Tracing probe and detection device

Abstract

The utility model relates to a tracing probe and a detection device. The tracing probe comprises a rod body and a probe head arranged at one end of the rod body. An optical tracing module is arranged on the rod body and is used for indicating the pose of the probe head; the optical tracing module comprises a predetermined number of markers, and the markers are arranged according to the shape of the rod body; the rod body comprises an arc-shaped rod part; and the end part of the arc-shaped rod part is provided with a probe head. According to the invention, real-time detection can be realized, the size of the tracing probe is reduced, the structure is simplified, the operation convenience is improved, and the detectable range of the tracing probe is expanded.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a tracking probe and a detection device. BACKGROUND

[0002] In the field of medical surgery robots, especially in robot-assisted knee replacement / hip replacement, an infrared optical navigation system is often used to locate the position of a probe. In this system, the emitted infrared light irradiates the reflective ball on the probe, and the reflective ball reflects the incident infrared light to the system, so as to locate the probe. One end of the existing probe is provided with a reflective ball, and the other end is provided with a sharp needle or a blunt needle, which is often used in point cloud registration related operations in preoperative planning. After preoperative registration is completed, the doctor starts to perform osteotomy operation on the patient's knee / hip, and then installs the prosthesis.

[0003] However, when installing the prosthesis, the doctor often observes the position of the probe by naked eye, which cannot be quantified and accurately determined. The pose of the prosthesis and the pose deviation (the deviation between the planned pose of the prosthesis and the actual pose) cannot be determined. In the existing products and technologies, there is no real-time measurement of the pose of the prosthesis during the operation to visualize and correct the deviation. If the measurement and correction cannot be performed in time, the deviation of the prosthesis installation may be large, and even the operation may fail, which causes great pain and cost to the patient and seriously affects the medical effect.

[0004] In addition, due to the fact that the volume of the current tracking probe is generally too large, the use of the probe is often limited by the operation space and the operation position. For example, in some narrow spaces, the inner wall of the pipeline, etc., the probe cannot be used.

[0005] Therefore, it is urgent to provide a small and convenient probe which can measure the pose of the prosthesis in real time during the operation to visualize and correct the deviation. CONTENT OF THE INVENTION

[0006] Therefore, the embodiments of the present application provide a tracking probe and a detection device to solve at least one problem in the background art.

[0007] In a first aspect, the embodiments of the present application provide a tracking probe, which comprises a rod body and a probe head arranged at one end of the rod body.

[0008] An optical tracking module is arranged on the rod body, which is used to indicate the pose of the probe head.

[0009] The optical tracking module comprises a predetermined number of markers, and the markers are arranged according to the shape of the rod body.

[0010] The rod body comprises an arc-shaped rod portion, and the arc-shaped rod portion is provided with the probe head at the end portion.

[0011] In combination with the first aspect, in an optional implementation, the shape of the arc-shaped rod portion can include at least one of the following: a continuously smooth curved arc shape, an arc shape with a straight line and a curved line connection, a spiral shape, a wave shape.

[0012] And / or, the shape of the probe head includes a spherical shape, a conical shape, or a cylindrical shape.

[0013] In combination with the first aspect, in an optional implementation, the markers include at least one of the following: an active light-emitting marker, a passive marker.

[0014] And / or, the predetermined number is more than three; wherein the predetermined number of markers are arranged to form at least three non-collinear points.

[0015] In combination with the first aspect, in an optional implementation, the markers include a first scale, a second scale, a third scale, and a fourth scale.

[0016] The first scale and the second scale are connected by a first line; the third scale and the fourth scale are connected by a second line; and the straight line on which the first line lies intersects the straight line on which the second line lies.

[0017] In combination with the first aspect, in an optional implementation, the rod body includes a telescopic structure to adjust the distance of the probe head relative to the optical tracking module.

[0018] In combination with the first aspect, in an optional implementation, the rod body includes a gripping portion for providing a position for an operator to hold the tracking probe.

[0019] The gripping portion is provided with an anti-slip device.

[0020] In combination with the first aspect, in an optional implementation, the gripping portion includes a recessed portion that is recessed inward compared to the surrounding on the rod body.

[0021] In combination with the first aspect, in an optional implementation, the rod body includes a dovetail portion at the other end of the rod body opposite the probe head.

