CN114947923A - A CT image reference device for robotic surgery system - Google Patents

Abstract

A CT image reference device for a robotic surgery system, comprising: a cavity device formed with a cavity, suitable for being fastened to an image receiving end of a CT device so that the inner bottom side plane of the cavity fits with the bottom plane of the image receiving end; A double-layer plane device, which has first and second flat plates arranged parallel to each other and spaced apart from each other, the second flat plate is suitable for fitting with the outer bottom side plane of the cavity device; and a locking device, one end of which is connected to the cavity device, The other end is provided with an adjustable locking mechanism to fasten the cavity device to the image receiving end. The main body of the cavity device is provided with first and second flanges to form a hinge seat, a first positioning hole pierced through the main body is formed at the bottom, and a chute guided from the opening side of the cavity to the first positioning hole, locking A stepped hole is formed on the device for the bayonet handle formed with the stop flange to pass through. During the rotation of the locking device toward the cavity device, the bayonet handle enters the chute of the cavity device from the protruding portion of the stepped hole and slides into the first positioning hole.

Description

A CT image reference device for robotic surgery system

technical field

The invention relates to a CT image reference device for a robot surgery system and a robot surgery system.

Background technique

In orthopedic surgery such as spine, whether traditional surgery or spinal robotic surgery, medical staff often need to take a large number of CT images. Spinal robotic surgery relies more on image accuracy to accurately reconstruct 3D virtual images and coordinate them for surgical planning and positioning. For example, in a surgical navigation system using eg a binocular tracker (camera), coordinate points can be collected by using a camera to identify a reference frame (optical sphere) mounted on a patient's lesion or the like. At this time, it can be considered that a reference frame is also attached to the image receiving end of the CT equipment, so that the transformation relationship based on the coordinate transformation principle between the reference frame and the camera coordinate system and between the image receiving end and the reference frame coordinate system can be comprehensively considered. The receiving end also incorporates the spatial information of the 3D virtual image. In this way, a reference frame can be provided for CT images, and then image correction can be performed through algorithms, which further improves the accuracy of robotic surgery.

However, when the medical staff takes a large number of CT images, the patient and the medical staff are exposed to a large amount of radiation.

It should be noted that the information mentioned in this Background section is only for enhancing understanding of the background of the present disclosure, and therefore may contain information that does not form the prior art that is already known to a person of ordinary skill in the art.

SUMMARY OF THE INVENTION

In order to solve the above problems, the purpose of the present invention is to provide a CT image reference device, which is fixed on the image receiving end of the C-arm so as to facilitate the algorithm to perform image correction.

According to an aspect of the present invention, a CT image reference device for a robotic surgery system is provided, comprising: a cavity device formed with a concave cavity, which is adapted to be fastened to an image receiving end of a CT device so that the cavity is The inner bottom side plane of the image receiving end and the bottom plane of the image receiving end are attached together in a plane contact with each other without leaving a gap; the double-layer plane device has a first flat plate, a second flat plate and a second flat plate arranged parallel to each other 2. The flat plates are adapted to fit and connect with the outer bottom side planes of the cavity device in a plane contact with each other without leaving a gap; and a locking device, one end of the locking device is connected to the cavity device, and the other end is provided with The adjustable locking mechanism that can be abutted against the image receiving end, so as to fasten the cavity device to the image receiving end.

Preferably, the cavity device has a main body, and an outer periphery of the main body is provided with a first flange and a second flange for hingedly connecting one end of the locking device, the first flange and the second flange respectively extend from the wall of the main body The hinge seat is formed by protruding outward in the form of a U-shaped groove. At the bottom of the U-shaped groove, a first positioning hole is formed through the main body, and the opening side of the cavity is guided along the outer side wall of the main body to the first positioning hole. The sliding groove of the locking device is formed with a stepped hole in a penetrating manner, for the bayonet handle formed with the stop flange to pass through, and for accommodating the first spring sleeved on the bayonet handle and screwing on the bayonet handle. The cap on one end of the stepped hole starts from the initial state where the stop flange is in contact with the base of the stepped hole. During the rotation of the other end of the locking device toward the cavity device, the bayonet handle protrudes from the stepped hole. The top end gradually enters the chute of the cavity device until the bayonet handle is slidably inserted into the first positioning hole along the chute under the biasing force of the first spring.

