Positioning device, positioning system and medical equipment

Abstract

The embodiment of the utility model provides a positioning device, a positioning system and medical equipment. The positioning device comprises a first tracer which is provided with a first positioning part; the calibrator is provided with a main body part and a marking part installed on the main body part, the main body part is made of an X-ray-permeable material, the marking part is made of an X-ray-impermeable material, and the main body part is fixedly connected with the first tracer. In the positioning device, the first tracer is fixedly connected with the calibrator, so that the relative position error generated when the separated parts are assembled together is avoided, the positioning accuracy between the inspected object and the mechanical arm in the registration step can be improved, and then the accuracy of auxiliary positioning or surgical navigation is improved.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a positioning device, positioning system and medical equipment. Background Technology

[0002] In medical image-guided assisted localization or surgical navigation technologies, registration is a crucial step.

[0003] In the registration step, a calibrator (e.g., a positioning ruler) is placed close to the object being examined, and the calibrator is positioned within the scanning field of view of the medical imaging equipment. The medical imaging equipment scans the object and forms a three-dimensional medical image, in which the positioning point of the calibrator is displayed. In addition, the image of the robotic arm tracer mounted on the surgical robotic arm can be captured by an optical camera. Based on the three-dimensional medical image of the positioning point and the image of the robotic arm tracer, the relative positional relationship between the object being examined and the robotic arm can be determined, thereby establishing a mapping relationship between the coordinate system of the object being examined and the coordinate system of the robotic arm.

[0004] After registration, based on the established mapping relationship, the object being inspected or the robotic arm can be located, or the surgical path can be planned and the surgical process can be guided.

[0005] It should be noted that the above introduction to the technical background is only for the purpose of providing a clear and complete explanation of the technical solution of this application and facilitating the understanding of those skilled in the art. Utility Model Content

[0006] In the existing technology, the robotic arm tracker and calibrator are usually separate components. They need to be assembled during use and separated after use.

[0007] The inventors discovered that the separate robotic arm tracker and calibrator are detachably assembled via connecting parts. However, due to manufacturing errors in the connecting parts, and the wear and tear that occurs during use, the actual relative position of the assembled robotic arm tracker and calibrator deviates from the ideal relative position. For example, this error is approximately 0.2 millimeters. This error reduces the positioning accuracy between the object being examined and the robotic arm, thus adversely affecting assisted positioning or surgical navigation. For instance, it may cause accidental injury to the object being examined.

[0008] To address at least one of the aforementioned technical problems or other similar issues, embodiments of this application provide a positioning device, a positioning system, and a medical device. In this positioning device, the tracer and calibrator are fixedly connected, thus avoiding relative position errors that occur when separate components are assembled together. This improves the positioning accuracy between the object being examined and the robotic arm during the registration process, thereby enhancing the accuracy of assisted positioning or surgical navigation.

[0009] According to one aspect of the embodiments of this application, a positioning device is provided, the positioning device comprising:

[0010] A first tracer having a first positioning part; and

[0011] A calibrator having a main body and a marking portion mounted on the main body, the main body being made of an X-ray transparent material and the marking portion being made of an X-ray opaque material.

[0012] The main body is fixedly connected to the first tracer.

[0013] In some embodiments, the first tracer and the main body are integrally formed; or

[0014] The first tracer and the main body are fixedly connected by a first connection structure.

[0015] In some embodiments, the first connection structure includes:

[0016] The receiving part, which is connected to the end of the first tracer, has a receiving space;

[0017] A protrusion that protrudes from the receiving portion toward the receiving space; and

[0018] A recess, located at the end of the main body portion,

[0019] in,

[0020] The end of the main body is located within the receiving portion, and the protrusion is received within the recess.

[0021] In some embodiments, the protrusion direction of the protrusion is perpendicular to the extension direction of the end of the main body.

[0022] In some embodiments, the calibrator has four or more of the aforementioned marking portions, wherein the geometric centers of the four or more of the aforementioned marking portions are not coplanar.

[0023] In some embodiments, the main body has a first surface and a second surface, the first surface and the second surface are not coplanar, and four or more of the marking portions are mounted on the first surface and the second surface.