[0022] The markers are arranged on the dovetail portion to form at least three non-collinear points.

[0023] In combination with the first aspect, in an optional implementation, the markers include a first scale, a second scale, a third scale, and a fourth scale.

[0024] The second scale, the third scale, and the fourth scale are arranged at the three vertices of a triangular dovetail portion, and the first scale is arranged at the middle of the rod body.

[0025] In a second aspect, the embodiments of the present application provide a detection device, the detection device comprising:

[0026] a tracer probe as described in the first aspect; and

[0027] an optical navigation device configured to identify a pose of the optical tracer module arranged on the tracer probe to locate and / or track a pose of a probe head of the tracer probe.

[0028] The tracer probe provided by the embodiments of the present application has the beneficial effects that: the optical tracer module arranged on the rod body can realize optical calibration of the collection point and spatial positioning calculation of the collection point when the probe head contacts any collection point, so that real-time measurement of the pose of the prosthesis can be performed in the operation to facilitate visualization and deviation correction, and the installation precision of the prosthesis can be improved. In addition, the arrangement of the markers according to the shape of the rod body can reduce the volume of the tracer probe, simplify the structure and improve the operation convenience. In addition, the arc-shaped rod part can expand the detectable range of the tracer probe, for example, in addition to being able to detect the pose of the collection point on the flat surface, it can also detect the pose of some collection points that are not easy to detect, such as the bottom of the hip cup or the prosthesis, the inner wall of the pipeline, and the collection point in the narrow gap.

[0029] Additional aspects and advantages of the embodiments of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings, which are included to provide a further understanding of the present application and constitute a part of this application, are not necessarily to scale. Certain features can be exaggerated or minimized in order to illustrate certain aspects of the application. The illustrative embodiments of the present application and the descriptions thereof are presented for the purpose of explaining and teaching the present application and are not intended to limit the present application in scope to the embodiments described herein. In the drawings:

[0031] Figure 1 A structural schematic diagram of a specific example of the tracer probe in the embodiments of the present application;

[0032] Figure 2 A schematic diagram of a specific example of a detection state of the tracer probe in the embodiments of the present application.

[0033] BRIEF DESCRIPTION OF DRAWINGS

[0034] 1, probe head; 2, rod body; 3, optical tracer module; 21, arc-shaped rod part; 22, gripping part; 23, dovetail part; 31, marker; 221, recessed part; 311, first scale disc; 312, second scale disc; 313, third scale disc; 314, fourth scale disc. DETAILED DESCRIPTION

[0035] In order to make the technical solutions and beneficial effects of the present application more obvious and easy to understand, the following will be described in detail by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features can 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 meaning as the technical and scientific terms in the technical field to which the present application belongs.

[0036] The embodiments of the present application are not exhaustive, but only illustrate some embodiments, and do not specifically limit the protection scope of the present application. In the case of no contradiction, each step in an embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily, for example, the scheme after removing some steps in an embodiment can also be implemented as an independent embodiment, and the order of the steps in an embodiment can be exchanged arbitrarily, in addition, the optional implementation manners in an embodiment can be combined arbitrarily; in addition, the embodiments can be combined arbitrarily, for example, the steps of different embodiments or part of the steps of different embodiments can be combined arbitrarily, an embodiment can be combined with the optional implementation manners of other embodiments arbitrarily.

[0037] In each embodiment of the present application, the terms and / or descriptions of the embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0038] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and not as a limitation of the present application.

[0039] In the embodiments of the present application, unless otherwise specified, the elements expressed in singular form, such as "one", "a", "the", "above", "said", "preceding", "this" and the like, can represent "one and only one", or "one or more", "at least one" and the like. For example, in the case of using articles such as "a", "an", "the" and the like in English, the noun after the article can be understood as singular expression, or as plural expression.

[0040] In the embodiments of the present application, "a plurality of" means two or more.

[0041] In some embodiments, the terms "at least one of", "one or more", "a plurality of", "multiple" and the like can be replaced with each other.

[0042] In some embodiments, the terms "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", "above", "exceed" and the like can be replaced with each other, and the terms "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", "below" and the like can be replaced with each other.

