CN116650119B - Calibration reference frame for adjustable operation reference frame - Google Patents

Abstract

The invention discloses a calibration reference frame for an adjustable operation reference frame, which comprises a combined structure, an identified structure and a calibration reference frame, wherein the combined structure is combined with an operation instrument, and the identified structure is connected with the combined structure; after the combined structure is combined with the operation instrument with the operation reference frame, the spatial pose of the identified structure and the operation instrument is determined and known. When the operation reference frame and the operation instrument are used, firstly, the operation reference frame and the operation instrument are arranged at the operation position, one space pose which does not influence the operation of an operator and does not interfere other operation actions is selected, and once the operation reference frame and the operation instrument are confirmed, the position pose of the operation reference frame and the operation instrument are immediately locked, and the operation reference frame and the operation instrument are changed into an unaware space pose which is unchanged; combining the calibration reference frame and the operation instrument at a position for determining a known space pose; and then identifying the identified structures on the calibration reference frame and the operation reference frame through a navigation system, and obtaining the specific space pose of the reference frame and the operation instrument through the relation between the calibration reference frame and the operation instrument and the known space pose of the calibration reference frame and the reference frame, thereby realizing the follow-up tracking.

Description

An adjustable operating reference frame for calibration reference frame

Technical field

The invention belongs to the technical field of medical instruments, and in particular to the field of instruments related to navigation system surgery. Specifically, it is a calibration reference frame for an adjustable operating reference frame.

Background technique

Existing technology has used navigation systems in various medical surgery scenarios, and current navigation systems mostly complete surgical navigation through NDI beads and corresponding recognition systems, and the current NDI beads are mostly set on a reference frame, and then the The reference frame is combined with the corresponding surgical instruments, and the navigation system identifies and tracks the spatial posture of the NDI ball on the reference frame to track the surgical path, surgical direction, etc. of the surgical instruments.

The spatial postures of the reference frame and the surgical operating instruments in the prior art are all fixed combinations that are planned and set in advance. This method does not have the flexibility of setting, and it is easy to cause inconvenience to the operator due to the fixed setting. Therefore, in view of the above It is hoped that the above problems can be solved through an adjustable method. However, once the positions of the reference frame and operating instruments become adjustable, the navigation system cannot accurately obtain the spatial posture of the operating instruments through the position of the reference frame, so that it cannot effectively To complete navigation tracking during surgery, a structure that can learn the spatial posture of the adjustable reference frame and operating instruments is needed.

In view of the above technical problems, the present invention provides a calibration reference frame for an adjustable operating reference frame.

Contents of the invention

The spatial positions of the operating reference frame and operating instruments are diverse. Through system recognition and operator selection, the problem of determining the spatial posture of the operating reference frame and operating instruments after setting the positions as needed cannot be solved. , only by determining the spatial posture of the two can the navigation system know the position of the operating instrument and complete navigation tracking by identifying the identified structure of the operation on the operating reference frame.

The present invention solves the above technical problem by arranging an intermediate transition calibration reference frame, and the spatial position relationship of the combination of the marking instrument and the operating instrument is known. The calibration reference frame is provided with a calibration-recognized structure recognized by the navigation system, and the operation reference frame is also provided with an operation-recognized structure recognized by the navigation system. The specific technical solutions are:

An adjustable operating reference frame for calibration reference frame, which includes:

Combined structure, combined with operating equipment,

Calibrate the identified structure and connect it to the combined structure; after the combined structure is combined with the operating instrument with the operating reference frame, the spatial posture of the calibrated identified structure and the operating instrument is determined and known;

The navigation system recognizes and knows the spatial position relationship between the marked reference frame and the operating reference frame set on the operating instrument, and combines the known spatial posture relationship between the calibration reference frame and the operating instrument to know the spatial position of the operating participant frame and the operating instrument. posture.

