Dynamic positioning precision testing tool based on surgical navigation system
By designing a dynamic positioning accuracy testing fixture, and utilizing the end effector and optical tracking equipment of the surgical navigation system, the coordination between the positioning probe and the channel is detected in real time. This solves the problem of static measurement in the existing technology, and realizes efficient and low-cost positioning accuracy testing under respiratory motion conditions, thus meeting the daily maintenance needs of the equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- LIAONING PROVINCIAL INSPECTION & TESTING CERTIFICATION CENT
- Filing Date
- 2025-05-29
- Publication Date
- 2026-04-14
AI Technical Summary
Existing methods for testing the positioning accuracy of surgical navigation systems can only perform static measurements, making it difficult to conduct real-time navigation and positioning tests in the presence of respiratory motion. Furthermore, these methods require high-precision equipment, are costly, have low testing efficiency, and are insufficient to meet daily maintenance needs.
A dynamic positioning accuracy testing fixture is designed, including a fixture body, a positioning probe, a detection component, and an indicator component. By real-time detection of the cooperation between the positioning probe and the positioning channel, dynamic positioning tests are performed using the end effector of the surgical navigation system and an optical tracking device, and positioning accuracy is evaluated under simulated respiratory motion conditions.
It enables real-time navigation and positioning testing under simulated respiratory motion conditions, simplifying the testing process, reducing costs, improving testing efficiency, and facilitating routine equipment maintenance.
Smart Images
Figure CN224121957U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of medical device testing technology, specifically relating to a dynamic positioning accuracy testing fixture based on a surgical navigation system. Background Technology
[0002] With the advancement of technology, surgical navigation systems have gradually become an indispensable auxiliary tool in surgical procedures. Surgical navigation is a visual image-guided surgical technology developed based on medical images such as ultrasound, X-rays, CT, and MRI, and aided by computers, precision instruments, and image processing. Through three-dimensional digitization of the patient's lesion tissue, it tracks the position of surgical instruments in real time, achieving visualization and automation of surgical procedures, thereby assisting doctors to complete surgical tasks more quickly, accurately, and safely.
[0003] During intraoperative navigation, medical imaging, electromagnetic, and optical technologies can be used to measure the spatial position and orientation of tissues and surgical instruments in the surgical area, accurately displaying their relative positions in the surgical navigation system. This assists the surgeon in operating along the planned path and also enables servo closed-loop control of the robot. For this purpose, it is necessary to design a dynamic positioning accuracy testing fixture capable of accurately evaluating the positioning accuracy of the surgical navigation system in guiding surgical instruments along the planned path after image registration. This provides a reliable basis for objectively evaluating the key performance characteristics of the surgical navigation system.
[0004] Existing testing methods can only achieve static measurements, that is, positioning measurements when the object under test is stationary. It is difficult to achieve real-time navigation positioning tests under conditions of breathing motion. At the same time, it is necessary to combine high-precision equipment such as laser trackers and coordinate measuring machines to obtain test data. On the one hand, these devices are difficult to operate in electromagnetic compatibility environments and are susceptible to electromagnetic interference, which may cause them to malfunction. On the other hand, the testing costs are high and the testing efficiency is low, requiring multiple calculations to obtain the final result, which is difficult to meet the needs of daily maintenance. Summary of the Invention
[0005] Purpose of the invention: To address the above-mentioned shortcomings, this utility model provides a dynamic positioning accuracy testing fixture based on a surgical navigation system. It achieves dynamic positioning accuracy testing of the surgical navigation system by real-time detection of the cooperation process between the positioning probe and the positioning channel. It features simple structure, low cost, convenient operation, precision and efficiency, and is beneficial for the daily maintenance of the equipment.
[0006] Technical Solution: To achieve the above objectives, this utility model provides a dynamic positioning accuracy testing fixture based on a surgical navigation system, comprising:
[0007] The tooling body is equipped with a registration component and a positioning channel. The registration component is used to cooperate with the surgical navigation system to achieve image registration.
[0008] A positioning probe, which is used in conjunction with the end effector of the surgical navigation system, is provided with a first tracer and a second tracer on the tooling body and the positioning probe, respectively, to cooperate with the surgical navigation system to achieve spatial positioning;
[0009] The testing component includes a detection element and an indicator element. The detection element is disposed within the positioning channel and is used to detect the degree of displacement of the positioning probe within the positioning channel in real time. The indicator element is electrically connected to the detection element, thereby providing feedback on the detection result.