[0043] The prefix words "first", "second" and the like in the embodiments of the present application are only used to distinguish different description objects, and do not constitute limitation on the position, order, priority, value or content of the description objects. The description of the description objects should be understood according to the description in the context of the embodiments, and should not be limited because of the use of the prefix words. For example, the value of the description object is not limited by the ordinal number, and can be one or more. Taking "first device" as an example, the value of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different. For example, the description object is "device", and "first device" and "second device" can be the same device or different devices, and their types can be the same or different.

[0044] In some embodiments, the term "connection" can mean that there is mutual transmission of electrical signals or data between the connected end and the connected end, which can be understood as "electrical connection", "communication connection" and the like. The "connection" can be a direct connection between two components, or an indirect connection established through other components, or a communication within two components, or any other possible connection form.

[0045] The embodiments of the present application provide a tracking probe which can be applied to the measurement of the position of the collection point in the process of prosthesis positioning and pose calibration. For example, in the process of correcting the position of the hip cup hole, the real-time pose of the center hole of the hip cup can be measured by using the tracking probe, so that the angle or position deviation between the actual hip cup hole position and the planned position can be corrected.

[0046] Figure 1 A structure diagram of a specific example of a tracking probe in the embodiments of the present application is shown, as shown in the figure, the tracking probe comprises a rod body 2 and a probe head 1 arranged at one end of the rod body 2;

[0047] An optical tracking module 3 is arranged on the rod body 2, which is used to indicate the pose of the probe head 1;

[0048] The optical tracking module 3 comprises a predetermined number of markers 31, and the markers 31 are arranged according to the shape of the rod body 2;

[0049] The rod body 2 comprises an arc-shaped rod portion 21; the end of the arc-shaped rod portion 21 is provided with the probe head 1.

[0050] In this way, by means of the optical tracking module 3 arranged on the rod body 2, the optical calibration of the collection point and the spatial positioning calculation of the collection point can be realized when the probe head 1 contacts any collection point, so that the real-time measurement of the pose of the prosthesis can be realized in the operation in order to realize the visualization and the correction, and the installation accuracy of the prosthesis can be improved. Moreover, by arranging the markers 31 according to the shape of the rod body 2, the volume of the tracking probe can be reduced, the structure can be simplified, and the operation convenience can be improved. Moreover, by means of the arc-shaped rod portion 21, the detectable range of the tracking probe can be expanded, for example, in addition to the pose of the collection point on the flat surface, the pose of some collection points which are not easy to detect, such as the bottom of the hip cup or the prosthesis, the inner wall of the pipeline, the collection point in the narrow slit, etc.

[0051] In some examples, the shape of the arc-shaped rod portion 21 can comprise at least one of the following: a continuous smooth curve arc shape, an arc shape with a straight line and a curve connection, a spiral shape, a wave shape, etc., which can be arranged according to actual needs.

[0052] In the embodiments of the present application, the pose can be a description of the position and attitude of an object in a three-dimensional space. In some possible implementation manners, the description of the pose can comprise at least one of the following: three translation parameters (for example, x, y, z coordinates) of the object in the three-dimensional space; three rotation parameters (for example, rotation angles around the x-axis, the y-axis and the z-axis). In some examples, the representation of the three rotation parameters can comprise at least one of the following: Euler angles; quaternions; rotation matrix. The pose can be referred to by different names, such as spatial coordinates, etc., and the names are not limited herein.

[0053] Figure 2 A specific example of the tracking probe detection state in the embodiments of the present application is shown in the schematic diagram, and in an optional implementation manner, the shape of the probe head 1 comprises a spherical shape, a conical shape or a cylindrical shape.

[0054] In the embodiments of the present application, the shape of the probe head 1 can be determined according to the shape of the object to be detected. For example, the probe head 1 can preferably be spherical, so as to improve the contact stability with the hole-shaped collection site such as a nail hole, and thus the detection accuracy of the tracking probe can be improved.

[0055] In an optional implementation manner, the marker 31 comprises at least one of the following: an active light-emitting marker, a passive marker.

[0056] In the embodiments of the present application, the active light-emitting marker can be an internal light source (such as an LED or an infrared light source, etc.), which can display information by itself or be recognized and tracked by an optical navigation device, without relying on external light.