During the specific operation, when using it, first set the operating reference frame and operating instruments to the surgical position, select a spatial posture that does not affect the operator's operation and does not interfere with other surgical movements, and once confirmed, immediately connect the operating reference frame and operating instruments. The position and posture of the operating instrument is locked and becomes an unknown but determined spatial posture; then the calibration reference frame and the operating instrument are combined at the known spatial posture; and finally the navigation system identifies the calibration target To identify the structure and operate the identified structure, by calibrating the spatial posture of the identified structure and operating the recognized structure and the known relationship between the calibration reference frame and the operating equipment, the software is used to calculate the specific spatial position of the operating reference frame and operating equipment. Attitude; tracking of the navigation system is achieved through conversion.

Further, calibrating the identified structure includes: extending at least three extended structures from the combined structure, setting an identified point that can be identified by the navigation system at the end of each extended structure, and each three identified points are not set on the same straight line. superior.

Further, the combined structure includes a snap-in structure or a socket structure, the snap-in structure is snap-fastened to the operating instrument at a determined angle and a determined position, and the socket structure is connected to the operating structure at a determined angle and determined position; in this way, the Ensure the certainty of the angle and position of the combined structure and operating instruments.

The beneficial effects of the present invention are:

Through the setting of the calibration reference frame, it can be ensured that the operating reference frame and operating instruments are adjusted at any spatial position, and the spatial posture is fixed after adjustment. Finally, the calibration reference frame and the operating reference frame are positioned in a determined space in the navigation system. The posture relationship, knowing the specific spatial posture of the determined operating reference frame and operating equipment, ensures the effectiveness of the navigation system's follow-up tracking.

The combination of the combined structure and the calibration identified structure ensures the certainty and knownness of the combination of the calibration reference frame and the operating instrument.

Description of drawings

Figure 1 is a schematic structural diagram of a calibration reference frame for setting NDI balls according to the present invention;

Figure 2 is a schematic diagram of the combined structure of the operating instrument, operating reference frame, and calibration reference frame of the present invention;

Figure 3 is a schematic cross-sectional structural diagram of the calibration reference frame of the present invention;

Figure 4 is a schematic structural diagram of the calibration reference frame without connectors according to the present invention;

Figure 5 is a schematic structural diagram of the longitudinal cross-section of the calibration reference frame of the present invention;

Figure 6 is a partially enlarged structural schematic diagram of the connector part of the present invention;

Figure 7 is a schematic structural diagram of the operating instrument without an operating reference frame according to the present invention;

Explanation of main reference signs

11. Extension plate; 111. Notch one; 12. Cylindrical barrel; 121. Notch two; 13. Connector; 131. Adapting hole; 132. Insertion part; 133. Insertion hole; 134. Extension tube; 2. Calibration Identified structure; 21. Identified point; 3. Operating reference frame; 4. Operating instrument; 41. Cylindrical section; 42. Combining structure; 421. Combining hole; 422. Combining column.

Detailed ways

Example 1

Referring to Figures 1 and 2; an adjustable operating reference frame for calibration reference frame, which includes,

Combined structure, combined with operating instrument 4,

Calibrate the identified structure 2 and connect it to the combined structure; after the combined structure is combined with the operating instrument 4 with the operating reference frame 3, the spatial posture of the calibrated identified structure 2 and the operating instrument 4 is determined and known;

The navigation system recognizes and knows the spatial position relationship between the marked reference frame and the operating reference frame set on the operating instrument, and combines the known spatial posture relationship between the calibration reference frame and the operating instrument to know the spatial position of the operating participant frame and the operating instrument. posture

During the specific operation, first set the operating reference frame 3 and operating instruments 4 to the operating position, select a spatial posture that does not affect the operator's operation and does not interfere with other surgical movements, and immediately adjust the positions of the two once confirmed. The posture is locked and becomes an unknown but determined spatial posture; then the calibration reference frame and the operating instrument 4 are combined at the known spatial posture; and finally the calibration reference frame and the operating reference are identified through the navigation system For the identified structure on the frame 3, through the calibration reference frame and the spatial posture on the reference frame and the known relationship between the calibration reference frame and the operating instrument 4, the software is used to calculate the specific spatial posture of the reference frame and the operating instrument 4; In this way, the setting mode of the reference frame and the operating instrument 4 is changed from the non-adjustable setting mode to the adjustable reference frame and the operating instrument 4, and the tracking of the navigation system can be realized through the conversion.