Preferably, the chute has a groove depth that gradually increases as it approaches the first positioning hole.

Preferably, the adjustable locking mechanism comprises: a hollow casing, a second spring with one end seated in the groove of the bottom plate in the hollow casing, and a locking floating set relative to the hollow casing sandwiching the second spring a block, a locking handle, and a cover in which a rod driven by the locking handle passes through the cover to be crimped against the top end face of the locking block, the locking block forming an opening through which the leg portion passes through the hollow housing The part is in contact with the image receiving end.

Preferably, the double-layer plane device further has a first peripheral plane frame and a second peripheral plane frame, which are respectively used for fixing the first plate and the second plate, and the second peripheral plane frame is distributed with positioning interfaces for Connection to cavity device and/or tracer device.

Preferably, the CT image reference device further includes an adapter pressure-receiving member, which is used to overlap with the stepped flange of the image receiving end housing, and is pressed against by the adjustable locking mechanism of the locking device.

Preferably, the adapting pressure-receiving member includes a first locking rod and a second locking rod which are formed in such a way that one end face can rest on the flange while surrounding the outer circumference of the image receiving end, the first locking rod and the second locking rod The respective first hinge ends of the lock rods are pre-hinged together in a rotatable manner, the respective second lock ends can be locked together with each other, and the other side end faces of the first lock rod and the second lock rod are formed for locking The pressure-bearing top surface against which the locking block of the device is pressed.

Preferably, the adapter pressure-receiving member is configured to include two half-sleeves, one end face of the half-sleeve can be overlapped with the flange, and the other end face is also formed with a radially extending sleeve flange for The locking block of the locking device is pressed against.

Preferably, spacers are distributed around the inner periphery of the concave cavity through a second screw connection, and the spacer blocks are formed with grooves on the opening side of the cavity.

According to another aspect of the present invention, a robotic surgery system is provided, comprising: a CT device, a tracker, and the CT image reference device described in any one of the above, the CT image reference device being fastened to an image receiving end of the CT device .

As the expected beneficial effect of the CT image reference device according to the present invention, it can be applied to the existing commercial products of CT equipment, that is, the image reference device only needs to be fixed on the image receiving end of the existing CT equipment, and one of them can be guaranteed. While the plane is as close as possible to the plane of the receiving end, point development is regularly arranged for image correction when taking CT images.

Description of drawings

FIG. 1 schematically shows a perspective view when a CT image reference device according to an embodiment of the present invention is applied;

Fig. 2 schematically shows an exploded perspective view corresponding to Fig. 1;

FIG. 3 schematically shows a perspective view of the components of the CT image reference device;

4 schematically shows a cross-sectional view of the components of the CT image reference device;

5-6 schematically show exploded perspective views of components of the CT image reference device;

FIG. 7 schematically shows a perspective view of the components of the CT image reference device;

FIG. 8 schematically shows a partially cutaway perspective view of components of a CT image reference device;

FIG. 9 schematically shows a perspective view of components of a CT image reference device;

FIG. 10 schematically shows a perspective view of a partial assembly of an adapter pressure-bearing member of a CT image reference device according to another embodiment of the present invention;

FIG. 11 schematically shows an assembled perspective view of the adapter pressure-receiving member when it is leaning against the flange for locking.

Detailed ways

Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The exemplary embodiments described below and illustrated in the accompanying drawings are intended to teach the principles of the invention, enabling those skilled in the art to implement and use the invention in several different environments and for several different applications. Accordingly, the scope of the invention is defined by the appended claims, and the exemplary embodiments are not intended, and should not be considered, to limit the scope of the invention.

For the convenience of description, the dimensions of the various parts shown in the accompanying drawings are not necessarily drawn according to the actual proportional relationship, and relate to the orientation description, such as upper, lower, front, rear, left, right, top, bottom, inner The orientations or positional relationships indicated by , outside, etc. are all based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the devices or elements referred to must have specific orientations , constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. The order and numerical values of the components and assembly steps set forth in the examples do not limit the scope of the invention unless specifically stated otherwise.