[0057] The passive marker can be a passive reflective marker that reflects light after being irradiated by an external light source (e.g., visible light, infrared light, etc.), and the surface can be coated with a reflective material (e.g., a reflective film or a reflective sphere) to display information or be recognized and tracked by an optical navigation device.

[0058] Both the active light-emitting marker and the passive marker can be recognized and tracked by the optical navigation device, so that the position of the probe head 1 in the working space can be obtained.

[0059] The optical navigation device can include at least one of the following: a binocular camera; an OTS (Optical Tracking System) optical positioning device; an infrared tracker; and a structured light camera. In the embodiments of the present application, the optical navigation device can be referred to by different names, such as an NDI device, and the name is not limited herein.

[0060] In this way, by providing the active light-emitting marker and / or the passive marker on the tracking probe, the application range of the tracking probe is expanded.

[0061] In an optional embodiment, the predetermined number is more than three; and the predetermined number of markers 31 are arranged to form at least three non-collinear points.

[0062] In this way, by the three non-collinear points of the markers 31, the six degrees of freedom (position + rotation) of the probe head 1 can be calculated by a single tracking probe, simplifying the process and steps of the tracking probe for pose measurement, and improving user experience.

[0063] Reference Figure 1 In an optional embodiment, the marker 31 includes a first scale 311, a second scale 312, a third scale 313, and a fourth scale 314.

[0064] The first scale 311 and the second scale 312 are connected by a first line; the third scale 313 and the fourth scale 314 are connected by a second line; and the first line intersects the second line.

[0065] In this way, by intersecting the first line and the second line, the first scale 311, the second scale 312, and the third scale 313; and the first scale 311, the second scale 312, and the fourth scale 314 can be non-collinear points, respectively, so as to improve the measurement accuracy of the tracking probe.

[0066] In some examples, the first line can be a line connecting the geometric center points of the first scale 311 and the second scale 312. The second line can be a line connecting the geometric center points of the third scale 313 and the fourth scale 314. However, it is not limited thereto, and can also be a line connecting any position points on the two scales or the edges of the scales.

[0067] The first connecting line and the second connecting line can intersect at a right angle or at any other angle.

[0068] The marker disc can be circular, disc-shaped, oval, square, etc. to adapt to and facilitate detection by the optical navigation device.

[0069] In some examples, the rod body 2 can be a fixed structure, such as the distance between the probe head 1 and the optical tracking module 3 being fixed.

[0070] In an optional embodiment, the rod body 2 comprises a telescopic structure to adjust the distance between the probe head 1 and the optical tracking module 3.

[0071] In this way, the length of the rod body 2 can be adjusted by the telescopic structure, thereby further expanding the detectable range of the tracking probe.

[0072] In some examples, the telescopic structure can comprise at least one of the following: a nested pipe sliding telescopic structure, a rotating screw or spiral device telescopic structure, a spring device telescopic structure, etc. and can be set according to actual requirements.

[0073] In the embodiments of the present application, the pose of the optical tracking module 3 in the coordinate system of the optical navigation device can be obtained, and the predetermined pose of the probe head 1 relative to the optical tracking module 3 is used. When the probe head 1 contacts the target acquisition point (such as a target nail hole on a hip cup), the pose of the target acquisition point in the coordinate system of the optical navigation device can be calculated by pose conversion, thereby realizing the spatial positioning and tracking of the target acquisition point.

[0074] In an optional embodiment, the rod body 2 comprises a gripping portion 22 for providing a position for an operating subject to hold the tracking probe.

[0075] The gripping portion 22 is provided with an anti-slip device.

[0076] In some examples, the anti-slip device can comprise at least one of the following: an anti-slip structure such as a wave pattern, an anti-slip sleeve such as a rubber sleeve provided on the gripping portion 22 of the rod body 2, etc.

[0077] The operating subject can comprise a user's hand, a mechanical hand, etc.

[0078] In this way, the gripping portion 22 provided with the anti-slip device improves the stability of the operation of the tracking probe, thereby also improving the measurement accuracy of the pose of the acquisition point.

[0079] In an optional embodiment, the gripping portion 22 comprises a recess 221 which is recessed inwardly compared with the surrounding on the rod body 2, so that when a user operates the tracer probe, the user can put fingers into the recess 221, thereby facilitating the operation, improving the holding force, and improving the operation stability and the detection accuracy.