[0024] In some embodiments, there is an elevation connecting the first surface and the second surface.

[0025] In some embodiments, the distance between the geometric center of the four or more marking portions and the geometric center of the first positioning portion is greater than or equal to 9 centimeters.

[0026] According to another aspect of the embodiments of this application, a positioning system is provided, the positioning system comprising:

[0027] Camera device;

[0028] Medical imaging equipment;

[0029] The positioning device as described in any of the above embodiments; and

[0030] processor,

[0031] in,

[0032] The camera device acquires an image of the first positioning part in the first tracer, which includes the positioning device.

[0033] The medical imaging device emits X-rays towards the calibrator of the positioning device and the subject being examined, and generates a three-dimensional medical image including the marker portion of the calibrator and the subject being examined based on the X-rays passing through the calibrator and the subject being examined.

[0034] The processor determines the relative positional relationship between the first positioning unit and the object being examined based on the image obtained by the camera device and the three-dimensional medical image.

[0035] In some embodiments, the marking portion is located within the field of view of the medical imaging device, and the first positioning portion is located outside the field of view of the medical imaging device.

[0036] According to another aspect of the embodiments of this application, a medical device is provided, the medical device comprising:

[0037] The robotic arm and the positioning system described in the above embodiments,

[0038] The robotic arm is connected to the first tracer of the positioning system.

[0039] Referring to the following description and accompanying drawings, specific implementation methods of the embodiments of this application are disclosed in detail, indicating how the principles of the embodiments of this application can be adopted. It should be understood that the implementation methods of this application are not limited in scope. Within the spirit and scope of the appended claims, the implementation methods of this application include many changes, modifications, and equivalents. Attached Figure Description

[0040] The accompanying drawings, which form part of the specification, are used to provide a further understanding of the embodiments of this application and illustrate the implementation methods of this application, together with the textual description, to explain the principles of this application. Obviously, the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other implementation methods based on these drawings without creative effort. In the drawings:

[0041] Figure 1 This is a three-dimensional schematic diagram of the positioning device;

[0042] Figure 2 This is a top view of the positioning device;

[0043] Figure 3 This is a side view of the positioning device;

[0044] Figure 4 It is along Figure 1 A partial cross-sectional view viewed along the A1-A1 direction;

[0045] Figure 5 This is a schematic diagram of the positioning system of this application. Detailed Implementation

[0046] Referring to the accompanying drawings, the foregoing and other features of the embodiments of this application will become apparent from the following description. Specific embodiments of this application are specifically disclosed in the description and drawings, illustrating partial implementations in which the principles of the embodiments of this application can be adopted. It should be understood that this application is not limited to the described embodiments; rather, the embodiments of this application include all modifications, variations, and equivalents falling within the scope of the appended claims.

[0047] In the embodiments of this application, the terms "first," "second," etc., are used to distinguish different elements by name, but do not indicate the spatial arrangement or chronological order of these elements, and these elements should not be limited by these terms. The term "and / or" includes any one or more of the terms listed in association and all combinations thereof. The terms "comprising," "including," "having," etc., refer to the presence of the stated features, elements, components, or assemblies, but do not exclude the presence or addition of one or more other features, elements, components, or assemblies.

[0048] In the embodiments of this application, the singular forms "a," "the," etc., including the plural forms, should be broadly understood as "a kind" or "a class" rather than limited to the meaning of "an." Furthermore, the term "the" should be understood to include both the singular and plural forms, unless the context explicitly indicates otherwise. Additionally, the term "according to" should be understood as "at least partially based on…," and the term "based on" should be understood as "at least partially based on…," unless the context explicitly indicates otherwise.

[0049] Features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. The term "comprising / including" as used herein means the presence of a feature, integral, step, or component, but does not exclude the presence or addition of one or more other features, integrals, steps, or components.

[0050] In various embodiments of this application, "above" and "below" both include the stated number. For example, "two or more" includes two and more than two, and "two or less" includes two and less than two.

[0051] This application provides a positioning device.

