Operation puncture needle calibration device based on optical tracking

Abstract

The utility model discloses a surgical puncture needle calibration device based on optical tracking, which comprises a to-be-calibrated device, the to-be-calibrated device comprises a puncture needle body, a structure module and a positioning module, and the puncture needle body comprises a sharp end and a connecting end; the structural module comprises a rigid body, the rigid body comprises a connecting piece, a structural piece and a medium channel, and the connecting piece is connected with the connecting end; the positioning module comprises a space positioning piece and a supporting piece, and the supporting piece is connected to the same side face of the rigid body; the calibration device comprises a box body module, a carrying module and a measurement module, the box body module is used for providing support during calibration, the carrying module is used for supporting the puncture needle body, and the measurement module is used for determining the posture and position of the calibration device. The position of the needle point of the puncture needle can be accurately calibrated, the puncture needle can be conveniently and accurately punctured into an affected part, and the optimal treatment effect is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of optical tracking's surgical puncture needle, especially a kind of surgical puncture needle calibration device based on optical tracking. BACKGROUND

[0002] Puncture needle is the medical instrument of the tissue sampling and injection treatment of multiple organs such as kidney, liver, spleen, lung, breast, thyroid, prostate, pancreas, testis, uterus, ovary, body surface in minimally invasive surgery, and minimally invasive surgery has extremely high demand for surgical precision, and slight deviation can cause great harm to surgical object.

[0003] When using optical tracking's surgical puncture needle, because of the existence of tool processing error and assembly error, the space coordinates of tracking point of needle tip in actual use will deviate from theoretical value.The prior art is helpless to error, because it lacks error correction device, and manual calibration is usually used, which cannot accurately determine the position of needle tip by naked eye, causing surgical hazards;A few calibration methods use the correction method of bending puncture needle, but bending still cannot ensure that the puncture needle head is returned to position.No matter what kind of existing method is, it cannot accurately determine the position of puncture needle head.

[0004] The information disclosed in this BACKGROUND section is only for the purpose of increasing the understanding of the background of the present utility model, and should not be regarded as acknowledging or implying in any form that this information constitutes prior art known to those of ordinary skill in the art. CONTENT OF UTILITY MODEL

[0005] The utility model aims at providing a kind of surgical puncture needle calibration device based on optical tracking, which can solve the problems in the background art.

[0006] To achieve the above-mentioned purpose, the utility model provides a kind of surgical puncture needle calibration device based on optical tracking, characterized by comprising: a calibration device to be calibrated, the calibration device to be calibrated includes a puncture needle body, a structure module and a positioning module, the puncture needle body includes a sharp end and a connecting end;The structure module includes a rigid body, the rigid body includes a connecting piece, a structural member and a medium channel, the connecting piece is connected with the connecting end;The positioning module includes a spatial positioning member and a support member, the support member is connected on the same side surface of the rigid body;Calibration device, the calibration device includes a box body module, a carrying module and a surveying module, the box body module is used to provide support when calibrating, the carrying module is used to support the puncture needle body, and the surveying module is used to determine the attitude and position of the calibration device.

[0007] In one or more embodiments, the surgical puncture needle calibration device based on optical tracking further includes a tracking module, and the tracking module includes a camera and an analysis member.

[0008] In one or more embodiments, the puncture needle body is a hollow structure, the hollow position is an injection channel, the sharp end is used for puncturing into a surgical patient for surgery, and the connecting end is used for fixing with the connecting piece; the surgical puncture needle calibration device based on optical tracking further comprises a locking nut, and the injection channel is linked with the rigid body through the locking nut.

[0009] In one or more embodiments, the box body module is a top semi-open rectangular box structure, the box body module comprises long sides and short sides, and the bottom of the long side is longer than the bottom of the short side.

[0010] In one or more embodiments, one or more of the mounting modules are located at the top of the long side, one or more mounting modules are located on the inner side of the short side, and the calibration module is arranged on the outer side of the long side; wherein, the inner side means the direction pointing to the inside of the box body module, and the outer side means the direction pointing to the outside of the box body module.

[0011] In one or more embodiments, the structure is a bifurcated structure, the structure comprises branches and a core, the branches are long strip structures, and a plurality of the branches are arranged in multiple directions of the core.

[0012] In one or more embodiments, the reflective marker balls are further included, one or more of the reflective marker balls are arranged at the calibration module, and one or more of the reflective marker balls are arranged at the farthest ends of the branches from the core.

[0013] In one or more embodiments, the lengths of the plurality of branches are different, the distances of the plurality of reflective marker balls arranged at the farthest ends of the branches from the core are different, and the three-dimensional coordinates of the reflective marker balls are determined by the tracking module.

[0014] In one or more embodiments, the one or more mounting modules located on the inner side of the short side are in the form of a docking groove.

[0015] In one or more embodiments, the docking groove is arranged in a shape matched with the shape of the sharp end; the distance between the mounting module located at the top of the long side and the mounting module located on the inner side of the short side is consistent with the distance from the sharp end to the branch.

