Sensor pose adjusting device

Abstract

The utility model belongs to the technical field of surgical navigation, and discloses a sensor pose adjusting device which comprises an adjusting support, a positioning piece and a control center, the adjusting support comprises a base, a first rotating assembly, a second rotating assembly and a third rotating assembly, the first rotating assembly is installed on the base, the second rotating assembly is installed on the first rotating assembly, and the third rotating assembly is installed on the positioning piece. The third rotating assembly is installed on the second rotating assembly, the sensor is installed on the third rotating assembly, the positioning piece is fixed to a preset position, the pose of the positioning piece is collected through the sensor, namely, the relative pose of the positioning piece relative to the sensor, and if the pose, collected by the sensor, of the positioning piece is not within the standard pose range, the positioning piece is started; if not, the pose of the sensor cannot completely collect the pose of the surgical tool, the control center controls the first rotating assembly, the second rotating assembly and the third rotating assembly to drive the sensor to rotate, and the sensor is adjusted to the preset pose, so that the pose of the positioning piece relative to the sensor is within the standard pose range.

Description

Technical Field

[0001] This utility model relates to the field of surgical navigation technology, and in particular to a sensor pose adjustment device. Background Technology

[0002] Surgical navigation is a technology that provides precise guidance to surgeons during surgery. It combines advanced technologies from multiple fields, including medical imaging, computer vision, and robotics. Through a surgical navigation system, doctors can create detailed 3D models and plans of the patient's lesion before surgery and view this information in real time during the operation. This allows for more accurate positioning of surgical instruments relative to the lesion, improving the precision and safety of the surgery.

[0003] Surgical navigation involves a calibration process. During calibration, a positioning device (reference frame) is placed at the surgical site, sensors are fixed to the frame, and the pose information of the positioning device is collected. The pose deviation of the sensors is calculated, and the pose of the sensors is adjusted based on the pose deviation to ensure that the sensors can completely collect the pose information of surgical instruments during the operation, thus creating a 3D model of the patient's body parts. However, existing sensor frames require the operator to manually adjust the frame pose based on experience. During the adjustment process, the pose information of the positioning device is collected again to determine the accuracy of the pose. This adjustment is prone to deviation, resulting in surgical instruments becoming invisible in certain areas during the operation. Furthermore, due to the limited space in the operating room, manual adjustment of the frame by the operator is quite difficult. Utility Model Content

[0004] The purpose of this invention is to provide a sensor pose adjustment device that can automatically adjust the pose of the sensor with high accuracy.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A sensor pose adjustment device for adjusting the pose of a sensor, comprising:

[0007] An adjustment bracket includes a base, a first rotating component, a second rotating component, and a third rotating component. The first rotating component is mounted on the base, the second rotating component is mounted on the first rotating component, and the rotation of the first rotating component drives the rotation of the second rotating component. The third rotating component is mounted on the second rotating component, and the rotation of the second rotating component drives the rotation of the third rotating component. The sensor is mounted on the third rotating component.

[0008] A positioning component is fixed at a preset position, and the sensor is used to collect the position and pose of the positioning component;

[0009] The control center is used to receive information from the sensor and control the first rotating component, the second rotating component and the third rotating component to adjust the sensor to a preset position.

[0010] Preferably, the rotation axes of the first rotating component, the second rotating component, and the third rotating component are perpendicular to each other.

[0011] Preferably, the first rotating component includes a first driving member and a first connecting member. The first driving member is mounted on the base, the first connecting member is connected to the output end of the first driving member, the first driving member is configured to drive the first connecting member to rotate, and the second rotating component is mounted on the first connecting member.

[0012] Preferably, the second rotating component includes a second driving member and a second connecting member. The second driving member is mounted on the first connecting member, and the second connecting member is connected to the output end of the second driving member. The second driving member is configured to drive the second connecting member to rotate, and the third rotating component is mounted on the second connecting member.

[0013] Preferably, the third rotating component includes a third driving member and a third connecting member, the third driving member is mounted on the second connecting member, the third connecting member is connected to the output end of the third driving member, and the sensor is mounted on the third connecting member.

[0014] Preferably, the end of the third connector opposite to the third drive member is mounted on a fixing base, and the sensor is mounted on the fixing base.

[0015] Preferably, the positioning element is configured to emit an optical signal, and the sensor is configured to receive the intensity and angle of the optical signal to acquire the position and orientation of the positioning element.

[0016] Preferably, the sensor pose adjustment device further includes a sensor acquisition system, which is connected to the sensor and the control center, and is used to receive information from the sensor and transmit it to the control center.