[0052] Figure 1 This is a three-dimensional schematic diagram of the positioning device. Figure 2 This is a top view of the positioning device. Figure 3 This is a side view of the positioning device. Figure 4 It is along Figure 1 A partial cross-sectional view viewed along the A1-A1 direction.

[0053] like Figure 1 , Figure 2 and Figure 3 As shown, the positioning device 100 includes a first tracer 1 and a calibrator 2.

[0054] The first tracer 1 has a first positioning part 11 and a base 12. The base 12 supports the first positioning part 11. The first positioning part 11 may have a shape that facilitates visual recognition, for example, the first positioning part 11 is spherical.

[0055] The first tracer 1 can be connected to the robotic arm, and the first positioning part 11 can be located within the field of view of the camera device (e.g., an optical camera device). Thus, the first positioning part 11 can be easily identified in the image generated by the camera device, and the first tracer 1 can be used to mark the position of the robotic arm.

[0056] The calibrator 2 has a main body 21 and a marking part 22 mounted on the main body 21. The main body 21 is used to support the marking part 22.

[0057] The main body 21 can be made of an X-ray transparent material, and the marker 22 can be made of an X-ray opaque material. Thus, when the medical imaging device emits X-rays to the calibrator 2, imaging can be performed based on the light transmission characteristics of the main body 21 and the marker 22, thereby presenting the marker 22 in a three-dimensional medical image.

[0058] In some examples, the material of the main body 21 may be resin, and the material of the marking part 22 may be metal, such as steel.

[0059] Furthermore, the materials of the first positioning part 11 and the base 12 of the first tracer 1 may also be resin or the like.

[0060] Unlike existing technologies where the first tracer and calibrator are separate components that are assembled during use, in this application, the first tracer 1 and the calibrator 2 are fixedly connected (e.g., the base 12 of the first tracer 1 is fixedly connected to the main body 21 of the calibrator 2). Therefore, this application avoids the relative positional errors that occur when separate components are assembled together, thereby improving the positioning accuracy between the object being inspected and the robotic arm during the registration process, and consequently improving the accuracy of assisted positioning or surgical navigation.

[0061] In some examples of this application, the main body 21 of the first tracer 1 and the calibrator 2 can be integrally formed, thereby the main body 21 of the first tracer 1 and the calibrator 2 can be fixedly connected.

[0062] In other examples of this application, the main body 21 of the first tracer 1 and the calibrator 2 can be fixedly connected by the first connection structure 3.

[0063] like Figure 4 As shown, the first connecting structure 3 includes: a receiving portion 31, a protrusion 32, and a recess 33.

[0064] The receiving part 31 is connected to the end of the first tracer 1, and the receiving part 31 has a receiving space 310.

[0065] exist Figure 4 In the example shown, the receiving portion 31 has a first wall portion 311, a second wall portion 312 and a third wall portion 313, the third wall portion 313 is connected to the first wall portion 311 (for example, the third wall portion 313 and the first wall portion 311 are integral), the third wall portion 313 is not parallel to the first wall portion 311, and a receiving space 310 is formed between the first wall portion 311 and the second wall portion 312.

[0066] The third wall portion 313 is connected to the end of the first tracer 1. For example, the third wall portion 313 is connected to the end 12a of the base 12 of the first tracer 1 via... Figure 4The fixing member 314 shown is fixedly connected, or the third wall portion 313 and the end portion 12a of the base portion 12 of the first tracer 1 can be integrally formed.

[0067] In this application, the protrusion 32 protrudes from the receiving portion 31 toward the receiving space 310. For example, in Figure 4 In the example shown, within the receiving space 310, the protrusion 32 protrudes from the first wall portion 311 of the receiving portion 31 toward the second wall portion 312; however, this application is not limited to this, and in other examples, within the receiving space 310, the protrusion 32 may protrude from the second wall portion 312 of the receiving portion 31 toward the first wall portion 311.

[0068] In this application, the recess 33 may be located at the end 21a of the main body 21.

