite inclination direction as the inclined bar in the second Z-shaped rod.

[0104] Exemplarily, the registration ball 300 is located outside the range defined by the registration frame 200, which makes the installation of the registration tooling more convenient.

[0105] Exemplarily, the included angle between the inclined bar and the cross bar in the Z-shaped rod is approximately 45°. Such a setting makes the calculation during registration based on the registration tooling simpler and more convenient.

[0106] Exemplarily, the inclined bar in the first Z-shaped rod 701 is parallel to the inclined bar in the second Z-shaped rod 702. Such a setting makes the calculation during registration based on the registration tooling simpler and more convenient.

[0107] It can be understood that Figure 7 shown, since the registration frame 200 is mainly composed of Z-shaped rods, therefore Figure 7The registration framework 200 shown can be called a Z-shaped framework; more Z-shaped frameworks with similar but not exactly the same structures can be obtained by changing the inclination direction of the diagonal bars in the Z-shaped bars.

[0108] In some embodiments, as Figure 7 shown, the connecting part includes a tooling rod body 431 and four connecting rods 432. The first end of the tooling rod body 431 is fixedly connected to the registration ball 300, the first end of each connecting rod 432 is connected to the side surface of the tooling rod body 431, and the second end of the connecting rod 432 is connected to the registration framework 200. Specifically, the second end of each connecting rod 432 is connected to a feature surface of the registration framework 200.

[0109] In some embodiments, as Figure 7 shown, a fixing part 433 is provided on the tooling rod body 431, and the fixing part 433 is used to connect with the execution arm of the surgical robot in the surgical robot system.

[0110] Exemplarily, the fixing part 433 can be used to cooperate with the execution end of the execution arm of the surgical robot.

[0111] Exemplarily, the fixing part 433 is located outside the range defined by the registration framework 200. Such a setting facilitates the connection between the registration tooling and the execution arm of the surgical robot.

[0112] It should be understood that the specific descriptions of the tooling rod body 431, the connecting rod 432, and the fixing part 433 can be referred to the descriptions in the previous text, and will not be elaborated here.

[0113] Figure 8 This is a schematic structural diagram of a registration tooling provided in another embodiment of the present application. Figure 8 The shown registration tooling is obtained by deformation based on the Figure 7 shown registration tooling. Figure 8 The shown registration tooling and the Figure 7 shown registration tooling mainly have two differences, and the following mainly explains the two differences.

[0114] The first difference is that: the inclination directions of the diagonal bars in the Z-shaped bars are different. Specifically: Figure 8 The inclination direction of the diagonal bar in the first Z-shaped bar 701 in the shown registration tooling is different from that of the diagonal bar in the first Z-shaped bar 701 in the Figure 7 shown registration tooling; Figure 8 The inclination direction of the diagonal bar in the third Z-shaped bar 703 in the shown registration tooling is Figure 7 different from that of the diagonal bar in the third Z-shaped bar 703 in the

[0115] It can be understood that theFigure 7 More Z-shaped frames can be obtained by adjusting the direction of the inclined rods in any one or more of the first Z-shaped rod 701, the second Z-shaped rod 702, and the third Z-shaped rod 703 in the registration tooling. For example, the inclined rod in the first Z-shaped rod 701 can be parallel to the inclined rod in the second Z-shaped rod 702. Another example is that the inclined rod in the first Z-shaped rod 701 can be perpendicular to the inclined rod in the second Z-shaped rod 702. This application will not elaborate on this.

[0116] The second difference is: the number of fixing parts 433 is different. Specifically: Figure 7 The shown registration tooling includes two fixing parts 433, while Figure 8 the shown registration tooling includes one fixing part 433.

[0117] It can be understood that the number of fixing parts 433 can be set as needed. In some other embodiments, it can include three or more fixing parts 433. This application will not elaborate on this.

[0118] It should be understood that the registration balls 300 and the registration frame 200 in the registration tooling need to be developed under the scan of the imaging device, so as to perform registration calculations based on the imaging points of the registration balls 300 and the registration frame 200 in the scanned image. Therefore, the registration balls 300 and the registration frame 200 can be made of materials that are easy to image under the scan of the imaging scanning device, while the connecting part is made of materials that are not easy to image under the scan of the imaging scanning device.

