Tracer assembly

Abstract

The embodiment of the utility model relates to a tracer assembly. The tracer assembly comprises a tracer and a positioning plate. According to the tracer assembly provided by the invention, the tracer and the positioning plate are combined for use, and the light reflecting part is used for generating the image under the irradiation of the infrared light, so that the image receiving equipment obtains the position information of the tracer; the metal ball body is used for generating an image under X-ray irradiation so that an image receiving device can acquire position information of the positioning plate. Therefore, the position information of the tracer and the position information of the positioning plate can be obtained in different modes at the same time, the accurate position of the tracer assembly can be obtained by verifying the position information of the tracer and the position information of the positioning plate, the algorithm fault tolerance is greatly improved, and the possibility that the tracer assembly feeds back the wrong position in actual application is effectively reduced.

Description

Technical Field

[0001] This application relates to the field of surgical equipment technology, and in particular to a tracer assembly. Background Technology

[0002] In orthopedic robotic surgery, the tracer is an important positioning device for spatial positioning, which directly affects the positioning accuracy of the robotic arm.

[0003] Current surgical equipment typically uses an irregular quadrilateral support as its tracer, with reflectors at the four corners. The image formed by these reflectors determines the quadrilateral's spatial position. While this tracer can theoretically determine a unique location in space, considering the inherent errors in image recognition technology, it may still report incorrect positions in practical applications, lacking sufficient fault tolerance. Utility Model Content

[0004] In view of this, the present application provides a tracer component to solve the above-mentioned problems existing in the background art.

[0005] This application provides a tracer component, including:

[0006] A tracer, the tracer comprising a plurality of reflective elements arranged along a first plane;

[0007] A positioning plate is fixed to the tracer; the positioning plate includes a plurality of metal spheres arranged along a second plane, the second plane forming a certain angle with the first plane;

[0008] The reflector is used to generate an image under infrared light irradiation, so that the image receiving device can obtain the position information of the tracer; the metal sphere is used to generate an image under X-ray irradiation, so that the image receiving device can obtain the position information of the positioning plate.

[0009] In an optional embodiment, the positioning plate includes a first surface and a second surface, both of which are parallel to the second plane, and the metal sphere is fixed on the first surface and the second surface.

[0010] In an alternative embodiment, at least a portion of the metal spheres fixed on the first surface are misaligned with the metal spheres fixed on the second surface along the direction perpendicular to the second plane.

[0011] In an optional embodiment, the positioning plate includes:

[0012] Main body;

[0013] A transition section is connected to one end of the main body and is also connected to the tracer.

[0014] The protruding portion protrudes from the main body portion, and the metal sphere is arranged on one side of the protruding portion on the first surface. The side of the protruding portion on the second surface is a smooth surface.

[0015] In an optional embodiment, the main body portion is annular, and some of the metal spheres are arranged along the circumference of the main body portion.

[0016] In an alternative embodiment, the protrusion is located inside the main body portion.

[0017] In an optional embodiment, the end of the transition portion has a plurality of connection holes, and the tracer has mounting holes arranged corresponding to the connection holes; the connection holes are connected by mounting fasteners installed in the mounting holes, and the tracer is fixed to the transition portion.

[0018] In an optional embodiment, the tracer assembly further includes a connecting rod connected to the positioning plate, the tracer assembly being able to connect to surgical equipment via the connecting rod.

[0019] In an optional embodiment, the tracer includes a mounting plate extending along the first plane; the edge of the mounting plate has a plurality of mounting holes;

[0020] The reflector is installed at the mounting hole.

[0021] In an optional embodiment, the reflector includes a reflective ball and a fixing rod, the fixing rod being connected to the mounting hole, and the reflective ball being fixed to the mounting plate by the fixing rod.