A more preferred embodiment is that calibrating the identified structure 2 includes: extending at least three extension structures from the combined structure, and setting an identified point 21 that can be identified by the navigation system at the outer end of each extension structure. Each three extension structures are identified. The identification points 21 are not set on the same straight line. It is preferable to extend four extension structures, and an identified point 21 is set at the outer end of each extension structure. Every three identified points 21 are not set on the same straight line; thus forming an identified point 21 as the vertex. 4-sided structure; when there are three identified points 21, a triangle is formed with the three points as vertices.

The operation-identified structure of the operation reference frame 3 is arranged in the same manner as the calibration-identified structure 2 on the calibration reference frame, but the shape is different, and the shape can be set according to surgical needs.

A more preferred embodiment is that the combined structure includes a snap-in structure or a socket structure. The snap-in structure is snap-fastened to the operating instrument 4 at a certain angle and position, and the socket structure is socketed to the operating structure at a certain angle and position. ; In this way, the certainty of the angle and position of the combined structure and the operating instrument 4 can be ensured.

A more preferred embodiment is that the positions of the combined structure and the calibrated identified structure 2 do not change relative to each other after being connected. This arrangement can ensure that after the combined structure and the operating instrument 4 are combined, the spatial postures of the calibrated identified structure 2 and the operating instrument 4 are calibrated. of certainty.

A more preferred embodiment is that the combination structure and the operation structure are combined in one or two ways, of which one is preferred. A single combination method of a single combination structure and an operation structure can ensure the certainty of the spatial posture after combination.

A more preferred embodiment is that the combined structure includes a socket structure, the socket structure is a cylindrical socket structure, and the cylindrical socket structure is provided with a cylindrical hole consistent with the diameter of the cylindrical section on the operating structure; and the cylindrical There is only one combination position for segments and cylindrical holes.

A more preferred embodiment is that the cylindrical sleeve structure includes a cylindrical barrel 12, the operating structure includes a cylindrical section 41, four extension structures extend around the cylindrical barrel 12, and the four extension structures are arranged on the same identification plane; The cylindrical section 41 on the operating instrument 4 includes a setting plane; the setting plane passes through the central axis of the cylindrical section 41; the setting angle is determined by coincidence of the recognition plane and the setting plane, and the end of the cylindrical section 41 is in contact for operation The set position of the structure determines the socket position. In this way, the spatial posture of the calibration reference frame and operating structure can be determined quickly and effectively. A more preferred embodiment is that the extension structure includes a plate-shaped structure extending from the cylindrical tube 12 on the same set plane. Extended plates 11 of the same or different lengths protrude from the plate-shaped structure, and the identified extension plates 11 are provided with Point 21; The operation can be facilitated through the arrangement of the plate structure; in addition, different identification needs can be met through the arrangement of extension plates 11 with the same or different lengths. It is preferable that the extended plates 11 have the same length. The identified points 21 formed in this way form a rectangular shape, which is convenient for installation. A more preferred embodiment is to provide a non-penetrating notch 111 on the extension plate 11. The provision of the notch 111 can effectively reduce the mass of the calibration reference frame. A more preferred embodiment is that the cylindrical barrel 12 is also provided with a second notch 121, and the second notch 121 is provided to facilitate observation.