[0069] like Figure 4 As shown, the extension direction of the end 21a of the main body 21 is D1, and the protrusion direction of the protrusion 32 is D2. D1 and D2 can intersect, for example, D1 is perpendicular to D2.

[0070] Thus, the protrusion 32 is embedded in the recess 33, thereby restricting the relative movement of the main body 21 and the first tracer 1 in the D1 direction; and the first wall portion 311 and the second wall portion 312 of the receiving portion 31 clamp the end portion 21a of the main body 21 from both ends in the D2 direction, thereby restricting the relative movement of the main body 21 and the first tracer 1 in the D2 direction.

[0071] By providing the first connecting structure 3, the first tracer 1 is fixedly connected to the main body 21, and the relative position of the first tracer 1 and the main body 21 remains fixed, avoiding errors in relative position during multiple disassembly and assembly processes. Furthermore, the first connecting structure 3 is designed to be difficult to disassemble. Separating the first tracer 1 from the main body 21 would require pre-defined tools or damage to the first connecting structure 3, thus reducing the possibility of the first tracer 1 separating from the main body 21 due to misoperation when using the positioning device 100.

[0072] like Figure 4An example of the first connection structure 3 is shown. The first connection structure 3 can also be other structures to fix the first tracer 1 and the calibrator 2. In one example, the protrusion 32 is a retractable snap-fit ​​pin. The protrusion 32 includes a pin portion extending to the recess 33, a middle portion fitted with a cylindrical spring, and an operating portion extending to the outside of the first wall portion 311. The first wall portion 311 is provided with an opening through which the protrusion 32 passes, and the middle portion can move in the opening. The end portion 21a of the main body portion 21 can be a bevel or an arc surface. During operation, the end portion 21a is inserted into the receiving space 310. The pin portion of the protrusion 32 is pressed by the end portion 21a or pulled by the operating portion and moves toward the opening of the first wall portion 311. When the recess 33 is aligned with the opening of the first wall portion 311, the pin portion of the protrusion 32 moves to the recess 33 and thus fixes the main body portion 21. In another example, the first connecting structure 3 can be a two-end sleeve structure, one end of which is sleeved on the end 12a of the base 12 of the first tracer 1 and fastened by screws or other suitable means, and the other end of which is sleeved on the end 21a of the main body 21 of the calibrator 2 and fastened by screws or other suitable means.

[0073] In this application, the calibrator 2 has four or more marking sections 22. For example, such as Figure 1 , Figure 2 and Figure 3 As shown, the calibrator 2 has four or more marking sections 22. For example, in other examples, the number of marking sections 22 in the calibrator 2 may be greater than four.

[0074] In some embodiments of this application, the geometric centers of the four or more marker portions 22 are not coplanar, thereby facilitating the identification of the spatial positions of the marker portions 22 in a three-dimensional medical image. The shape of each marker portion 22 is, for example, a sphere, and the geometric center of each marker portion 22 may be the center of the sphere.

[0075] like Figure 3 In the example shown, the four markers 22 are 22a, 22b, 22c, and 22d. The geometric centers of markers 22a, 22b, and 22c are each on the same plane P (not shown), while the geometric center of marker 22d is outside plane P. Furthermore, since three non-collinear points in space determine a plane, therefore, in Figure 3 In the example, it can also be considered that the geometric centers of the marking parts 22a, 22b and 22d are on the same plane, while the geometric center of the marking part 22c is outside the plane.

[0076] In this application, as Figure 1 , Figure 2 and Figure 3As shown, the main body 21 of the calibrator 2 has a first surface 211 and a second surface 212. The first surface 211 and the second surface 212 are not coplanar. For example, the first surface 211 and the second surface 212 are parallel. Furthermore, there may be a vertical surface 213 connecting the first surface 211 and the second surface 212, which is perpendicular to the first surface 211 and the second surface 212 or forms a specific angle with them. Thus, the first surface 211, the second surface 212, and the vertical surface 213 are stepped.

[0077] Furthermore, this application is not limited to this; the first surface 211 and the second surface 212 may also be other non-coplanar shapes.