[0119] Exemplarily, when the imaging scanning device is a CT device, the X-ray attenuation coefficient of the registration frame 200 and the X-ray attenuation coefficient of the registration balls 300 are both greater than the X-ray attenuation coefficient of the connecting part.

[0120] For example, the connecting part can be made of materials such as acrylic or PC (Polycarbonate); the registration balls 300 and the registration frame 200 can be made of materials such as aluminum alloy, steel or iron.

[0121] It can be understood that in Figures 5 to 8 the shown embodiment, the registration balls 300 and the registration frame 200 are connected through the connecting part. The connecting part includes a tooling rod body 431 and at least one connecting rod 432, that is, the registration balls 300 and the registration frame 200 are connected through some rod-shaped structures. In some other embodiments, the registration balls 300 and the registration frame 200 can also be connected by other forms of connecting parts.

[0122] In some embodiments, the registration tooling includes a registration ball 300, a connecting part, and a registration frame 200. The connecting part includes a positioning outer frame. A spherical cavity and a frame cavity are formed in the positioning outer frame. The spherical cavity is filled with a material body to form the registration ball 300, and the frame cavity is filled with a material body to form the registration frame 200. The imaging performance of the material body is higher than that of the positioning outer frame. In this embodiment, the registration ball 300 and the registration frame 200 are formed by filling the cavities formed in the positioning outer frame with a material body, so that the overall structure of the registration tooling has better stability.

[0123] It can be understood that the imaging performance of the material body is higher than that of the positioning outer frame. Specifically: the material body is made of a material that is easy to image under the scan of an imaging scanning device, while the connecting part is made of a material that is not easy to image under the scan of an imaging scanning device.

[0124] It should be understood that the specific form of the material body can be solid particles, liquid, gas, etc. In actual production, a positioning outer frame with a cavity can be formed first, and then the above-mentioned material body is injected into the cavity of the positioning outer frame, and then the hole for injecting the material body is closed. Alternatively, the material body for forming the registration ball can be a complete solid sphere, and the material body for forming the registration frame can be multiple mutually separated solid rod-like structures. The positioning outer frame can be composed of multiple parts spliced together at the cavity, so as to place the solid sphere and the solid rod-like structures into the cavity before splicing, and fix the solid sphere and the solid rod-like structures to the cavity after splicing.

[0125] Exemplarily, the positioning outer frame can be made of acrylic material or PC material, and the material body for filling the cavity to form the registration ball 300 and the registration frame 200 can be a contrast agent. For example: the contrast agent can be iodine agent, propofol, gadolinium agent, barium agent, etc., or it can also be made of materials such as aluminum alloy, steel or iron. The present application does not specifically limit the specific materials of the positioning outer frame and the material body.

[0126] It should be understood that the specific materials of the registration ball 300, the registration frame 200, and the connecting part are all common materials in the prior art, and the present application will not elaborate and enumerate them.

[0127] It can be understood that the specific structures of the registration ball 300 and the registration frame 200 can be referred to the descriptions in the foregoing embodiments and will not be elaborated herein.

[0128] For the convenience of understanding, the application scenarios of the registration tooling in the embodiments of the present application are exemplarily described below.

[0129] The registration tooling in the embodiments of the present application is mainly used for registration between a surgical robot system and a medical imaging scanning device.

[0130] In some embodiments, Figure 3a 、 Figure 3b 、 Figure 4a or Figure 4b The fitting tooling shown is arranged on the execution arm of the surgical robot. The registration registration process based on this registration tooling mainly utilizes the scanned image of the registration frame 200 in the registration tooling, and obtains the registration conversion relationship through registration registration calculation. Exemplarily, the registration conversion relationship can be represented in the form of a registration conversion matrix, which will not be elaborated in this application.