[0010] Specifically, the tooling body is provided with a registration plane, a tracer plane and a positioning plane, which are not parallel to each other and are used to arrange the registration component, the first tracer component and the positioning channel, respectively.
[0011] Specifically, the registration element is constructed as a high-density imaging structure.
[0012] Specifically, both the first tracer and the second tracer are constructed with three or more reflective elements.
[0013] Specifically, one end of the positioning probe is constructed as a probe rod, and the other end is used to place a second tracer, the middle part of which cooperates with the end effector of the surgical navigation system.
[0014] Furthermore, the difference in diameter between the positioning channel and the probe is twice the positioning accuracy limit specified by the surgical navigation system.
[0015] Furthermore, the detection element is constructed as a metal channel, which is fitted to the inner wall of the positioning channel, and the detection rod is constructed as a metal detection rod, which forms a control switch with the metal channel through an electric wire, thereby controlling the indicating state of the indicator.
[0016] Furthermore, the test assembly also includes a first power supply, a second power supply, a first resistor, a second resistor, and a magnetic latching relay, wherein the control switch is connected in series with the coil portion of the first power supply, the first resistor, and the magnetic latching relay to form a coil circuit, and the indicator is connected in series with the contact portion of the second power supply, the second resistor, and the magnetic latching relay to form a contact circuit.
[0017] Furthermore, the test assembly also includes a reset power supply and a reset switch, which are connected in series to form a reset branch, which forms a parallel structure with the control switch and the branch containing the first power supply, thereby realizing the contact reset of the magnetic latching relay.
[0018] Furthermore, the metal channels within each positioning channel form a parallel structure, thereby sharing a single indicator.
[0019] Beneficial effects: This invention effectively reflects the positioning accuracy of the surgical navigation system by real-time detection of the fit between the positioning probe and the positioning channel. Furthermore, during testing, the fixture body only needs to be placed on an elastic seat or on a human body to perform real-time dynamic positioning tests under simulated respiratory motion conditions. In addition, this invention does not require high-precision equipment to acquire test data, and features a simple structure, low cost, and convenient operation. The testing process is simple and efficient, facilitating routine equipment maintenance. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of a dynamic positioning accuracy testing fixture in an embodiment of this utility model;
[0021] Figure 2 This is another structural schematic diagram of the dynamic positioning accuracy testing fixture in this utility model embodiment;
[0022] Figure 3 This is a circuit diagram of the test component in an embodiment of the present invention;
[0023] The diagram includes: 1. Tooling body, 21. Skeleton model, 22. Connector, 3. Positioning channel, 4. Reflective sticker, 5. Metal channel, 6. LED indicator, 7. Reset switch, 8. Wire interface. Detailed Implementation
[0024] To make the objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments.
[0025] Reference Figure 1 This utility model provides a dynamic positioning accuracy testing fixture based on a surgical navigation system, comprising the following structure:
[0026] The tooling body 1 is provided with a registration component and a positioning channel 3. The registration component is used to cooperate with the surgical navigation system to achieve image registration.
[0027] A positioning probe is used in conjunction with the end effector of the surgical navigation system. The tooling body 1 and the positioning probe are respectively provided with a first tracer and a second tracer to cooperate with the surgical navigation system to achieve spatial positioning.
[0028] The testing component includes a detection element and an indicator element. The detection element is disposed within the positioning channel 3 and is used to detect the degree of displacement of the positioning probe within the positioning channel 3 in real time. The indicator element is electrically connected to the detection element, thereby providing feedback on the detection result.
[0029] Specifically, the surgical navigation system includes a host computer, a robotic arm, a 3D imaging device, and an optical tracking device. The host computer can acquire a 3D model of the fixture body 1 through the 3D imaging device, thereby determining the relative positions of the registration component, the positioning channel 3, and the first tracer. Then, during dynamic testing, the host computer can achieve image registration by recognizing the image of the registration component, thereby obtaining the positional changes of the fixture body 1, and planning the path of the positioning probe based on the positional changes of the target channel. Finally, during the execution of the robotic arm, the host computer can acquire the positional distribution of the first and second tracers through the optical tracking device, thereby determining the pose relationship between the positioning probe and the fixture body 1, and then guiding the positioning probe to the corresponding positioning channel 3 according to the planned path through the end effector of the robotic arm.