In the description of the present application, "plurality" means two or more, unless otherwise expressly and specifically defined. Unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

<First embodiment>

As shown in FIGS. 1 to 9 , the reference device 1 for CT images according to the first embodiment of the present invention is generally constructed to include: a double-layer plane device 100 , a locking device 200 , a cavity device 300 and a tracking device 400, the double-layer plane device 100 is suitable for attaching and connecting with the outer bottom side plane of the cavity device 300, and the cavity device 300 formed with the concave cavity 309 is suitable for being fastened to the image receiving end 22 of the CT equipment 2 and connected to each other. On the inner bottom side of the cavity and the bottom plane of the image receiving end 22 , the locking device 200 can abut on the image receiving end 22 while being connected to the cavity device 300 , so that the cavity device 300 can be attached to the image receiving end 22 . Even the reference device 1 is integrally fastened to the image receiving end 22, wherein:

The double-layer plane device 100 includes: a connecting column 101, a connecting screw 102, a first flat plate 103, a second flat plate 104, and a steel ball (not shown);

The locking device 200 includes: a main body 201, a cap 202, a first spring 203, a rotating shaft 204, a bayonet handle 205, a cover 206, a locking handle 207, a first screw 208, a locking block 209, a second spring 210, housing 213;

The cavity device 300 includes: a main body 301, a spacer 302, a second screw 303, and a concave cavity 309;

The tracer device 400 includes: a tracer body 401 , a connection block 402 , a third screw 403 , and an optical ball 404 .

<How it works>

Since the inner bottom side plane of the cavity device 300 can be in close contact with the bottom plane of the image receiving end 22, and the second flat plate 104 of the double-layer plane device 100 is also in close contact with the outer bottom side of the cavity device 300, it is actually ensured that The positional relationship between the second flat plate 104 and the bottom plane of the image receiving end 22 is parallel to each other, so that the steel balls arranged in fixed positions on the first flat plate 103 and the second flat plate 104 parallel to each other can play the role of marking the image, In addition, the part of the patient to which the first flat plate 103 and the second flat plate 104 are aligned corresponds to the imaging plane captured by the CT apparatus 2 .

Therefore, with the help of the tracking device 400 fixed on the second tablet 104 and the corresponding binocular tracker and other equipment, the second tablet 104 and the image reception with a fixed relative positional relationship can also be obtained in the 3D virtual image. The corresponding spatial coordinates of the end 22.

In addition, with the help of the second tracking device simultaneously provided on the corresponding part of the patient's body, such as the lesion, the lesion can always be accurately imaged through the image receiving end 22 via the first flat plate 103, the second flat plate 104, and the cavity device 300, thereby Reduce the necessity of repeated imaging due to false shots, repeated shots, etc., and reduce the radiation dose and health risks to patients and medical staff.

<Cavity Device 300>

The main body 301 of the cavity device 300 can be integrally formed into a box with a concave cavity 309 having a predetermined depth by using PEEK/6061 material, which is suitable for being sleeved on the image receiving end 22 from the upper side opening, so that the concave cavity 309 The bottom surface of the image receiving end 22 and the bottom surface of the image receiving end 22 are in plane contact with each other without leaving a gap.

An opening 319 corresponding to the image receiving end 22 can also be provided on the lower side of the box body to avoid the working path of the image receiving end 22 . A flat plate 318 for closing the opening 319 may also be provided, and a gapless planar contact between the image receiving end 22 and the cavity device 300 is achieved by abutting the bottom surface of the image receiving end 22 against the flat plate 318 .

The outer bottom surface 320 of the box body is also formed into a plane structure, and can be fastened together with the second flat plate 104 or the second peripheral plane frame 107 in plane contact with each other without leaving a gap.

Spacers 302 are distributed around the inner periphery of the box body, and are connected and fixed to the main body 301 by a second screw 303 . The spacer 302 can be made of soft materials such as plastic and silica gel, so as to avoid abrasion and scratches when the main body 301 is fastened to the image receiving end 22 .

Flanges 304 and 306 are provided on the outer periphery of the box body for hingedly connecting the lower end of the locking device 200 . The flanges 304 and 306 respectively protrude outwards from the box wall of the main body 301 in the form of U-shaped grooves to form hinge seats, and can be provided with multiple places along the periphery, and correspondingly provided with shaft holes 307 for passing through the rotating shaft 204 .