[0078] In this application, four or more marking portions 22 can be mounted on the first surface 211 and the second surface 212. Thus, the first surface 211 and the second surface 212 can serve as reference surfaces for mounting each marking 22, thereby visually indicating to the user of the positioning device 100 that the geometric centers of each marking 22 are not coplanar.

[0079] For example, in Figure 1 , Figure 2 and Figure 3 In the example shown, the four marking portions 22 are 22a, 22b, 22c and 22d, wherein marking portions 22a and 22b are mounted on the first surface 211 (for example, the first surface 211 is provided with a groove, and marking portions 22a and 22b are respectively mounted in the groove), and marking portions 22c and 22d are mounted on the second surface 212 (for example, the second surface 212 is provided with a groove, and marking portions 22c and 22d are respectively mounted in the groove).

[0080] In this application, the distance between the geometric center of four or more marker portions 22 and the geometric center of the first positioning portion 11 is greater than or equal to 9 centimeters. Therefore, there can be a sufficient distance between the marker portions 22 and the first positioning portion 11, so that when performing three-dimensional imaging of the marker portions 22 and the object being examined using a medical imaging device, the first positioning portion 11 can be located outside the field of view of the medical imaging device (e.g., outside the irradiation range of the X-rays emitted by the medical imaging device), thus preventing the first positioning portion 11 from interfering with the three-dimensional imaging results of the object being examined.

[0081] For example, such as Figure 1 As shown: there are 4 first positioning parts 11, and the geometric center of the 4 first positioning parts 11 is 110; the geometric center of the 4 marking parts 22 is 220; the distance L between the geometric center 110 and the geometric center 220 is greater than or equal to 9 centimeters.

[0082] This application embodiment also provides a positioning system, which includes the positioning device 100 described above.

[0083] Figure 5 This is a schematic diagram of the positioning system of this application. For example... Figure 5 As shown, the positioning system 500 includes: a camera device 51, a medical imaging device 52, a positioning device 100, and a processor 53.

[0084] The camera device 51 may be an optical camera device. The camera device 51 takes a picture of the first tracer 1 of the positioning device 100 and obtains an image including the first positioning part 11 of the first tracer 1, which may be referred to as an optical image.

[0085] The marking part 22 of the calibrator 2 of the positioning device 100 can be placed near the object M to be inspected.

[0086] The medical imaging device 52 may include an X-ray source 521 that emits X-rays, a X-ray receiving device 522, and an imaging device 523. The X-ray source 521 of the medical imaging device 52 emits X-rays towards the calibrator 2 of the positioning device 100 and the subject M. The X-ray receiving device 522 receives the X-rays passing through the calibrator 2 and the subject M. The imaging device 523 performs imaging based on the electrical signals generated by the X-rays received by the X-ray receiving device 522, thereby generating a three-dimensional medical image including the marker 22 of the calibrator 2 and the subject M. The marker 22 of the calibrator 2 is not transparent to X-rays; therefore, the spatial position of the marker 22 can be displayed in the three-dimensional medical image.

[0087] The marking part 22 and the first positioning part 11 can have a sufficient distance (for example, the distance between the geometric center of four or more marking parts 22 and the geometric center of the first positioning part 11 is greater than or equal to 9 cm). When performing three-dimensional imaging using the medical imaging device 52, the marking part 22 of the calibrator 2 can be within the field of view of the medical imaging device 52 (for example, within the irradiation range of the X-rays emitted by the medical imaging device 52), and the first positioning part 11 can be outside the field of view of the medical imaging device 52 (for example, outside the irradiation range of the X-rays emitted by the medical imaging device 52). Therefore, the first positioning part 11 will not interfere with the three-dimensional imaging results of the object M being examined.

[0088] In this application, the processor 53 can determine the relative positional relationship between the first positioning unit 11 and the object being examined M based on the image obtained by the camera device 51 and the three-dimensional medical image generated by the medical imaging device 52.

[0089] In some embodiments, the marking part 22 is near the object being inspected M, and there is a mapping relationship T2 between the position B of the marking part 22 and the position C of the object being inspected M, that is, B = C * T2 (Equation 1);

[0090] Furthermore, since the first tracer 1 and the calibrator 2 are fixedly connected, there is a fixed mapping relationship T1 between the position A of the first positioning part 11 and the position B of the marking part 22, that is, A = B * T1 (Equation 2).

