An optical tracking and positioning system for an orthopedic hand drill

Abstract

This utility model discloses an optical tracking and positioning system for orthopedic hand drills, relating to the field of surgical robots. It includes: a hand drill mounting frame structure comprising two side plates movably disposed on both sides of the hand drill, each side plate having a threaded rod screwed to one end; rotating the threaded rod moves the other ends of the two side plates toward each other or away from each other; and a locator structure fixed to the hand drill mounting frame structure by nuts, the locator structure comprising multiple transparent reflective spheres distributed on at least two planes. This positioning system can perform tracking, identification, and positioning functions, and is versatile, meeting the needs of most hand drills on the market, with advantages such as ease of operation and strong usability.

Description

Technical Field

[0001] This utility model belongs to the field of surgical robots, and more specifically, relates to an optical tracking and positioning system for orthopedic hand drills. Background Technology

[0002] In recent years, with the development of orthopedic surgical robots, surgeries have become increasingly intelligent and precise, and the requirements for tools have also become higher. Many intelligent surgical tools have emerged. Currently, the hand drill is one of the most frequently used tools in surgery. However, due to the large variety of hand drills on the market, doctors may use various types of hand drills for various reasons. Although some hand drills now have intelligent and trackable functions, they are basically customized models and cannot meet the diverse needs of the hand drills on the market. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing an optical tracking and positioning system and method for orthopedic hand drills. This positioning system allows the distance between the two side plates to be adjusted by screwing in a threaded rod, enabling the hand drill mounting frame structure to be clamped and fixed onto any type of hand drill. After the hand drill mounting frame structure is stably connected to the hand drill, the locator structure is connected to the hand drill mounting frame structure. The transparent reflective ball on the locator structure can then receive the infrared beam emitted by the optical tracer, thus tracking the position and posture of the hand drill, thereby improving surgical efficiency and quality.

[0004] To achieve the above objectives, this utility model provides an optical tracking and positioning system for orthopedic hand drills, comprising: The hand drill mounting frame structure includes two side plates movably disposed on both sides of the hand drill. One end of each side plate is screwed with a threaded rod. Rotating the threaded rod can move the other ends of the two side plates toward each other or toward each other. The locator structure is fixed to the hand drill mounting frame structure by nuts. The locator structure includes a plurality of transparent reflective spheres, all of which are distributed on at least two planes.

[0005] Optionally, the hand drill mounting bracket structure includes: The main board has two ends that are rotatably connected to the middle of the side plate, and the middle of the main board has a threaded hole that mates with the nut. Two rotating shafts are rotatably mounted on one end of the side plate, and the inner side of the rotating shafts is screwed to the threaded rod.

[0006] Optionally, the motherboard is inverted T-shaped, the threaded hole is provided on the end face of the vertical part of the motherboard, the two ends of the horizontal part of the motherboard are respectively provided with grooves, the side plate is rotatably disposed in the grooves, and a cylindrical pin is provided between the two side walls of the grooves, the cylindrical pin is provided through the middle of the side plate.

[0007] Optionally, the vertical portion of the main board has a connecting hole in the horizontal direction, the two threaded rods are connected by a connecting rod, the connecting rod is rotatably disposed in the connecting hole, and a force-applying part is provided on the end of one threaded rod away from the other threaded rod. The force-applying part has a cuboid structure, and the thread directions of the two threaded rods are opposite to each other.

[0008] Optionally, one end of the side plate is provided with a through hole in the horizontal direction, the middle part of the threaded rod passes through the through hole, and a rotating shaft mounting hole is provided on the side wall of the through hole, and the rotating shaft is rotatably disposed in the rotating shaft mounting hole.

[0009] Optionally, a perforated hole is provided at the other end of the side plate.

[0010] Optionally, the locator structure includes: The connector has a fixing hole in the middle for the nut to pass through; Two connecting brackets are respectively connected to both ends of the connector. The two connecting brackets are not parallel to each other, and each connector is provided with at least three transparent reflective balls.

[0011] Optionally, the two connecting frames are arranged in a figure-eight shape.

[0012] This utility model provides an optical tracking and positioning system for orthopedic hand drills. Its advantages include: the hand drill mounting frame structure is simple and reliable, simplifies intraoperative operation, significantly reduces surgical time, ensures a stable and secure connection, thus avoiding accuracy errors caused by unstable connections, and allows for secure and reliable clamping of the hand drill to both sides without damaging it. It is also compatible with most orthopedic hand drills on the market, demonstrating strong versatility. Furthermore, the positioning system features double-sided identifiable transparent reflective spheres, greatly increasing the visibility of the hand drill during use and overcoming the limitation of limited viewing angles inherent in traditional single-sided visualization.