[0017] Preferably, a standard attitude range for the positioning element and the sensor is preset, the standard attitude range is stored in the control center, and the control center is configured to compare the pose of the positioning element with the standard attitude range.

[0018] Preferably, the control center is configured to calculate the pose deviation between the positioning element and the standard pose range, calculate the motion information of the first rotating component, the second rotating component and the third rotating component based on the pose deviation, and control the operation of the first rotating component, the second rotating component and the third rotating component.

[0019] The beneficial effects of this utility model are:

[0020] This utility model provides a sensor pose adjustment device, including an adjustment bracket, a positioning component, and a control center. The adjustment bracket includes a base, a first rotating component, a second rotating component, and a third rotating component. The first rotating component is mounted on the base, the second rotating component is mounted on the first rotating component, and the third rotating component is mounted on the second rotating component. The sensor is mounted on the third rotating component. The positioning component is fixed in a preset position. The sensor collects the pose of the positioning component, that is, the relative pose of the positioning component with respect to the sensor. If the pose of the positioning component collected by the sensor is not within the standard pose range, the sensor cannot completely collect the pose of the surgical tool. The control center controls the first rotating component, the second rotating component, and the third rotating component to rotate the sensor and adjust the sensor to the preset pose so that the pose of the positioning component relative to the sensor is within the standard pose range. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a sensor pose adjustment device provided in an embodiment of the present invention.

[0022] In the picture:

[0023] 1. Base; 2. First rotating component; 21. First driving component; 22. First connecting component; 3. Second rotating component; 31. Second driving component; 32. Second connecting component; 4. Third rotating component; 5. Fixed base. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0025] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can 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 based on the specific circumstances.

[0026] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0027] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0028] This embodiment provides a sensor pose adjustment device that can fix the sensor and automatically adjust its pose with high accuracy to ensure that the sensor can completely capture the pose of surgical instruments during surgery and establish a 3D model of the patient's body parts. At the same time, by improving manual adjustment to automatic adjustment, the preoperative preparation work is reduced and the adjustment time of the surgeon is shortened.

[0029] Please see Figure 1A sensor pose adjustment device includes an adjustment bracket, a positioning component, and a control center. The sensor is mounted on the adjustment bracket, which adjusts the sensor's pose. The positioning component is fixed at a preset position. For example, the positioning component is fixed within the surgical area. The sensor acquires the pose of the positioning component, i.e., its relative pose with respect to the sensor. The control center stores the standard pose range between the positioning component and the sensor. If the pose of the positioning component acquired by the sensor is within the standard pose range, it indicates that the sensor can completely acquire the pose of the surgical tool. If the pose of the positioning component acquired by the sensor is not within the standard pose range, it indicates that the sensor's pose cannot completely acquire the pose of the surgical tool. In this case, the control center needs to control the adjustment bracket to adjust the sensor's pose so that the pose of the positioning component relative to the sensor is within the standard pose range.

[0030] Preferably, the positioning element is capable of emitting light signals, and the sensor receives the light signals and then analyzes the intensity and angle of the light signals to determine the position and orientation of the positioning element.

[0031] The sensor pose adjustment device provided in this embodiment also includes a sensor acquisition system, which connects the sensor and the control center to receive information from the sensor and transmit it to the control center.

[0032] Specifically, the adjustment bracket includes a base 1, a first rotating component 2, a second rotating component 3, and a third rotating component 4. The first rotating component 2 is mounted on the base 1, the second rotating component 3 is mounted on the first rotating component 2, and the rotation of the first rotating component 2 drives the rotation of the second rotating component 3. The third rotating component 4 is mounted on the second rotating component 3, and the rotation of the second rotating component 3 drives the rotation of the third rotating component 4. The sensor is mounted on the third rotating component 4, and the rotation of the third rotating component 4 drives the rotation of the sensor.

[0033] With the above settings, after receiving information from the sensor, the control center controls the first rotating component 2, the second rotating component 3 and the third rotating component 4 to drive the sensor to rotate, so as to adjust the sensor to the preset position.

[0034] Preferably, the rotation axes of the first rotating component 2, the second rotating component 3, and the third rotating component 4 are perpendicular to each other to expand the adjustment range of the sensor pose.

[0035] For example, the first rotating assembly 2 includes a first driving member 21 and a first connecting member 22. The first driving member 21 is mounted on the base 1, one end of the first connecting member 22 is connected to the output end of the first driving member 21, and the second rotating assembly 3 is mounted on the other end of the first connecting member 22. With the above configuration, when the first driving member 21 operates, it drives the first connecting member 22 and the second rotating assembly 3 thereon to rotate about the rotation axis of the first driving member 21.