On the box body wall at the bottom of the U-shaped groove, a first positioning hole 308 is formed through the box body wall of the main body 301, and a chute 305 is formed along the box body wall from the upper side to guide the first positioning hole 308. The chute 305 may have a gradually increasing groove depth as the first positioning hole 308 is approached.

Although not shown, on the outer bottom surface 320 of the main body 301, in addition to the part used for flat fitting, a positioning fastening member for matching with the positioning interface 106 described later may also be formed, so as to facilitate rapid positioning, Fasten the two-layer planar device 100 .

<Locking device 200>

The locking device 200 is generally L-shaped, and its lower end is connected to the cavity device 300 , and its upper end is abutted or locked to the image receiving end 22 .

More specifically, a pivot hole 219 is provided on the lower end side for the rotation shaft 204 to pass through, so as to constitute a pivot point for the main body 201 to swing. In the vicinity of the pivot point, stepped holes 211 penetrating the main body 201 are also formed intersectingly, for the bayonet handle 205 formed with the stop flange 212 to pass through, and then for accommodating the first bayonet handle 205 sleeved on the bayonet handle 205. 1 spring 203 and cap 202. After the cap 202 is screwed to the main body 201 , that is, in a state where the first spring 203 applies a biasing force to the bayonet handle 205 , the stroke range of the stop flange 212 and even the bayonet handle 205 relative to the main body 201 is limited .

When the stop flange 212 abuts against the base of the stepped hole 211, the bayonet handle 205 stops moving forward, so that as shown in FIG. The top end of the protruding portion from the stepped hole 211 gradually enters the chute 305 of the cavity device 300 without interfering with the opening edge of the main body 301 .

In the adjustable locking mechanism on the upper end side, the lower end of the second spring 210 is seated in the groove of the bottom plate in the hollow shell 213, and the locking block can float relative to the hollow shell 213 by means of the second spring 210. 209 is crimped to the upper end of the second spring 210 . The bottom end side of the locking block 209 may be formed with a bottom plate opening (not shown) through which the leg part passes through the hollow housing 213 , so that the opening can be used to guide and limit the floating of the locking block 209 . The top surface of the locking block 209 is pressed by the rod driven by the locking handle 207 through the cover 206 , so that by adjusting the locking handle 207 , the pressing degree of the locking block 209 on the CT equipment 2 can be adjusted. The cover 206 is fixed to the upper port of the casing 213 via the first screw 208 .

In this way, after the locking device 200 is installed on the flanges 304 and 306 via the rotating shaft 204 , the rotating shaft 204 is positively locked in the shaft hole 307 so as to be fixed relative to the cavity device 300 , while the main body 201 can rotate relative to the rotating shaft 204 .

After the concave cavity 309 of the cavity device 300 is fastened to the image receiving end 22 , when the main body 201 is turned around the rotating shaft 204 to the cavity device 300 , the inner end 217 of the bayonet handle 205 first contacts the cavity device 300 The sliding groove 305 is reacted by the reaction force, which drives the stop flange 212 and compresses the first spring 203 in the opposite direction, thereby allowing the main body 201 to continue to rotate while the bayonet handle 205 is evaded to the outside until the bayonet handle 205 is in the first The biasing force of the spring 203 slides along the sliding groove 305 to finally insert the inner end 217 into the first positioning hole 308 . At this time, when the locking handle 207 is twisted, the locking block 209 is pressed down on the CT equipment 2, and the symmetrically distributed locking devices 200 realize the connection between the reference device 1 and the image receiving end 22, thereby forming a relatively fixed position relative to each other. relation.

When disassembling, first loosen the locking handle 207, the locking block 209 is lifted off the top of the image receiving end 22 under the action of the second spring 210, thereby loosening the fixation of the image receiving end 22, and then pull the bayonet handle 205 In this way, the overall loosening of the locking device 200 can be realized, and the same operation is performed on the opposite side.