[0030] During the above-mentioned execution process, the offset of the positioning probe within the positioning channel 3 can be detected in real time through the detection device, thereby reflecting the real-time positioning accuracy of the surgical navigation system. Furthermore, during dynamic testing, it is preferable to place the fixture body 1 on an elastic seat or on a human body to simulate breathing movements, thereby achieving dynamic positioning testing of the surgical navigation system.
[0031] Specifically, the tooling body 1 is provided with a registration plane, a tracer plane, and a positioning plane, which are not parallel to each other and are used to arrange the registration component, the first tracer component, and the positioning channel 3, respectively. For example, refer to... Figure 1 The fixture body 1 is a right-angled trapezoid, comprising a front, rear, left, right, top, and bottom surface. For ease of tracking and positioning, the first tracer is preferably positioned on the inclined surface (front) of the fixture body 1, and the registration component can be positioned on the vertical surface (e.g., the right side). The positioning channel 3 can be positioned on the top of the fixture body 1. Furthermore, to simulate human body angles, the positioning channel 3 is preferably positioned on the oblique cut surface of the top of the fixture body 1. For example, the two edges of the top of the fixture body 1 can be cut to form an oblique cut surface with an angle ≤30° to the horizontal plane, thereby arranging the positioning channel 3 (e.g., the left side).
[0032] Specifically, the registration component is constructed as a high-density developing structure to achieve image registration between the 3D model and the tooling body 1. For example, refer to... Figure 1 The registration component is constructed as a high-density skeletal model 21, which is embedded in the top rear side of the fixture body 1 via an integrally formed connecting seat 22. This ensures the installation accuracy of the skeletal model 21 and the fixture body 1, and facilitates disassembly and replacement to adapt to the recognition objects of different devices (such as skeletal models 21 of different parts and shapes). In addition, the registration component can also use three or more marking steel balls, which are embedded in the fixture body 1 to achieve scanning recognition.
[0033] Specifically, the first tracer is constructed of three or more reflective elements for optical tracking and positioning. For example, the first tracer is constructed of four irregularly distributed reflective stickers 4, each mounted on the inclined surface of the tooling body 1 via corresponding threaded assemblies. Alternatively, reflective spheres can be used as reflective elements to achieve optical positioning.
[0034] Specifically, one end of the positioning probe is constructed as a probe rod, and the other end is used to mount a second tracer, the middle of which cooperates with the end effector of the surgical navigation system. Similarly, the second tracer is constructed of three or more reflective elements for optical tracking and positioning; its specific structure will not be elaborated further. Furthermore, the positioning probe can have various sizes to accommodate different models of end effectors and to meet different ranges of positioning accuracy testing requirements by using corresponding positioning channels 3. Therefore, the fixture body 1 is equipped with a series of positioning channels 3 of corresponding sizes, ensuring that the difference between the diameter of the selected positioning channel 3 and the probe rod during testing is twice the positioning accuracy limit specified by the surgical navigation system.
[0035] Reference Figure 2 , Figure 3 The detection element is constructed as a metal channel 5, which is fitted against the inner wall of the positioning channel 3. The detection rod is constructed as a metal detection rod, which forms a control switch K1 with the metal channel 5 via an electric wire, thereby controlling the indicating state of the indicator. In this way, the indicating state of the indicator reflects the cooperation between the metal detection rod and the metal channel 5. If the metal detection rod comes into contact with the metal channel 5 during execution, it indicates that the positioning accuracy exceeds the limit range, and the test is deemed unqualified; otherwise, the test is deemed qualified.
[0036] For example, refer to Figure 3 The indicator is constructed as an LED indicator 6. The test assembly also includes a first power supply V1, a second power supply V2, a first resistor R1, a second resistor R2, and a magnetic latching relay. The control switch K1 is connected in series with the first power supply V1, the first resistor R1, and the coil part L of the magnetic latching relay to form a coil circuit. The LED indicator 6 is connected in series with the second power supply V2, the second resistor R2, and the contact part K2 of the magnetic latching relay to form a contact circuit.