[0022] The tracer assembly provided in this application combines a tracer and a positioning plate. The reflector generates an image under infrared light illumination, which is then used by an image receiving device to obtain the position information of the tracer. The metal sphere generates an image under X-ray illumination, which is then used by an image receiving device to obtain the position information of the positioning plate. Therefore, the position information of the tracer and the positioning plate can be obtained simultaneously in different ways. By cross-verifying the position information of the two, the accurate position of the tracer assembly can be obtained. The algorithm's fault tolerance is greatly improved, effectively reducing the possibility of the tracer assembly reporting an incorrect position in practical applications.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0025] Figure 1 This is a three-dimensional structural diagram of the tracer component provided in an embodiment of this application;

[0026] Figure 2 A top view of the tracer component structure provided in an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of the tracer assembly components provided in the embodiments of this application;

[0028] Figure 4 This is a schematic diagram of the front structure of the tracer assembly provided in an embodiment of this application;

[0029] Figure 5 This is a schematic diagram of the back structure of the tracer assembly provided in an embodiment of this application.

[0030] The attached figures are labeled as follows:

[0031] 1. Tracker; 11. Reflector; 12. Mounting hole; 13. Mounting plate; 111. Reflector ball; 112. Fixing rod; 131. Mounting hole;

[0032] 2. Positioning plate; 21. Metal sphere; 22. Main body; 23. Transition part; 24. Protruding part; 221. Connecting rod mounting hole; 231. Connecting hole;

[0033] 3. First surface;

[0034] 4. Second surface;

[0035] 5. Connecting rod. Detailed Implementation

[0036] To make the technical solution and beneficial effects of this utility model more apparent and understandable, a detailed description is provided below by listing specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application pertains.

[0037] In the description of this utility model, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of simplifying the description of this utility model and do not indicate that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. In other words, they should not be construed as limitations on this utility model.

[0038] In this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating the relative importance of the indicated features or the number of indicated technical features. Therefore, a feature specified as "first" or "second" can explicitly indicate that at least one of those features is included. In the description of this utility model, "multiple" means at least two, such as two, three, etc.; "several" means at least one, such as one, two, three, etc., unless otherwise explicitly specified.

[0039] In this utility model, unless otherwise explicitly defined, the terms "installation," "connection," "linking," "fixing," and "setting," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0040] In this utility model, unless otherwise explicitly defined, the terms "above," "on top of," "above," "over," "below," "below," "below," or "below" for "first feature above second feature" can refer to direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Furthermore, "above," "above," and "over" for "first feature above second feature" can mean the first feature is directly above or diagonally above the second feature, or simply indicates that the horizontal height of the first feature is higher than the horizontal height of the second feature. Similarly, "below," "below," and "below" for "first feature below second feature" can mean the first feature is directly below or diagonally below the second feature, or simply indicates that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0041] To fully understand this application, detailed steps and structures will be presented in the following description to illustrate the technical solution of this application. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other implementation methods.

[0042] This embodiment provides a tracer component, such as Figure 1 , Figure 2 As shown, the device includes a tracer 1 and a positioning plate 2. The tracer 1 includes multiple reflective elements 11 arranged along a first plane; the positioning plate 2 is fixed to the tracer 1 and includes multiple metal spheres 21 arranged along a second plane, the second plane forming a certain angle with the first plane. The reflective elements 11 are used to generate images under infrared light irradiation, allowing an image receiving device to obtain the position information of the tracer 1; the metal spheres 21 are used to generate images under X-ray irradiation, allowing an image receiving device to obtain the position information of the positioning plate 2.

[0043] In this embodiment, the working principle of the reflector 11 is as follows: its surface is smooth and can fully reflect infrared light. The reflected infrared light is acquired by the image receiving device. The device uses existing image recognition technology to determine the spatial coordinates of each reflector 11 and calculates the position of the first plane, that is, the position of the tracer assembly. Since the tracer assembly is fixed on the robotic arm of the surgical device, the position of the robotic arm is also obtained when the position of the tracer assembly is obtained.

[0044] In this embodiment, the working principle of the metal spheres 21 is as follows: Because they are made of metal, they generate images under X-ray irradiation. These images are acquired by an image receiving device. The device uses existing image recognition technology to determine the spatial coordinates of each metal sphere 21 and calculates the position of the second plane, thus determining the position of the tracer assembly. Since the tracer assembly is fixed to the robotic arm of the surgical device, the position of the robotic arm is also obtained when the position of the tracer assembly is determined.