[0036] Furthermore, the first connecting member 22 includes a first sleeve and a first connecting rod. The first sleeve is sleeved on the output end of the first driving member 21, one end of the first connecting rod is connected to the outer wall of the first sleeve, and the other end of the first connecting rod is connected to the second rotating assembly 3.

[0037] Similarly, the second rotating assembly 3 includes a second driving member 31 and a second connecting member 32. The second driving member 31 is mounted on the other end of the first connecting rod, one end of the second connecting member 32 is connected to the output end of the second driving member 31, and the third rotating assembly 4 is mounted on the other end of the second connecting member 32. With the above arrangement, when the second driving member 31 operates, it drives the second connecting member 32 and the third rotating assembly 4 thereon to rotate about the rotation axis of the second driving member 31.

[0038] Furthermore, the second connecting member 32 includes a second sleeve and a second connecting rod. The second sleeve is sleeved on the output end of the second driving member 31, one end of the second connecting rod is connected to the outer wall of the second sleeve, and the other end of the second connecting rod is connected to the third rotating component 4.

[0039] Similarly, the third rotating assembly 4 includes a third driving member and a third connecting member. The third driving member is mounted on the other end of the second connecting rod, and the third connecting member is connected to the output end of the third driving member. The sensor is mounted on the third connecting member. With the above configuration, the third driving member operates, causing the third connecting member and the sensor on it to rotate about the rotation axis of the third driving member.

[0040] Furthermore, the third connector includes a third sleeve and a third connecting rod. The third sleeve is fitted onto the output end of the third drive unit, one end of the third connecting rod is connected to the outer wall of the third sleeve, and the other end of the third connecting rod is connected to the sensor.

[0041] Optionally, a fixing seat 5 is installed at the end of the third connector that is away from the third drive member, that is, at the other end of the third link. The sensor is installed on the fixing seat 5 to improve the stability of the sensor and thus improve the accuracy of the surgery.

[0042] Please see Figure 1 The first rotating component 2 provided in this embodiment includes two first driving members 21 and two first connecting members 22. One of the first driving members 21 is mounted on the base 1, and the other first driving member 21 is sleeved on the output end of one of the first driving members 21 through the first sleeve of the first connecting member 22. The second rotating component 3 includes two second driving members 31 and two second connecting members 32. One of the second driving members 31 is connected to the other first driving member 21, and the other second driving member 31 is sleeved on the output end of one of the second driving members 31 through the second sleeve of the second connecting member 32. The third driving member is connected to the second driving member 31 that is away from the first rotating component 2.

[0043] In other embodiments, the first rotating component 2 may also include other numbers of first driving members 21 and first connecting members 22, the second rotating component 3 may also include other numbers of second driving members 31 and second connecting members 32, and the third rotating component 4 may also include other numbers of third driving members and third connecting members, without specific limitations here.

[0044] This embodiment also provides a sensor pose adjustment method. By using the sensor pose adjustment device described above, the pose of the sensor can be adjusted quickly and accurately, shortening the preoperative preparation time and improving the accuracy of the surgery.

[0045] This embodiment provides a sensor pose adjustment method including the following steps:

[0046] S1. The positioning component is fixed in a preset position, and the sensor collects the position and pose of the positioning component and transmits it to the control center;

[0047] S2. The control center compares the pose of the positioning component with the standard pose range.

[0048] S3. If the position of the positioning component is within the standard position range, the positioning is completed; if the position of the positioning component exceeds the standard position range, proceed to S4.

[0049] S4. Adjust the sensor's pose until the positioning component's pose is within the standard pose range to complete the positioning.

[0050] Specifically, S1 includes:

[0051] The operator fixes the positioning component to the preset position. After the positioning component is fixed, the sensor collects the position and pose of the positioning component. The sensor acquisition system receives the position and pose information of the positioning component collected by the sensor and sends it to the control center in the form of data.

[0052] Furthermore, S2 includes:

[0053] The control center converts the received data into the pose information of the positioning device, thereby calculating the relative pose of the positioning device with respect to the sensor, and comparing it with the standard pose range of the positioning device and the sensor stored in the control center.

[0054] Specifically, S3 includes;

[0055] If the position of the positioning component is within the standard position range, the positioning is completed; if the position of the positioning component exceeds the standard position range, proceed to step S4.

[0056] S4 includes:

[0057] S41. The control center calculates the pose deviation between the positioning component and the standard pose range.