[0013] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description

[0014] The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings, in which like reference numerals generally represent like parts.

[0015] Figure 1 An exploded view of an optical tracking and positioning system for an orthopedic hand drill according to an embodiment of the present invention is shown.

[0016] Figure 2 A schematic diagram of an optical tracking and positioning system for an orthopedic hand drill, according to an embodiment of the present invention, is shown in a state where it is fixed to a hand drill.

[0017] Figure 3 A schematic diagram of a hand drill mounting bracket structure according to an embodiment of the present invention is shown.

[0018] Figure 4 A schematic diagram of a locator structure according to an embodiment of the present invention is shown.

[0019] Explanation of reference numerals in the attached figures: 1. Nut; 2. Positioner structure; 3. Hand drill mounting bracket structure; 4. Hand drill; 5. Threaded rod; 6. First rotating shaft; 7. Cylindrical pin; 8. Side plate; 9. Main plate; 10. Second rotating shaft; 11. Force application part; 12. First connecting bracket; 13. Connecting piece; 14. Second connecting piece. Detailed Implementation

[0020] Preferred embodiments of the present invention will now be described in more detail. While preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0021] This utility model provides an optical tracking and positioning system for orthopedic hand drills, comprising: The hand drill mounting frame structure includes two side plates movably mounted on both sides of the hand drill. One end of each side plate is screwed with a threaded rod. Rotating the threaded rod can move the other ends of the two side plates toward each other or toward each other. The locator structure is fixed to the hand drill mounting frame structure by nuts. The locator structure includes multiple transparent reflective spheres, all of which are distributed on at least two planes.

[0022] Specifically, this positioning system features a hand drill mounting bracket structure. By tightening a threaded rod, two side plates move closer together, clamping and fixing the hand drill from both sides. This eliminates the need for the mounting bracket structure to be perfectly compatible with every type of hand drill; as long as it can clamp and fix the drill, it suffices, thus expanding the system's applicability. A locator structure is connected to the upper part of the mounting bracket structure via nuts. When the surgeon operates the hand drill, the transparent reflective ball on the locator structure allows them to confirm the drill's position, enabling tracking, identification, and positioning, significantly improving the surgical outcome and quality.

[0023] Optionally, the hand drill mounting bracket structure includes: The main board is rotatably connected to the middle of the side plate at both ends, and the middle of the main board is provided with a threaded hole that mates with a nut. Two rotating shafts are rotatably mounted on one end of the side plate, and the inner side of the rotating shafts is screwed to a threaded rod.

[0024] Optionally, the main board is inverted T-shaped, with threaded holes on the end face of the vertical part of the main board, and grooves are respectively opened at both ends of the horizontal part of the main board. The side plate is rotatably set in the groove, and a cylindrical pin is set between the two side walls of the groove. The cylindrical pin is set through the middle of the side plate.

[0025] Specifically, in the hand drill mounting bracket structure, the main plate, acting as the central load-bearing structure, has side plates rotatably connected to both ends of its T-shaped design. A pivot is located at the upper end of each side plate, and a threaded rod runs through its interior. This threaded rod is threaded into the inner side of the pivot, allowing the side plate to rotate around a cylindrical pin when the threaded rod rotates, thus securing its lower end against the side of the hand drill. Because the pivot moves axially along the threaded rod when it rotates, the connection between the side plate and the pivot rotates, necessitating a rotatable connection between the pivot and the side plate.

[0026] Optionally, the vertical part of the main board has a connecting hole in the horizontal direction, and the two threaded rods are connected by a connecting rod. The connecting rod is rotatably set in the connecting hole. A force-applying part is provided on the end of one threaded rod away from the other threaded rod. The force-applying part has a cuboid structure, and the thread directions of the two threaded rods are opposite to each other.

[0027] Specifically, in the hand drill mounting frame structure, when controlling the clamping movement of the two side plates, two threaded rods can be used to control the rotation of the two side plates respectively, or the two threaded rods can be connected by a connecting rod to form a single threaded rod. In this threaded rod, the threaded portions in the areas corresponding to the two rotating shafts have opposite thread directions. By applying force, the two side plates can be driven to rotate synchronously, thereby achieving clamping and fixing of both sides of the hand drill and improving adjustment efficiency.