<Double-layer plane device 100>

In the double plane device 100 shown in FIG. 6 , the first flat plate 103 and the second flat plate 104 are fixed to the first peripheral plane frame 105 and the second peripheral plane frame 107 , respectively. The two peripheral plane frames are fixed by connecting screws 102 and connecting posts 101 , so that the space position relationship between the two peripheral plane frames and between the first flat plate 103 and the second flat plate 104 is parallel to each other.

On the second peripheral plane frame 107 , there are also distributed positioning interfaces 106 to realize the corresponding connection with the cavity device 300 and the connection block 402 in the tracer device 400 , both of which can be connected by screws.

In addition, steel balls (not shown) of different specifications can be embedded (closely fitted) on the first flat plate 103 and the second flat plate 104 .

<Tracking Device 400>

The tracer body 401 of the tracer device 400 is provided with at least three optical balls 404 , which are connected to the second plate 104 via third screws 403 and connecting blocks 402 .

According to the positioning of the surgical equipment, the tracking device 400 can be optionally installed on one side of the reference device 1 for optical tracking of the surgical robot.

The image receiving end 22 in the shape of a substantially rectangular parallelepiped is described above as an example. Since it has a wide and flat top surface, it is only necessary to use the locking device 200 that can be rotated around the shaft 204 to be crimped on the top surface to achieve locking. Therefore, it can be locked. The relative positional relationship between the components is obtained.

<Second embodiment>

The second embodiment will be described below, which is suitable for the case where the image receiving end 22 is too thick vertically or the top surface is not flat but has a substantially flat stepped flange 21 near the image receiving end 22 .

At this time, for example, the transfer pressure-bearing member 500 shown in FIG. 10 can be used to play the role of an adapter that overlaps with the flange 21 to expand and realize a wider and flat pressure-bearing top surface for The locking block 209 of the locking device 200 is pressed against.

As shown in FIG. 11 , the transfer pressure-receiving member 500 is formed as a hinged locking clip, and the first locking rod 501 and the second locking rod 502 are pre-hinged together in a rotatable manner through the first hinge ends 503 and 504 , and While wrapping along the circumferential direction of the image receiving end 22 , the lower end face of the image receiving end 22 can rest on the flange 21 , and then be locked by the second locking ends 505 and 506 , so as to be reliably supported on the flange 21 . At this time, the upper end surfaces of the first locking rod 501 and the second locking rod 502 are formed as pressure-bearing top surfaces against which the locking block 209 of the locking device 200 is pressed.

In the above, the transfer pressure-receiving member 500 is shown in the shape of a curved rod, but it is not limited to this, as long as it can be formed in a form-fitting manner, for example, in the case where the image receiving end 22 is formed as a cylindrical shell , the transfer pressure-bearing member 500 can be composed of two half-sleeves to form a sleeve, and the sleeve only needs to ensure that the bottom end face can be reliably overlapped on the flange 21, and the upper end face can also pass through A sleeve flange (not shown) is formed to extend radially from the sleeve to further expand the pressure bearing top surface.

Of course, the locking between the second locking ends 505 and 506 is not limited to the pin type shown in the figure, and other possible shape-locking structures can also be used, as long as the two opposite sides can form a tightening force after being butted.

The adapter pressure-receiving member 500 can be configured as various accessories with different thicknesses, so as to adapt to the image receiving end 22 of different heights or thicknesses. For example, when the image receiving end 22 is a cylinder with a relatively high thickness, a belt or a metal hoop can be bound on the same side of the transfer pressure-receiving member 500 corresponding to the relatively high cylinder, so that the cylinder The lower end side of the body abuts the stepped flange 21 on the housing of the image receiving end 22. When the upper flange is pressed against the locking block 209, the downward force takes the stepped flange as the fulcrum moment, and the sleeve convex The moments of the tightening or binding forces at the lip (not shown) are balanced to form a stable connection.

In addition, although the cavity device can be adjusted according to different CT equipments 2 to realize the versatility of the device, it can be seen from the above-mentioned embodiments that, for example, when the cavity device 300 is formed into the rectangular box shape of the first embodiment, the cavity device 300 It can also be attached and fastened to the cylindrical image receiving end 22 by means of the locking device 200 , as long as it has a size capable of accommodating the image receiving end 22 . Conversely, the same applies to the cylindrical box shape of the first embodiment.