[0091] According to Equations 1 and 2, the relationship between the position A of the first positioning part 11 and the position C of the object being inspected M is A = C * T2 * T1 (Equation 3).

[0092] In this application, the processor 53 determines the relative positional relationship between the first positioning unit 11 and the object being inspected M (i.e., the registration step), which can be achieved through the following steps:

[0093] Step 1: The processor 53 can determine the position B of the marker 22 and the position C of the object being examined based on the image of the marker 22 and the image of the object being examined M in the three-dimensional medical image generated by the medical imaging device 52, thereby determining the mapping relationship T2 between the position B of the marker 22 and the position C of the object being examined.

[0094] Step 2: The processor 53 calculates the position A of the first positioning unit 11 according to Equation 3. The position A is the position of the first positioning unit 11 in the coordinate system of the three-dimensional medical image. The mapping relationship T2 is obtained from Step 1, the position C of the object being examined M can be obtained from the three-dimensional medical image, and the mapping relationship T1 is a fixed value.

[0095] Step 3: In the image obtained by the camera device 51, the first positioning unit 11 has a position A' in the coordinate system of the optical image. The processor 53 can obtain the position A' based on the image obtained by the camera device 51, and then calculate the mapping relationship T3 between the coordinate system of the optical image and the coordinate system of the three-dimensional medical image based on the position A and position A' calculated in step 2.

[0096] Step 4: The processor 53 obtains the relative positional relationship between the position A' of the first positioning unit 11 in the coordinate system of the optical image and the position C of the object being examined M in the coordinate system of the three-dimensional medical image according to T1, T2 and T3, that is, A' = C*T3*T2*T1 (Equation 4). This relative positional relationship can be used for surgical path planning and navigation during the surgical process.

[0097] In this application, since the first tracer 1 and the calibrator 2 are fixedly connected, the inherent error of T1 is relatively small. In contrast, if the first tracer 1 and the calibrator 2 are detachably connected, then after assembling the first tracer 1 and the calibrator 2, T1 will have an error, for example, about 0.2 mm. This error of T1 will affect the accuracy of the relative positional relationship between position A' and position C.

[0098] This application also provides a medical device, which may include the positioning system 500 described above.

[0099] like Figure 5 As shown, the medical device 600 may include a positioning system 500 and a robotic arm 700. The robotic arm 700 may be connected to the first tracer 1 of the positioning system 500, and surgical instruments or robotic hands may be installed on the robotic arm 700 for performing surgery or other treatments on the subject M.

[0100] In this application, there is a predetermined positional relationship between the position of the robotic arm 700 and the position of the first positioning part 11 of the first tracer 1.

[0101] The camera device 51 in the positioning system 500 takes a picture of the first positioning part 11 of the first tracer 1 and obtains the position A' of the first positioning part 11 based on the captured image. The position A' of the first positioning part 11 can also be converted into the position of the robotic arm 700, thereby enabling the positioning of the robotic arm 700.

[0102] Furthermore, by combining the relative positional relationship between the position A' of the first positioning unit 11 in the coordinate system of the optical image obtained in step 4 above and the position C of the object being examined M in the coordinate system of the three-dimensional medical image, the relative positional relationship between the position of the robotic arm 700 in the coordinate system of the optical image and the position C of the object being examined M in the coordinate system of the three-dimensional medical image can be determined. Thus, the surgical path of the robotic arm 700 or the movement of the robotic arm 700 during surgery can be planned based on this relative positional relationship.

[0103] The processor 53 described above can be implemented in hardware or in combination with software. This application relates to a computer-readable program that, when executed by a logic component, enables the logic component to implement the aforementioned apparatus or constituent parts, or to implement the various methods or steps described above. This application also relates to a storage medium for storing the above program, such as a hard disk, magnetic disk, optical disk, DVD, flash memory, etc.