[0028] Optionally, one end of the side plate is provided with a through hole in the horizontal direction, the middle part of the threaded rod passes through the through hole, and a shaft mounting hole is provided on the side wall of the through hole, and the shaft is rotatably mounted in the shaft mounting hole.

[0029] Specifically, a through hole is provided at the upper end of the side plate. The inner diameter of the through hole is larger than the outer diameter of the threaded rod, so that the wall of the through hole will not interfere with the threaded rod during the rotation of the side plate. When the threaded rod rotates, the inner side of the rotating shaft is threadedly engaged with the threaded rod, the outer circumference of the rotating shaft rotates relative to the rotating shaft mounting hole of the side plate, and the rotating shaft drives the side plate to move in the horizontal direction.

[0030] Optionally, a perforated hole is provided at the other end of the side panel.

[0031] Specifically, the perforated holes at the bottom of the side plate facilitate the clamping and fixing of the side plate and the hand drill. After ensuring that the connection between the hand drill mounting frame structure and the hand drill is stable, the locator structure is then connected and fixed to the hand drill mounting frame structure, so that the position of the hand drill can be accurately identified.

[0032] Optionally, the positioner structure includes: The connector has a fixing hole in the middle for inserting a nut; Two connecting brackets are connected to both ends of the connector, respectively. The two connecting brackets are not parallel to each other, and each connector has at least three transparent reflective balls.

[0033] Optionally, the two connecting brackets are arranged in a figure-eight shape.

[0034] Specifically, the locator structure can be equipped with transparent reflective spheres on multiple planes, which allows for quick confirmation of the locator structure's orientation and spatial position. In this positioning system, the locator structure is equipped with a connector and two connecting brackets. The two connecting brackets are distributed in a figure-eight shape and connected by a connector, which facilitates the positioning of the locator structure from different directions for positioning the hand drill, thus solving the problem of limited viewing angle caused by traditional single-sided visibility.

[0035] This utility model also provides an optical tracking and positioning method for orthopedic hand drills. Utilizing the aforementioned optical tracking and positioning system for orthopedic hand drills, the method includes: Place the hand drill mounting bracket structure on top of the hand drill, and screw the threaded rod to attach the two side plates to both sides of the hand drill; Place the locator structure on top of the hand drill mounting bracket structure, and tighten the nut to fix the locator structure in its mounting position. Adjust the optical tracer to face the hand drill to identify changes in the pose of the locator structure. Example

[0036] like Figures 1 to 4As shown, this utility model provides an optical tracking and positioning system for orthopedic hand drills, comprising: The hand drill mounting bracket structure 3 includes two side plates 8 movably disposed on both sides of the hand drill 4. One end of the two side plates 8 is screwed with a threaded rod 5. The threaded rod 5 has two threaded sections with opposite directions of rotation. The two threaded sections are respectively disposed corresponding to the two side plates 8. In this way, rotating the threaded rod 5 can move the other ends of the two side plates 8 toward each other or away from each other. The locator structure 2 is fixed to the hand drill mounting frame structure 3 by the nut 1. The locator structure 2 includes 8 transparent reflective balls, which are distributed on two planes.

[0037] In this embodiment, the hand drill mounting bracket structure 3 includes: The main board 9 is inverted T-shaped, with threaded holes located on the end face of the vertical portion. Grooves are formed at both ends of the horizontal portion of the main board 9. The side plate 8 is rotatably positioned within one of these grooves, and a cylindrical pin 7 is rotatably positioned between the two side walls of the groove, penetrating through the middle of the side plate 8. The first rotating shaft 6 and the second rotating shaft 10 are respectively rotatably mounted on one end of the side plate 8, and the inner side of the rotating shaft is screwed to the threaded rod 5.

[0038] In this embodiment, the vertical part of the main board 9 has a connecting hole in the horizontal direction, one end of the side plate 8 has a through hole in the horizontal direction, the threaded rod 5 passes through the connecting hole and the two through holes at the same time, one end of the threaded rod 5 is provided with a force application part 11, and a rotating shaft mounting hole is provided on the side wall of the through hole, and the rotating shaft is rotatably installed in the rotating shaft mounting hole.

[0039] In this embodiment, a perforated hole is provided at the other end of the side plate 8.

[0040] In this embodiment, the locator structure 2 includes: The connector 13 has a fixing hole in the middle for inserting the nut 1; The first connecting frame 12 and the second connecting piece 14 are respectively connected to the two ends of the connecting piece 13. The two connecting frames are in a figure-eight shape, and each connecting piece is provided with four transparent reflective balls.