[0131] Exemplarily, in the process of registration registration based on Figure 3a 、 Figure 3b 、 Figure 4a or Figure 4b the registration tooling shown: The medical imaging device scans the registration frame 200 to obtain a scanned image. The scanned points shown on the scanned image are the multiple intersection points formed by the registration frame 200 on the feature surface and the first plane (i.e., the plane where the image scanning surface of the medical imaging device is located). From the structure of the registration frame 200, it can be known that these intersection points are not collinear. According to the scanned image, the coordinates of multiple scanned points in the coordinate system of the medical imaging system can be obtained; according to the scanned image, the coordinates of multiple intersection points in the coordinate system of the medical imaging system and the shape parameters of the registration frame 200 in the registration tooling can be obtained, and the coordinates of multiple intersection points in the coordinate system of the fitting tooling can be determined; based on the coordinates of multiple intersection points in the coordinate system of the fitting tooling and the rigid structure relationship between the registration frame 200 in the registration tooling and the execution arm of the surgical robot, the coordinates of multiple intersection points in the coordinate system of the execution arm of the surgical robot (i.e., the coordinate system of the surgical robot system) can be obtained; using the coordinates of multiple scanned points in the coordinate system of the medical imaging system and the coordinates of multiple intersection points in the coordinate system of the execution arm of the surgical robot, a matrix is constructed to obtain the registration conversion relationship between the medical imaging device system and the surgical robot system.

[0132] It can be understood that Figure 3a 、 Figure 3b 、 Figure 4a and Figure 4b the registration tooling shown all have the characteristics of simple structure and easy construction. Therefore, the registration registration cost based on Figure 3a 、 Figure 3b 、 Figure 4a and Figure 4b the registration tooling shown is relatively low.

[0133] In some embodiments, the registration tooling adopts Figure 5 、 Figure 6 、 Figure 7 or Figure 8The shown fitting tooling. At this time, the registration and alignment process based on the registration tooling may include: a rough alignment stage and a fine alignment stage. In the rough alignment stage, using the scanned image of the registration frame 200, the rough alignment transformation relationship is obtained through registration and alignment calculation. In the fine alignment stage, using the rough alignment transformation relationship obtained in the rough alignment stage and the scanned image of the alignment ball 300, the fine alignment transformation relationship is obtained through registration and alignment calculation.

[0134] Exemplarily, in the process of Figure 5 , Figure 6 , Figure 7 or Figure 8 performing registration and alignment based on the shown fitting tooling, it includes a rough alignment stage and a fine alignment stage. The specific operation processes of the rough alignment stage and the fine alignment stage are as follows:

[0135] (1) Rough alignment stage: The medical imaging device scans the registration frame 200 to obtain a scanned image. The scanned points shown on the scanned image correspond to the multiple intersection points formed by the registration frame 200 on the feature surface and the first plane (i.e., the plane where the imaging scanning surface of the medical imaging device is located). From the structure of the registration frame 200, it can be known that the multiple intersection points are not collinear. According to the scanned image, the coordinates of the multiple scanned points in the coordinate system of the medical imaging system can be obtained. According to the coordinates of the multiple scanned points in the coordinate system of the medical imaging system and the shape parameters of the registration frame 200 in the fitting tooling, the coordinates of the multiple intersection points in the coordinate system of the fitting tooling are determined. According to the coordinates of the multiple intersection points in the coordinate system of the fitting tooling and the rigid structure relationship between the registration frame 200 in the fitting tooling and the execution arm of the surgical robot, the coordinates of the multiple intersection points in the coordinate system of the execution arm of the surgical robot (i.e., the coordinate system of the surgical robot system) are obtained. Using the coordinates of the multiple scanned points in the coordinate system of the medical imaging system and the coordinates of the multiple intersection points in the coordinate system of the execution arm of the surgical robot, a matrix is constructed to obtain the registration transformation relationship between the medical imaging device system and the surgical robot system. This registration transformation relationship is used as the rough alignment transformation relationship.

[0136] In addition, in the rough alignment stage, according to the scanned image of the registration frame 200 and the scanning collimation width parameter of the medical imaging device, the scanning collimation range of the medical imaging device can also be determined.

[0137] (2) Fine registration stage: Within the scanning collimation range of the medical imaging device, N registration sites are selected (N is an integer greater than 3), and the coordinates of the N registration sites in the coordinate system of the medical imaging device system are obtained. The N registration sites are not collinear; using the rough registration transformation relationship, the coordinates of the N registration sites in the coordinate system of the medical imaging device system are transformed to obtain the coordinates of the N registration sites in the coordinate system of the execution arm of the surgical robot; then, the execution arm of the surgical robot is controlled to drive the registration tooling to move, and the registration balls are sequentially placed at each of the N registration sites. When the registration ball is located at each registration site, the medical imaging device scans the registration ball once to obtain a scanned image of the registration ball. Therefore, a total of N scanned images can be obtained; N scanned points are extracted and calculated from the N scanned images to obtain the coordinates of the N scanned points in the coordinate system of the medical imaging device system; using the coordinates of the N registration sites in the coordinate system of the execution arm of the surgical robot and the coordinates of the N scanned points in the coordinate system of the medical imaging device system, a matrix is constructed to obtain the fine registration transformation relationship between the medical imaging device system and the surgical robot system.