[0045] The tracer assembly provided in this application combines a tracer 1 and a positioning plate 2. A reflector 11 generates an image under infrared light illumination, allowing an image receiving device to acquire the position information of the tracer 1. A metal sphere 21 generates an image under X-ray illumination, allowing the image receiving device to acquire the position information of the positioning plate 2. Therefore, the position information of both the tracer 1 and the positioning plate 2 can be acquired simultaneously in different ways. Since the tracer 1 and the positioning plate 2 are fixed and have a mutually referential relative positional relationship, cross-verifying their position information yields the accurate position of the tracer assembly. This significantly improves the algorithm's fault tolerance and effectively reduces the possibility of the tracer assembly providing incorrect position feedback in practical applications.

[0046] In an alternative embodiment, such as Figure 4 , Figure 5As shown, the positioning plate 2 includes a first surface 3 and a second surface 4, both of which are parallel to the second plane. A metal sphere 21 is fixed on both the first surface 3 and the second surface 4. In this embodiment, arranging the metal sphere 21 on both the first surface 3 and the second surface 4 allows for more accurate positioning of the second plane, further improving the algorithm's fault tolerance.

[0047] In an optional embodiment, combined with Figure 4 , Figure 5 As shown, along the vertical direction of the second plane, at least a portion of the metal spheres 21 fixed on the first surface 3 are not aligned with the metal spheres 21 fixed on the second surface 4. In this embodiment, the arrangement of the metal spheres 21 on the first surface 3 differs from the arrangement of the metal spheres 21 on the second surface 4, thus avoiding image recognition errors and improving the accuracy of device recognition.

[0048] In an alternative embodiment, such as Figure 3 As shown, the positioning plate 2 includes a main body 22, a transition portion 23, and a protruding portion 24. The transition portion 23 is connected to one end of the main body 22 and is also connected to the tracer 1. The protruding portion 24 protrudes from the main body 22, and a metal sphere 21 is arranged on one side of the protruding portion 24 on the first surface 3, while the side of the protruding portion 24 on the second surface 4 is a smooth surface. In this embodiment, the asymmetrical arrangement of the metal spheres 21 on both sides of the protruding portion 24 further avoids image recognition errors and improves the accuracy of device recognition.

[0049] In an alternative embodiment, such as Figure 3 As shown, the main body 22 is annular, and some metal spheres 21 are arranged along the circumference of the main body 22. In this embodiment, the main body 22 is designed as annular, which facilitates the arrangement of multiple metal spheres 21 along the circumference, and is conducive to the orderly and uniform distribution of the metal spheres 21, reducing the difficulty of image recognition.

[0050] In an alternative embodiment, such as Figure 3 As shown, the protruding portion 24 is located inside the main body portion 22. In this embodiment, the protruding portion 24 is designed to be located inside the annulus, which does not occupy additional space and helps to reduce the overall volume of the component.

[0051] In an alternative embodiment, such as Figure 3As shown, the end of the transition portion 23 has several connecting holes 231, and the tracer 1 has mounting holes 12 corresponding to the connecting holes 231. The tracer 1 is fixed to the transition portion 23 by installing fasteners within the mounting holes 12 to connect the connecting holes 231. In this embodiment, the transition portion 23 facilitates the fixing of the tracer 1 to the positioning plate 2, and the fasteners facilitate assembly. Optionally, screws can be used as fasteners, and the connecting holes 231 can be designed as threaded holes for easy disassembly and assembly. Multiple sets of connecting holes 231, mounting holes 12, and fasteners can be provided to ensure a secure fixation.

[0052] In an alternative embodiment, such as Figure 1 , Figure 3 As shown, the tracer assembly also includes a connecting rod 5, which is connected to the positioning plate 2. The tracer assembly can be connected to the surgical equipment via the connecting rod 5. In this embodiment, the connecting rod 5 has a certain length to ensure that the tracer assembly maintains a sufficient distance from the surgical equipment, preventing the tracer assembly itself from becoming an obstacle to the surgical equipment. Optionally, the main body 22 has a connecting rod mounting hole 221, and one end of the connecting rod 5 can be fixed in the connecting rod mounting hole 221.