[0058] S42. The control center calculates the motion information of the first rotating component 2, the second rotating component 3 and the third rotating component 4 based on the posture deviation.

[0059] S43. The control center controls the operation of the first rotating component 2, the second rotating component 3 and the third rotating component 4 based on the motion information.

[0060] Specifically, the control center calculates the pose deviation between the positioning component and the standard pose range, and calculates the motion trajectory of the sensor through a motion planning algorithm. Furthermore, it calculates the motion information of the first rotating component 2, the second rotating component 3, and the third rotating component 4 through the motion trajectory, and controls the operation of the first rotating component 2, the second rotating component 3, and the third rotating component 4 according to the above motion information, thereby adjusting the sensor to the correct position.

[0061] It should be noted that S4 also includes:

[0062] S44, Enter S1.

[0063] Specifically, the sensor re-acquires the pose of the positioning component and sends it to the control center. The control center converts the received data into the pose information of the positioning component, calculates the relative pose of the positioning component with respect to the sensor, compares it with the standard pose range of the positioning component and the sensor stored in the control center, and then determines whether the pose of the positioning component is within the standard pose range. This confirms whether the pose of the sensor has been adjusted properly and improves the pose accuracy of the sensor.

[0064] The sensor pose adjustment method provided in this embodiment can quickly and accurately adjust the sensor pose to the correct position, thereby shortening the preoperative preparation time and improving the accuracy of the surgery.

[0065] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A sensor pose adjustment device for adjusting the pose of a sensor, characterized in that, include: An adjustment bracket is provided, comprising a base (1), a first rotating component (2), a second rotating component (3), and a third rotating component (4). The first rotating component (2) is mounted on the base (1), the second rotating component (3) is mounted on the first rotating component (2), and the rotation of the first rotating component (2) causes the second rotating component (3) to rotate. The third rotating component (4) is mounted on the second rotating component (3), and the rotation of the second rotating component (3) causes the third rotating component (4) to rotate. The sensor is mounted on the third rotating component (4). A positioning component is fixed at a preset position, and the sensor is used to collect the position and pose of the positioning component; The control center is used to receive information from the sensor and control the first rotating component (2), the second rotating component (3) and the third rotating component (4) to adjust the sensor to a preset position.

2. The sensor pose adjustment device according to claim 1, characterized in that, The rotation axes of the first rotating component (2), the second rotating component (3), and the third rotating component (4) are perpendicular to each other.

3. The sensor pose adjustment device according to claim 1, characterized in that, The first rotating component (2) includes a first driving member (21) and a first connecting member (22). The first driving member (21) is mounted on the base (1), and the first connecting member (22) is connected to the output end of the first driving member (21). The first driving member (21) is configured to drive the first connecting member (22) to rotate. The second rotating component (3) is mounted on the first connecting member (22).

4. The sensor pose adjustment device according to claim 3, characterized in that, The second rotating component (3) includes a second driving member (31) and a second connecting member (32). The second driving member (31) is mounted on the first connecting member (22), and the second connecting member (32) is connected to the output end of the second driving member (31). The second driving member (31) is configured to drive the second connecting member (32) to rotate. The third rotating component (4) is mounted on the second connecting member (32).

5. The sensor pose adjustment device according to claim 4, characterized in that, The third rotating component (4) includes a third driving member and a third connecting member. The third driving member is mounted on the second connecting member (32), the third connecting member is connected to the output end of the third driving member, and the sensor is mounted on the third connecting member.

6. The sensor pose adjustment device according to claim 5, characterized in that, The third connector is mounted on a fixing base (5) at one end opposite to the third drive member, and the sensor is mounted on the fixing base (5).

7. The sensor pose adjustment device according to claim 1, characterized in that, The positioning element is configured to emit an optical signal, and the sensor is configured to receive the intensity and angle of the optical signal to acquire the position and orientation of the positioning element.

8. The sensor pose adjustment device according to claim 1, characterized in that, The sensor pose adjustment device also includes a sensor acquisition system, which is connected to the sensor and the control center, and is used to receive information from the sensor and transmit it to the control center.

9. A sensor pose adjustment device according to claim 1, characterized in that, The positioning element and the sensor are preset with a standard attitude range, which is stored in the control center. The control center is configured to compare the pose of the positioning element with the standard attitude range.

10. A sensor pose adjustment device according to claim 9, characterized in that, The control center is configured to calculate the pose deviation between the position of the positioning component and the standard pose range, calculate the motion information of the first rotating component (2), the second rotating component (3) and the third rotating component (4) based on the pose deviation, and control the operation of the first rotating component (2), the second rotating component (3) and the third rotating component (4).

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