[0080] In an optional embodiment, the rod body 2 comprises a dovetail portion 23 which is arranged at the other end of the rod body 2 opposite to the probe head 1.

[0081] The markers 31 are arranged on the dovetail portion 23, so that the markers 31 are arranged to form at least three non-collinear points.

[0082] In the embodiment, the dovetail portion 23 can have three vertices forming a triangular shape, so that one marker 31 is arranged on each vertex to form three non-collinear points.

[0083] In an optional embodiment, the markers comprise a first scale 311, a second scale 312, a third scale 313, and a fourth scale 314.

[0084] The second scale 312, the third scale 313, and the fourth scale 314 are arranged at the three vertices of the triangular dovetail portion 23, and the first scale 311 is arranged at the middle of the rod body 2, such as at any one of the two ends of the gripping portion 22, so as to reduce the volume of the tracer probe, simplify the structure, and improve the operation convenience.

[0085] The shape of the dovetail portion 23 is not limited to the triangular shape, and can also be a trapezoidal shape or other geometric structures.

[0086] The embodiment also provides a detection device, which comprises:

[0087] The tracer probe as described in the above embodiment; and

[0088] An optical navigation device for identifying the pose of the optical tracer module 3 arranged on the tracer probe, so as to locate and / or track the pose of the probe head 1 of the tracer probe.

[0089] It should be understood that the above embodiments are exemplary and are not intended to include all possible embodiments of the present application. Various modifications and changes can also be made to the above embodiments without departing from the scope of the present disclosure. Similarly, any combination of the technical features of the above embodiments can also be made to form another embodiment of the present application which can not be explicitly described. Therefore, the above embodiments only express several embodiments of the present application, and do not limit the protection scope of the patent of the present application.

Claims

1. A tracer probe, characterized in that, The tracking probe comprises a rod body and a probe head arranged at one end of the rod body; The rod body is provided with an optical tracking module for indicating the pose of the probe head; The optical tracking module comprises a predetermined number of markers arranged according to the shape of the rod body; The rod body comprises an arc-shaped rod portion; the end portion of the arc-shaped rod portion is provided with the probe head.

2. The tracer probe of claim 1, wherein, The shape of the arc-shaped rod portion can include at least one of the following: a continuously smooth curved arc shape, an arc shape with a straight line and a curved line connection, a spiral shape, and a wave shape. And / or, the shape of the probe head comprises a spherical shape, a conical shape, or a cylindrical shape.

3. The tracer probe of claim 1, wherein, The markers include at least one of the following: an active light-emitting marker and a passive marker. And / or, the predetermined number is more than three; wherein the predetermined number of markers are arranged to form at least three non-collinear points.

4. The tracer probe of claim 1, wherein, The markers include a first scale, a second scale, a third scale, and a fourth scale; The first scale and the second scale are connected by a first line; the third scale and the fourth scale are connected by a second line; and the first line intersects the second line.

5. The tracer probe of claim 1, wherein, The rod body comprises a telescopic structure to adjust the distance between the probe head and the optical tracking module.

6. The tracer probe of claim 1, wherein, The rod body comprises a gripping portion for providing a position for an operator to hold the tracking probe. The gripping portion is provided with an anti-slip device.

7. The tracer probe of claim 6, wherein, The gripping portion comprises a recessed portion, which is recessed inward compared to the surrounding portion of the rod body.

8. The tracer probe according to any one of claims 1 to 7, wherein, The rod body comprises a dovetail portion arranged at the other end of the rod body opposite to the probe head. The markers are arranged on the dovetail portion to form at least three non-collinear points.

9. The tracer probe of claim 8, wherein, The markers include a first scale, a second scale, a third scale, and a fourth scale; The second scale, the third scale, and the fourth scale are arranged at the three vertices of a triangular dovetail portion, and the first scale is arranged at the middle portion of the rod body.

10. A detection device, characterized in that The detection device comprises: The tracking probe according to any one of claims 1-9; and An optical navigation device for identifying the pose of the optical tracking module arranged on the tracking probe to locate and / or track the pose of the probe head of the tracking probe.

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