[0016] Compared with the prior art, the multiple technical solutions and embodiments provided by the utility model have at least the following technical effects or advantages:

[0017] By setting the calibration module, the sharp end position is accurately identified, the puncture needle is ensured to be punctured into the accurate position in the body, and the operation hidden danger is reduced; branches with different lengths are set to determine the posture of the device to be calibrated. BRIEF DESCRIPTION OF DRAWINGS

[0018] The drawings described herein are used to provide further understanding of the present application, constitute a part of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, can be considered as the result of the combination of the preferred embodiments, and do not constitute improper limitation on the present application. In the drawings:

[0019] Figure 1 A schematic diagram of the overall structure of the surgical puncture needle calibration device based on optical tracking is provided.

[0020] The reference numerals in the drawings represent: 11-puncture needle body, 111-sharp end, 121-core, 122-branch, 21-long side, 22-short side, 3-carrying module, 4-reflective marker ball. DETAILED DESCRIPTION

[0021] Unless otherwise explicitly stated, throughout the specification and claims, the term "comprise" or its variants such as "contain" or "include" or "made of" and the like will be understood to encompass the stated element or component, without excluding the presence of other elements or components.

[0022] The utility model aims at providing a kind of surgical puncture needle calibration device based on optical tracking, accurate determination needle tip position is realized, the effect of reducing operation hidden danger.

[0023] Embodiment one:

[0024] The embodiment provides a kind of surgical puncture needle calibration device based on optical tracking, comprising: device to be calibrated, the device to be calibrated includes puncture needle body 11, structure module and positioning module, the puncture needle body 11 includes sharp end 111 and connecting end;The structure module includes rigid body, the rigid body includes connecting piece, structural member and medium channel, the connecting piece is connected with the connecting end;The positioning module includes spatial positioning piece and support, the support is connected on the same side of the rigid body;Calibration device, the calibration device includes box body module, carrying module 3 and surveying module, the box body module is used to provide support when calibration, the carrying module 3 is used to support the puncture needle body 11, the surveying module is used to determine the posture and position of the calibration device. Preferably, the surgical puncture needle calibration device based on optical tracking further includes tracking module, the tracking module includes camera piece and analysis piece.

[0025] Specifically, in order to accurately determine the position of the needle tip and reduce the risk of surgery, the embodiment is provided with a calibration device. The calibration device is used to determine the position of the sharp end 111 by docking the device to be calibrated at a specific position of the calibration device, and fix the device to be calibrated on the calibration device. The relative position of the sharp end 111 and the positioning module is determined by tracking the module to identify and determine the position of the positioning module of the device to be calibrated, and then the calibration of the sharp end 111 is performed to determine whether the identification point of the sharp end 111 is at the specified position.

[0026] As a preferred embodiment of the present embodiment, the puncture needle body 11 is a hollow structure, the hollow position is an injection channel, the sharp end 111 is used for puncturing the patient's body for surgery, and the connecting end is used for fixing with the connecting piece; the puncture needle calibration device based on optical tracking further comprises a locking nut, and the injection channel and the rigid body are linked through the locking nut.

[0027] Specifically, the sharp end 111 is a puncture needle tip, the inside of the puncture needle is a hollow structure, which is used for injecting therapeutic liquid, the puncture needle body 11 is separated from the rigid body to realize replaceable disassembly, and the locking nut is used for airtight connection of the two.

[0028] As a preferred embodiment of the present embodiment, the box module is a top semi-open rectangular box structure, the box module comprises a long side 21 and a short side 22, and the bottom of the long side 21 is longer than the bottom of the short side 22. Further, one or more of the mounting modules 3 are located at the top of the long side 21; one or more mounting modules 3 are located on the inner surface of the short side 22; the calibration module is arranged on the outer surface of the long side 21; wherein the inner refers to the direction pointing to the inside of the box module, and the outer refers to the direction pointing to the outside of the box module. Further, the one or more mounting modules 3 located on the inner surface of the short side 22 are in the form of a docking groove.

[0029] Specifically, as shown in Figure 1 one side of the long side 21 is in the form of a thin plate, and the other side of the long side 21 has a higher part arranged on the outer surface to meet the placement space requirement of the calibration module; part of the mounting modules 3 are used to mount and support the rigid body, and are arranged at the top of the long side 21, so that the device to be calibrated can be stably placed on the top of the long side 21; another part of the mounting modules 3 are located on the inner surface of the short side 22 and are provided with a docking groove structure matched with the shape of the sharp end 111, so that the relative position of the sharp end 111 can be obtained according to the drawing when the sharp end 111 is docked with the docking groove.

[0030] As a preferred embodiment of the present embodiment, the structure is a bifurcated structure, the structure includes a branch 122 and a core 121, the branch 122 is a long strip structure, and a plurality of branches 122 are arranged in multiple directions of the core 121. Further, the reflective marker ball 4 is also included, one or more reflective marker balls 4 are arranged at the calibration module, and one or more reflective marker balls 4 are arranged at the farthest end of the branch 122 from the core 121.

[0031] Specifically, the structure is provided with a branch 122, the reflective marker ball 4 is arranged at the end of the branch 122, and the branch 122 is used to separate the reflective marker ball 4 at a farther distance, thereby reducing the error when identifying the reflective marker ball 4.