[0053] In an alternative embodiment, such as Figure 3 As shown, the tracer 1 includes a mounting plate 13 extending along a first plane; the edge of the mounting plate 13 has a plurality of mounting holes 131; a reflector 11 is mounted at the mounting holes 131. In this embodiment, the mounting plate 13 facilitates the arrangement of the reflector 11, and the edge of the mounting plate 13 has a plurality of mounting holes 131 for connecting and fixing the reflector 11.

[0054] In an optional embodiment, the reflector 11 includes a reflective ball 111 and a fixing rod 112. The fixing rod 112 is connected to the mounting hole 131, and the reflective ball 111 is fixed to the mounting plate 13 by the fixing rod 112. In this embodiment, the reflective ball 111, as the reflector 11, can generate reflective points at any angle, which is convenient for imaging. The fixing rod 112 facilitates fixing the reflective ball 111 to the mounting plate 13. Optionally, the mounting hole 131 can be a threaded hole, and the fixing rod 112 can be provided with corresponding external threads for disassembly and assembly.

[0055] In an alternative embodiment, the metal sphere 21 is made of stainless steel, which is low in cost and easy to image under X-ray.

[0056] It should be understood that the above embodiments are exemplary and are not intended to encompass all possible implementations included in the claims. Various modifications and changes can be made to the above embodiments without departing from the scope of this disclosure. Similarly, the various technical features of the above embodiments can be arbitrarily combined to form other embodiments of this application that may not be explicitly described. Therefore, the above embodiments only illustrate several implementations of this application and do not limit the scope of protection of this patent application.

Claims

1. A tracer assembly characterized by, The tracer (1) comprises a plurality of reflective pieces (11) arranged along a first plane. The positioning plate (2) is fixed with the tracer (1); the positioning plate (2) comprises a plurality of metal spheres (21) arranged along a second plane, the second plane is at an angle with the first plane. The reflective pieces (11) are used to generate images under infrared light irradiation, and the image receiving device obtains the position information of the tracer (1); the metal spheres (21) are used to generate images under X-ray irradiation, and the image receiving device obtains the position information of the positioning plate (2). The positioning plate (2) comprises a first surface (3) and a second surface (4), both of which are parallel to the second plane, and the metal spheres (21) are fixed on the first surface (3) and the second surface (4).

2. The tracer assembly of claim 1, wherein, In the vertical direction of the second plane, at least part of the metal spheres (21) fixed on the first surface (3) are misaligned with the metal spheres (21) fixed on the second surface (4).

3. The tracer assembly of claim 2, wherein, The positioning plate (2) comprises:

4. The tracer assembly of claim 2 or 3, wherein, a main body part (22); a transition part (23) connected to one end of the main body part (22), and the transition part (23) is connected with the tracer (1); a protruding part (24) protruding from the main body part (22), the protruding part (24) is arranged with the metal spheres (21) on one side of the first surface (3), and the protruding part (24) is a smooth surface on one side of the second surface (4). The main body part (22) is a circular ring, and part of the metal spheres (21) are arranged along the circumference of the main body part (22).

5. The tracer assembly of claim 4, wherein, The protruding part (24) is located inside the main body part (22).

6. The tracer assembly of claim 5, wherein, The end of the transition part (23) has a plurality of connecting holes (231), and the tracer (1) has a plurality of assembly holes (12) arranged correspondingly on the tracer (1); the connecting holes (231) are connected through the assembly holes (12) and the fixing members installed therein, so that the tracer (1) is fixed with the transition part (23).

7. The tracer assembly of claim 4, wherein, The tracer assembly further comprises a connecting rod (5) connected with the positioning plate (2), and the tracer assembly can be connected with a surgical device through the connecting rod (5).

8. The tracer assembly of any of claims 1-3, wherein, The tracer (1) comprises a mounting plate (13) extending along the first plane; the edge of the mounting plate (13) has a plurality of mounting holes (131); 9. The tracer assembly of any of claims 1-3, wherein, The reflective pieces (11) are mounted at the mounting holes (131). The reflective pieces (11) comprise reflective balls (111) and fixing rods (112), the fixing rods (112) are connected to the mounting holes (131), and the reflective balls (111) are fixed to the mounting plate (13) through the fixing rods (112).

10. The tracer assembly of claim 9, wherein, ​

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