<Use effect>

Initially, the main body 201 of the locking device 200 is in a deployed state around the rotating shaft 204 . From the initial state in which the stop flange 212 abuts against the base of the stepped hole 211 , during the rotation of the other end of the locking device 200 toward the cavity device 300 , the bayonet handle 205 gradually protrudes from the top of the stepped hole 211 Enter the sliding groove 305 of the cavity device 300 until the bayonet handle 205 is slidably inserted into the first positioning hole 308 along the sliding groove 305 under the biasing force of the first spring 203 .

According to the first embodiment, during use, the inner bottom end surface of the main body 301 of the entire reference device 1 is abutted against the image receiving end 22 of the CT imaging device 2 , and then the main bodies 201 on both sides are respectively pulled toward the image receiving end 22 . , until the bayonet handle 205 is guided into the first positioning hole 308 along the vertical slide grooves 305 on both sides of the main body 301 due to the action of the first spring 203 , so that the upper end of the main body 201 , that is, the upper end of the curved arm is clamped to the CT imaging device 2 On the upper end surface of the image receiving end 22, the preliminary positioning is completed at this time, and there is no need to lift the main body 301 for a long time during the fastening process. By tightening the locking handle 207, the locking block 209 is gradually pressed downward against the upper end surface of the image receiving end 22, thereby pulling the main body 301 toward the image receiving end 22, so that the inner bottom end surface of the main body 301 is connected to the CT imaging device. The image receiving end 22 of 2 is closely attached.

According to the second embodiment, during use, the adapter pressure-receiving block 500 is lapped on the stepped flange 21 around the CT equipment 2 shell in advance and fastened, and then referring to the first embodiment, the upper end of the main body 201, namely The upper end of the curved arm is clamped on the end face of the upper flange of the transfer pressure-bearing block 500 to achieve similar positioning and fastening effects.

In this way, the use of the stepped edge on the peripheral side of the cylinder of the image receiving end 22 of the CT imaging device can also prevent the operator from holding the main body 301 for a long time, and can ensure that the inner end face of the main body 301 is in close contact with the image receiving end 22 of the CT imaging device. .

When disassembling, loosen the locking handle 207 , pull the bayonet handle 205 , and then flip the main body 201 , and then the main body 301 can be separated from the image receiving end 22 .

As mentioned above, the main body 301 has a cover frame structure, and the inner side walls of the frame are respectively provided with spacers 302 connected by fixing screws. Avoid hard contact between the inner wall of the frame and the image receiving end 22, and on the other hand, guide positioning. In addition, a groove may be provided at one end of the spacer facing the opening side of the box body to guide the image receiving end 22 to slide in.

According to the CT image reference device 1 of the present invention, for example, when the reference device 1 is mounted on a C-arm, the reference device 1 can be easily docked and mounted regardless of whether the C-arm is rotated or stopped at any position.

For example, the cover can be directly buckled to the receiving end facing upwards by gravity, or can be buckled from the side or below to the receiving end facing sideways or downwards by temporarily lifting, and the bayonet handle 205 can be used in time. Auxiliary positioning, supporting, and then locking, which makes installation and fixation faster, more convenient and more accurate.

While the invention has been described with reference to various specific embodiments, it should be understood that modifications may be made within the spirit and scope of the inventive concept described. Therefore, it is intended that this invention not be limited to the described embodiments, but will have the full scope as defined by the language of the appended claims.

Claims (10)