[0037] When the metal detector rod comes into contact with the metal channel 5, the coil circuit will be activated, keeping the relay contact K2 engaged, thus completing the contact circuit and illuminating the LED indicator 6. Due to the magnetic holding characteristic of the magnetic latching relay, even if the metal detector rod does not continue to contact the metal channel 5, the LED indicator 6 will remain constantly lit, allowing testers to assess the positioning accuracy of the testing system throughout the entire testing process.
[0038] Furthermore, the test assembly also includes a reset power supply V3 and a reset switch K3, which are connected in series to form a reset branch. This branch, together with the branch containing the control switch K1 and the first power supply V1, forms a parallel structure, thereby resetting the contacts of the magnetic latching relay. In addition, to simplify the circuit structure and save costs, the metal channels 5 within each positioning channel 3 can form a parallel structure, thus sharing a single indicator.
[0039] Specifically, refer to Figure 2 The LED indicator 6 and reset switch K3 are both located on the fixture body 1. The remaining circuit structure (including power supply, resistors, relays, etc.) is located inside the fixture body 1 to achieve circuit protection. In addition, the fixture body 1 is also provided with a wire interface 8 for the wires on the metal detection rod to be connected, thereby forming a control switch K1 with the metal channel 5.
[0040] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.
Claims
1. A dynamic positioning accuracy test tool based on a surgical navigation system, characterized by, Includes the following structure: The tooling body is equipped with a registration component and a positioning channel. The registration component is used to cooperate with the surgical navigation system to achieve image registration. A positioning probe, which is used in conjunction with the end effector of the surgical navigation system, is provided with a first tracer and a second tracer on the tooling body and the positioning probe, respectively, to cooperate with the surgical navigation system to achieve spatial positioning; The testing component includes a detection element and an indicator element. The detection element is disposed within the positioning channel and is used to detect the degree of displacement of the positioning probe within the positioning channel in real time. The indicator element is electrically connected to the detection element, thereby providing feedback on the detection result.
2. The dynamic positioning accuracy testing fixture according to claim 1, characterized in that, The tooling body is provided with a registration plane, a tracer plane and a positioning plane, which are not parallel to each other and are used to arrange the registration component, the first tracer component and the positioning channel, respectively.
3. The dynamic positioning accuracy testing fixture according to claim 1, characterized in that, The registration element is constructed as a high-density developing structure.
4. The dynamic positioning accuracy testing fixture according to claim 1, characterized in that, Both the first tracer and the second tracer are constructed with three or more reflective elements.
5. The dynamic positioning accuracy testing fixture according to claim 1, characterized in that, One end of the positioning probe is constructed as a probe rod, and the other end is used to place a second tracer. Its middle part cooperates with the end effector of the surgical navigation system.
6. The dynamic positioning accuracy testing fixture according to claim 5, characterized in that, The difference between the diameter of the positioning channel and the probe is twice the positioning accuracy limit specified by the surgical navigation system.
7. The dynamic positioning accuracy testing fixture according to claim 6, characterized in that, The detection element is constructed as a metal channel, which is fitted to the inner wall of the positioning channel. The detection rod is constructed as a metal detection rod, which forms a control switch with the metal channel through an electric wire, thereby controlling the indication state of the indicator.
8. The dynamic positioning accuracy testing fixture according to claim 7, characterized in that, The test assembly also includes a first power supply, a second power supply, a first resistor, a second resistor, and a magnetic latching relay. The control switch is connected in series with the coil portion of the first power supply, the first resistor, and the magnetic latching relay to form a coil circuit. The indicator is connected in series with the contact portion of the second power supply, the second resistor, and the magnetic latching relay to form a contact circuit.
9. The dynamic positioning accuracy testing fixture according to claim 8, characterized in that, The test assembly also includes a reset power supply and a reset switch, which are connected in series to form a reset branch. This branch is connected in parallel with the control switch and the branch containing the first power supply, thereby resetting the contacts of the magnetic latching relay.
10. The dynamic positioning accuracy testing fixture according to claim 7, characterized in that, The metal channels within each positioning channel form a parallel structure, thus sharing a single indicator.