[0138] Exemplarily, both the rough registration transformation relationship and the fine registration transformation relationship can be represented in the form of a registration transformation matrix, which is not elaborated in this application.

[0139] It can be understood that Figure 5 、 Figure 6 、 Figure 7 or Figure 8 The registration tooling shown can achieve both rough and fine registration, so a registration transformation relationship with higher accuracy can be obtained.

[0140] For ease of understanding, the following takes Figure 5 the registration tooling with a semi-circular frame shown as an example to illustrate the imaging differences between the triangular frame, the semi-circular frame and the Z-shaped frame in the embodiments of the present application.

[0141] Figure 9 is Figure 5 the side view of the registration frame shown in. As Figure 9 shown, point M1 is the center point of the first straight rod 212, and the straight line L1 passing through point M1 is perpendicular to the first straight rod 212. On the semi-circular rod 211, point A1 and point C1 are symmetric about L1, and point B1 and point D1 are also symmetric about L1.

[0142] Specifically, as Figure 9As shown, the scanned images of the scanning surface of the imaging device passing through two points A1 and B1, and the scanned image formed by the scanning surface of the imaging device passing through points C1 and D1 both pass through the center point M1 of the first straight rod 212. However, the distance between the scanned points extracted from the two scanned images and the proportional relationship between the distances are different. Therefore, based on the distance between the points extracted from the scanned image and the proportional relationship between the distances, it is possible to distinguish the scanned image passing through two points A1 and B1 and the scanned image formed by passing through points C1 and D1. Therefore Figure 5 On the scanned image of each first rod group 210 in the registration tooling in , the scanned points can be uniquely determined by calculation. Therefore, it is only necessary to set up a registration frame Figure 5 as shown, which includes two feature surfaces; and because there are two feature surfaces, when using the imaging device to scan the registration tooling, the number of scanned points obtained can be greater than three, and these scanned points are not on the same straight line. The registration relationship obtained by calculating these scanned points has a relatively high accuracy.

[0143] It can be understood that Figures 3a to 6 each first rod group 210 and each second rod group 220 in has a symmetry axis. Preferably, each first rod group 210 and each second rod group 220 have one and only one symmetry axis.

[0144] It should be understood that determining the specific positions of each scan based on the distance between the scanned points and the proportional relationship between the distances belongs to a conventional calculation method, and this application will not elaborate on it.

[0145] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not described or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0146] The above-described embodiments are only used to illustrate the technical solutions of this application, rather than to limit it; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of this application, and should all be included within the protection scope of this application.

Claims

1. A registration tool, characterized in that: The registration tooling comprises a registration frame (200), the registration frame (200) comprises a plurality of rod-shaped structures, the plurality of rod-shaped structures form at least two characteristic surfaces, the registration frame (200) forms different intersections with a first plane on different characteristic surfaces, the registration frame (200) forms at least three intersections with the first plane on at least one characteristic surface, the first plane being the plane where the image scanning surface of the medical imaging device is located when the medical imaging device scans the registration frame (200); the plurality of rod-shaped structures comprises at least one rod member group, the rod member group is an axisymmetric structure having a symmetry axis, and one rod member group is located on one of the characteristic surfaces.

2. The registration tool according to claim 1, characterized in that: The at least one rod member group includes a first rod member group (210), the first rod member group (210) including a semicircular rod (211) and a first straight rod (212), in the first rod member group (210): the semicircular rod (211) and the first straight rod (212) are connected, the first end of the first straight rod (212) is connected to the middle of the semicircular rod (211), and the first straight rod (212) passes through the center of the semicircular rod (211).

3. The registration tool according to claim 2, characterized in that: The second end of the first straight rod (212) is located at the center of the semicircular rod (211).