1. A CT image reference device (1) for a robotic surgery system, characterized by comprising: a cavity device (300) formed with a concave cavity (309), which is adapted to be fastened to a CT device ( 2) The image receiving end (22) makes the inner bottom side plane of the cavity (309) and the bottom plane of the image receiving end (22) fit together in a plane contact with each other without leaving a gap; the double plane A device (100) having a first flat plate (103) and a second flat plate (104) spaced apart from each other in parallel with each other, the second flat plate (104) being adapted to be in contact with the outer bottom side plane of the cavity device (300) and a locking device (200), one end of the locking device (200) is connected to the cavity device (300), and the other end is provided with a device capable of abutting against the image receiving device The adjustable locking mechanism of the end (22) is used to fasten the cavity device (300) to the image receiving end (22). 2 . The CT image reference device 1 according to claim 1 , wherein the cavity device ( 300 ) has a main body ( 301 ), and a first flange ( 304 ) and a first flange ( 304 ) and a second flange ( 304 ) and a second flange ( 304 ) and a Two flanges (306) are used to hinge one end of the locking device (200), the first flange (304) and the second flange (306) respectively extend outward from the wall of the main body (301) in a U-shaped groove. At the bottom of the U-shaped groove, a first positioning hole (308) is formed through the main body (301), and from the opening side of the cavity (309) along the outer side wall of the main body (301) to the The sliding groove (305) guided by the first positioning hole (308) is provided with a stepped hole (211) formed through the locking device (200) for the bayonet handle (211) formed with the stop flange (212). 205) is passed through, and is used to accommodate the first spring (203) sleeved on the bayonet handle (205) and the cap (202) screwed on one end side of the stepped hole (211). 212) From the initial state of the base abutting against the stepped hole (211), during the rotation of the other end of the locking device (200) toward the cavity device (300), the bayonet handle (205) is removed from the stepped hole (211) The top end of the protruding part gradually enters the chute (305) of the cavity device (300) until the bayonet handle (205) slides and inserts into the first chute (305) under the biasing force of the first spring (203). inside the positioning hole (308). 3 . The CT image reference device 1 according to claim 2 , wherein the sliding groove ( 305 ) has a groove depth that gradually increases as it approaches the first positioning hole ( 308 ). 4 . 4. The CT image reference device 1 according to claim 1, wherein the adjustable locking mechanism comprises: a hollow casing (213), one end of which is seated in a bottom plate concave in the hollow casing (213). the second spring (210) in the groove, the locking block (209), the locking handle (207) and the cover (206), which are floatingly arranged with respect to the hollow casing (213) sandwiching the second spring (210), Wherein, the rod driven by the locking handle (207) passes through the cover (206) and is crimped to the top end surface of the locking block (209), and the locking block (209) is formed with a leg portion passing through the hollow housing The opening of (213) is in contact with the image receiving end (22). 5. The CT image reference device 1 according to claim 1, wherein the double-layer plane device (100) further has a first peripheral plane frame (105) and a second peripheral plane frame (107), which are respectively used for fixing The first plate (103) and the second plate (104) are distributed with positioning interfaces (106) on the second peripheral plane frame (107) for connecting with the cavity device (300) and/or the tracking device ( 400) connect. 6 . The CT image reference device 1 according to claim 1 , further comprising a transfer pressure-receiving member ( 500 ) for overlapping with the stepped flange ( 21 ) of the shell of the image receiving end ( 22 ). 7 . , and is pressed against by the adjustable locking mechanism of the locking device (200). 7 . The CT image reference device 1 according to claim 6 , characterized in that the adapter pressure-receiving member ( 500 ) comprises a flange capable of lapping against the flange with one end face while surrounding the outer periphery of the image receiving end ( 22 ). 8 . (21) The first locking rod (501) and the second locking rod (502), and the respective first hinge ends (503, 504) of the first locking rod (501) and the second locking rod (502) They are pre-hinged together in a rotatable manner, the respective second locking ends (505, 506) can be locked together with each other, and the other side end faces of the first locking rod (501) and the second locking rod (502) are formed as The pressure-bearing top surface against which the locking block (209) of the locking device (200) is pressed. 8 . The CT image reference device 1 according to claim 6 , wherein the adapter pressure-receiving member ( 500 ) is configured to include two half-sleeves, and one end face of the half-sleeves can overlap the flange ( 8 . 21), a radially extending sleeve flange is also formed on the end face of the other side for the locking block (209) of the locking device (200) to be pressed against. 9 . The CT image reference device 1 according to claim 1 , wherein the inner periphery of the concave cavity ( 309 ) is connected with a second screw ( 303 ) and distributed with spacers ( 302 ), the spacer blocks ( 302 ) A groove is formed on the opening side of the cavity (309). 10. A robotic surgery system, comprising: a CT device (2), a tracker and the CT image reference device according to any one of claims 1-9, the CT image reference device being fastened to the CT device (2) The image receiving end (22).

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