[0104] The processor 53 described in conjunction with the embodiments of this application can be directly embodied as hardware, a software module executed by the processor, or a combination of both. For example, one or more and / or one or more combinations of functional block diagrams shown in the figures can correspond to various software modules in a computer program flow, or to various hardware modules. These software modules can correspond to the various steps shown in the figures. These hardware modules can be implemented, for example, using a field-programmable gate array (FPGA).

[0105] The software module can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. A storage medium can be coupled to the processor, enabling the processor to read information from and write information to the storage medium; or the storage medium can be an integral part of the processor. The processor and storage medium can reside in an ASIC. The software module can be stored in the memory of a mobile terminal or in a memory card that can be inserted into the mobile terminal. For example, if the device (such as a mobile terminal) uses a high-capacity MEGA-SIM card or a high-capacity flash memory device, the software module can be stored in the MEGA-SIM card or the high-capacity flash memory device.

[0106] The processor 53 can be implemented as a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or any suitable combination thereof for performing the functions described herein. The processor 53 can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors communicating with a DSP, or any other such configuration, for performing the functions described in the figures.

[0107] The above embodiments are merely illustrative examples of embodiments of this application, but this application is not limited thereto, and appropriate modifications can be made based on the above embodiments. For example, the above embodiments can be used alone, or one or more of the above embodiments can be combined.

[0108] The present application has been described above with reference to specific embodiments. However, those skilled in the art should understand that these descriptions are exemplary and not intended to limit the scope of protection of the present application. Those skilled in the art can make various modifications and variations to the present application based on its spirit and principles, and these modifications and variations are also within the scope of the present application.

Claims

1. A positioning device, characterized in that, The positioning device includes: A first tracer having a first positioning part; and A calibrator having a main body and a marking portion mounted on the main body, the main body being made of an X-ray transparent material and the marking portion being made of an X-ray opaque material. The main body is fixedly connected to the first tracer.

2. The positioning device as described in claim 1, characterized in that, The first tracer and the main body are integrally formed; or The first tracer and the main body are fixedly connected by a first connection structure.

3. The positioning device as described in claim 2, characterized in that, The first connection structure includes: The receiving part, which is connected to the end of the first tracer, has a receiving space; A protrusion that protrudes from the receiving portion toward the receiving space; and A recess, located at the end of the main body portion, in, The end of the main body is located within the receiving portion, and the protrusion is received within the recess.

4. The positioning device as described in claim 3, characterized in that, The protrusion direction of the protrusion is perpendicular to the extension direction of the end of the main body.

5. The positioning device as described in claim 1, characterized in that, The calibrator has four or more of the aforementioned marking sections. Among them, the geometric centers of the four or more marked parts are not coplanar.

6. The positioning device as described in claim 5, characterized in that, The main body has a first surface and a second surface, wherein the first surface and the second surface are not coplanar. Four or more of the aforementioned marking portions are mounted on the first surface and the second surface.

7. The positioning device as described in claim 6, characterized in that, There is an elevation connecting the first surface and the second surface.

8. The positioning device as described in claim 5, characterized in that, The distance between the geometric center of the four or more marked parts and the geometric center of the first positioning part is greater than or equal to 9 centimeters.

9. A positioning system, characterized in that, The positioning system includes: Camera device; Medical imaging equipment; The positioning device as described in any one of claims 1 to 8; and processor, in, The camera device acquires an image of the first positioning part in the first tracer, which includes the positioning device. The medical imaging device emits X-rays towards the calibrator of the positioning device and the subject being examined, and generates a three-dimensional medical image including the marker portion of the calibrator and the subject being examined based on the X-rays passing through the calibrator and the subject being examined. The processor determines the relative positional relationship between the first positioning unit and the object being examined based on the image obtained by the camera device and the three-dimensional medical image.

10. The positioning system as described in claim 9, characterized in that, The marker is located within the field of view of the medical imaging device. The first positioning part is located outside the field of view of the medical imaging device.

11. A medical device, characterized in that, The medical device includes: The robotic arm and the positioning system as described in any one of claims 9 to 10, in, The robotic arm is connected to the first tracer of the positioning system.

Images