[0041] This utility model also provides an optical tracking and positioning method for orthopedic hand drills. Utilizing the aforementioned optical tracking and positioning system for orthopedic hand drills, the method includes: Place the hand drill mounting bracket structure 3 on top of the hand drill 4, and screw the threaded rod 5 to attach the two side plates 8 to both sides of the hand drill 4. Place the locator structure 2 on top of the hand drill mounting bracket structure 3, and tighten the nut 1 to fix the installation position of the locator structure 2. Adjust the optical tracer to face the hand drill 4 to identify the pose changes of the locator structure 2.

[0042] In summary, when the optical tracking and positioning system for orthopedic hand drills is installed on the hand drill, first, by tightening the force application part 11, the lower ends of the two side plates 8 are made larger than the width of the hand drill. Then, the hand drill mounting frame structure 3 is mounted on both sides of the hand drill 4. By tightening the force application part 11 in the opposite direction, the threaded rod 5 drives the upper ends of the two side plates 8 to move away from each other. In this way, the side plates 8 can rotate around the cylindrical pin 7. When the lower ends of the two side plates 8 are tightly attached to the side of the hand drill 4, the hand drill mounting frame structure 3 can clamp and fix the hand drill 4. Next, the locator structure 2 is placed on the upper end of the main board 9, and the threaded holes of the two are aligned and fixed with the nut 1. In this way, the locator structure 2 and the hand drill mounting frame structure 3 are firmly connected. The optical tracer is activated to identify the position of the transparent reflective ball, and the spatial positional relationship between the patient's affected area and the hand drill is calibrated. The positional state of the hand drill is tracked and identified according to the spatial coordinate system, achieving high-precision control of the hand drill, thereby greatly improving the efficiency and quality of surgery.

[0043] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An optical tracking and positioning system for orthopedic hand drills, characterized in that, include: The hand drill mounting frame structure includes two side plates movably disposed on both sides of the hand drill. One end of each side plate is screwed with a threaded rod. Rotating the threaded rod can move the other ends of the two side plates toward each other or toward each other. The locator structure is fixed to the hand drill mounting frame structure by nuts. The locator structure includes a plurality of transparent reflective spheres, all of which are distributed on at least two planes.

2. The optical tracking and positioning system for orthopedic hand drills according to claim 1, characterized in that, The hand drill mounting frame structure includes: The main board has two ends that are rotatably connected to the middle of the side plate, and the middle of the main board has a threaded hole that mates with the nut. Two rotating shafts are rotatably mounted on one end of the side plate, and the inner side of the rotating shafts is screwed to the threaded rod.

3. The optical tracking and positioning system for orthopedic hand drills according to claim 2, characterized in that, The main board is inverted T-shaped, and the threaded hole is provided on the end face of the vertical part of the main board. The two ends of the horizontal part of the main board are respectively provided with grooves. The side plate is rotatably disposed in the groove. A cylindrical pin is provided between the two side walls of the groove. The cylindrical pin passes through the middle of the side plate.

4. The optical tracking and positioning system for orthopedic hand drills according to claim 3, characterized in that, The vertical portion of the main board has a connecting hole in the horizontal direction. The two threaded rods are connected by a connecting rod, which is rotatably disposed in the connecting hole. One of the threaded rods has a force-applying part at the end away from the other threaded rod. The force-applying part has a cuboid structure, and the thread directions of the two threaded rods are opposite to each other.

5. The optical tracking and positioning system for orthopedic hand drills according to claim 4, characterized in that, One end of the side plate has a through hole in the horizontal direction, the middle part of the threaded rod passes through the through hole, and a rotating shaft mounting hole is opened on the side wall of the through hole, and the rotating shaft is rotatably mounted in the rotating shaft mounting hole.

6. The optical tracking and positioning system for orthopedic hand drills according to claim 1, characterized in that, The other end of the side plate has a perforated hole.

7. The optical tracking and positioning system for orthopedic hand drills according to claim 1, characterized in that, The locator structure includes: The connector has a fixing hole in the middle for the nut to pass through; Two connecting brackets are respectively connected to both ends of the connector. The two connecting brackets are not parallel to each other, and each connector is provided with at least three transparent reflective balls.

8. The optical tracking and positioning system for orthopedic hand drills according to claim 7, characterized in that, The two connecting frames are arranged in a figure-eight shape.

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