4. The registration tool according to claim 1, characterized in that: The at least one rod member group includes a second rod member group (220), the second rod member group (220) includes two second straight rods (221) and a third straight rod (222), in the second rod member group (220): the first ends of the two second straight rods (221) and the first end of the one third straight rod (222) are connected to each other, the angle between the two second straight rods (221) is greater than 0 degrees and less than 180 degrees, the third straight rod (222) is located on the bisector of the angle between the two second straight rods (221), and the two second straight rods (221) are symmetrical about the third straight rod (222).

5. The registration tool according to claim 4, characterized in that: The second end of the third straight rod (222) is located at the midpoint of a line connecting the second ends of the two second straight rods (221).

6. The registration tool according to any one of claims 1 to 5, characterized in that: The plurality of rod-shaped structures form two characteristic surfaces, and the two characteristic surfaces are parallel to each other.

7. The registration tool according to any one of claims 1 to 5, characterized in that: The plurality of rod-shaped structures form two characteristic surfaces, and the two characteristic surfaces intersect with each other.

8. The registration tool according to any one of claims 1 to 5, characterized in that: The alignment tool further comprises: an alignment ball (300) and a connecting portion, wherein the alignment ball (300) is connected to the alignment frame (200) via the connecting portion, and the size of the alignment frame (200) in at least one direction is larger than the diameter of the alignment ball (300).

9. The registration tool according to claim 8, characterized in that: The connecting portion comprises a tooling rod body (431) and at least two connecting rods (432), wherein the first end of the tooling rod body (431) is fixedly connected to the alignment ball (300), the first end of the connecting rod (432) is connected to the side surface of the tooling rod body (431), and the second end of the connecting rod (432) is connected to the alignment frame (200).

10. The registration tool according to claim 9, characterized in that: The axis of the tooling rod (431) is parallel to the characteristic surface, and the axis of the connecting rod (432) is perpendicular to the characteristic surface.

11. The registration tool according to claim 8, characterized in that: A fixing portion (433) is provided on the connecting portion, and the fixing portion (433) is used to be connected to an execution arm of a surgical robot in a surgical robot system.

12. The registration tool according to claim 9, characterized in that: A fixing portion (433) is provided on the tooling rod body (431) or the connecting rod (432), and the fixing portion (433) is used to be connected to an execution arm of a surgical robot in a surgical robot system.

13. The registration tool according to claim 8, characterized in that: The connecting portion comprises a positioning outer frame, a spherical cavity and a frame cavity are formed in the positioning outer frame, the spherical cavity is filled with a material body to form the alignment ball (300), and the frame cavity is filled with a material body to form the alignment frame (200), and the imaging performance of the material body is higher than the imaging performance of the positioning outer frame.

14. A registration tool, characterized in that: The registration tool comprises a registration ball (300), a connecting portion, and a registration frame (200); the registration ball (300) is connected to the registration frame (200) via the connecting portion; and the size of the registration frame (200) in at least one direction is larger than the diameter of the registration ball (300); The registration frame (200) includes a plurality of rod-shaped structures, wherein the plurality of rod-shaped structures form two characteristic surfaces and a supplementary surface; The plurality of rod-like structures include three Z-shaped rods, each Z-shaped rod including two mutually parallel cross rods and an oblique rod, wherein two cross rods in the Z-shaped rod are connected by the oblique rod to form a Z shape; The three Z-shaped rods include a first Z-shaped rod (701), a second Z-shaped rod (702) and a third Z-shaped rod (703); the first Z-shaped rod (701) and the second Z-shaped rod (702) are respectively located on one of the characteristic surfaces; the third Z-shaped rod (703) is located on the supplementary surface; the crossbars of the three Z-shaped rods are parallel to each other; the first Z-shaped rod (701) and the second Z-shaped rod (702) respectively share a crossbar with the third Z-shaped rod (703).

15. The registration tool according to claim 14, characterized in that: The connecting portion comprises a positioning outer frame, a spherical cavity and a frame cavity are formed in the positioning outer frame, the spherical cavity is filled with a material body to form the alignment ball (300), and the frame cavity is filled with a material body to form the alignment frame (200), and the imaging performance of the material body is higher than the imaging performance of the positioning outer frame.

16. The registration tool according to claim 14, characterized in that: The two characteristic surfaces are parallel to each other, and / or The two characteristic surfaces are respectively perpendicular to the supplementary surface.

Images