[0032] As a preferred embodiment of the present embodiment, the lengths of the plurality of branches 122 are different, and the distances from the core 121 of the plurality of reflective marker balls 4 arranged at the farthest end of the branch 122 from the core 121 are different, which are used for the tracking module to determine the three-dimensional coordinates of the reflective marker ball 4.

[0033] Specifically, when the distances of the reflective marker ball 4 from the core 121 are consistent, the tracking module cannot determine the facing angle of the rigid body when identifying a plurality of reflective marker balls 4. Based on this finding, the present embodiment is provided with branches 122 of different lengths in order to determine the attitude of the device to be calibrated.

[0034] As a preferred embodiment of the present embodiment, the shape of the docking groove structure is matched with the shape of the sharp end 111; the distance of the carrying module 3 located at the top of the long side 21 from the carrying module 3 located on the inner surface of the short side 22 is consistent with the distance of the sharp end 111 to the branch 122.

[0035] In the present embodiment, when calibrating the puncture needle, the rigid body is placed flat on the top of the long side 21, and the sharp end 111 is docked in the docking groove; since the reflective marker ball 4 is arranged at the exact position of the calibration module and the device to be calibrated, the tracking module identifies the position of the reflective marker ball 4, determines the position and attitude of the calibration module and the device to be calibrated, obtains the position of the docking groove according to the drawing of the calibration module, and further obtains the coordinates of the sharp end 111, checks the actual coordinates and the theoretical coordinates of the calibration sharp end 111, and realizes accurate calibration.

[0036] The foregoing description of specific exemplary embodiments of the present application is intended to be illustrative only and is not intended to limit the application to the precise forms disclosed. Many modifications and variations are possible in light of the above teachings without departing from the spirit or essential characteristics of the application. The exemplary embodiments were chosen and described in order to explain the principles of the application and its practical application and to allow others skilled in the art to understand the application for various exemplary embodiments with various modifications being applicable. The scope of the application is intended to be defined by the claims and their equivalents.

Claims

1. An optical tracking based surgical puncture needle calibration apparatus, characterized by, Comprise: A device to be calibrated, comprising a puncture needle body, a structure module and a positioning module, the puncture needle body comprising a sharp end and a connecting end; the structure module comprising a rigid body, the rigid body comprising a connecting piece, a structure piece and a medium channel, the connecting piece being connected with the connecting end; the positioning module comprising a spatial positioning piece and a support piece, the support piece being connected on the same side of the rigid body; A calibration device, comprising a box body module, a carrying module and a measurement module, the box body module being used to provide support during calibration, the carrying module being used to support the puncture needle body, and the measurement module being used to determine the attitude and position of the calibration device.

2. An optical tracking based surgical needle guide device as claimed in claim 1, wherein, The surgical puncture needle calibration device based on optical tracking further comprises a tracking module, the tracking module comprising a camera and an analysis piece.

3. An optical tracking based surgical needle guide device according to any one of claims 1 or 2, characterized in that, The puncture needle body is a hollow structure, the hollow position being an injection channel, the sharp end being used to penetrate into the body of a surgical patient for surgery, and the connecting end being used to be fixed with the connecting piece; the surgical puncture needle calibration device based on optical tracking further comprises a locking nut, and the injection channel and the rigid body are linked through the locking nut.

4. An optical tracking based surgical needle guide device as claimed in claim 2, wherein, The box body module is a semi-open rectangular box structure at the top, the box body module comprising a long side and a short side, the bottom of the long side being longer than the bottom of the short side.

5. An optical tracking based surgical needle guide device as claimed in claim 4, wherein, One or more of the carrying modules are located at the top of the long side; one or more carrying modules are located on the inner face of the short side; and the measurement module is arranged on the outer face of the long side. Wherein, the inner refers to the direction pointing to the inside of the box body module, and the outer refers to the direction pointing to the outside of the box body module.

6. An optical tracking based surgical needle guide device as claimed in claim 5, wherein, The structure piece is a bifurcated structure, the structure piece comprising a branch and a core, the branch being a long strip structure, and a plurality of branches are arranged in multiple directions of the core.

7. An optical tracking based surgical needle guide device as in claim 6, wherein, It further comprises a reflective marker ball, one or more reflective marker balls being arranged at the measurement module, and one or more reflective marker balls being arranged at the farthest end of the branch from the core.

8. An optical tracking based surgical puncture needle calibration apparatus as claimed in claim 7, wherein, The lengths of the plurality of branches are not the same, and the distances from the core of the reflective marker balls arranged at the farthest end of the branch from the core are not the same, which are used for the tracking module to determine the three-dimensional coordinates of the reflective marker balls.

9. An optical tracking based surgical needle guide device according to any one of claims 4-8, characterized in that, The one or more carrying modules located on the inner face of the short side are in the form of a docking groove.

10. An optical tracking based surgical puncture needle calibration apparatus as claimed in claim 9, wherein, The shape of the docking groove structure is matched with the shape of the sharp end; the distance between the carrying module located at the top of the long side and the carrying module located on the inner face of the short side is consistent with the distance from the sharp end to the branch.

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