A more preferred embodiment is that the operating instrument 4 is an instrument with a cylindrical section 41 in the intertrochanteric fracture surgical navigation system. The outer diameters of the cylindrical sections 41 of different operating instruments 4 are different. In order to meet the requirements of the same operation setting, To meet the requirements of the calibration reference frame, the inner diameter of the cylindrical barrel 12 is equal to the outer diameter of the largest cylindrical section 41 in the operating instrument 4; in addition, a connector 13 is provided at one or both ends of the cylindrical barrel 12; There is an adapting hole 131, and each connector 13 is provided with a type of adapting hole 131. The diameter of the adapting hole 131 respectively corresponds to the outer diameter of the cylindrical section 41 of different operating instruments 4; this arrangement can ensure that the adapting hole 131 can be adjusted according to different The purpose of selecting different connectors 13 for the operating instrument 4 is so that one operating instrument 4 does not need to be provided with a cylindrical barrel 12, and it only needs to be achieved by replacing different connecting barrels. It is preferred to provide connectors 13 at both ends of the cylindrical barrel 12. In this way, when two instruments are used continuously, they can be connected through the corresponding connectors 13 first, so that continuous calibration of the operating instrument 4 can be achieved. It saves instrument calibration time and completes the calibration of two operating instruments 4 and operating reference frames 3 with one replacement. During specific use, first temporarily adjust and determine the positions of all the operating instruments 4 and the operating reference frame 3 according to the conditions of the surgical site. After determination, the connectors 13 of the corresponding operating instruments 4 are combined into the cylindrical barrel in pairs. At both ends of 12, after completing the calibration of the two operating instruments 4 and the operating reference frame 3 in sequence, replace the two connectors 13 until the calibration of all instruments is completed.

A more preferred embodiment is, with reference to Figures 3, 4, 5 and 6; the first end of the connector 13 is provided with an insertion portion 132, and the corresponding rear end of the cylindrical barrel 12 is provided with an insertion hole 133 for the insertion portion 132 to be inserted; The insertion part 132 is adapted to the insertion hole 133, the outer diameter of the insertion part 132 is equal to the diameter of the insertion hole 133, and the internal hole position of the insertion part 132 is adapted to the hole 131; in this way, the connection between the connector 13 and the cylindrical barrel 12 is achieved. .

A more preferred embodiment is that the diameter of the insertion hole 133 is larger than the inner diameter of the cylindrical barrel 12. This arrangement can avoid the influence of the setting of the insertion hole 133 on the setting of the cylindrical barrel 12.

A more preferred embodiment is that an extension tube 134 is provided at the second end of the connector 13. The extension tube 134 is also a cylinder, which is used to facilitate the setting of the connector 13. In addition, the extension tube 134 is set to a certain length for contact operation. The set position of the instrument 4 is convenient for calibrating the reference frame and operating the instrument 4 to achieve the preset spatial posture state. When the extension tube 134 contacts the set position of the operating instrument 4, it stops extending.

A more preferred embodiment is that the adapting hole 131 is set as a cylindrical hole for direct plugging or plugging; or the adapting hole 131 is a threaded hole adapted to the corresponding cylindrical threaded section on the operating instrument 4, and the combination is achieved through rotation.

Example 2

An adjustable operating reference frame 3, which has various or even arbitrary settings for the operating reference frame 3 and operating instruments 4. By adding a calibration reference frame, a calibration step is added in the middle to determine the operating reference frame. 3 and the spatial posture of the operating instrument 4; however, once determined, the spatial posture of the operating reference frame 3 and the operating instrument 4 needs to be fixed to complete follow-up tracking. The calibration reference frame and the operating instrument 4 have only one known spatial posture relationship after combination; when using, adjust the combined spatial posture of the operating reference frame 3 and the operating instrument 4 as needed, but the operating reference frame 3 is not known at this time. and the spatial posture of the operating instrument 4. After adjustment, the spatial posture of the operating reference frame 3 and the operating instrument 4 will no longer change; but the relative positional relationship that can be tracked is still unknown; later, the reference frame and the operating instrument 4 will be calibrated. Combined through a determined combination method; and then the recognized structures on the calibration reference frame and the operating reference frame 3 are identified through the navigation system, the spatial postures of the two are known, and the space of the operating instrument 4 and the operating reference frame 3 can be known through software calculations Posture. In this way, the spatial posture and angle of the operating reference frame 3 and the operating instrument 4 can be adjusted as needed, and the spatial posture and posture of the adjusted operating reference frame 3 and the operating instrument 4 can be determined.

The specific implementation is as follows: refer to FIG. 7 ; set at least two combination structures 42 on the operating instrument 4 , and the combination structures 42 include combination holes 421 whose positions can be adjusted; and set corresponding combination posts 422 on the operating reference frame 3 . More specifically, the shape of the combination hole 421 is circular or a regular polygon, and the shape of the combination post 422 is adapted to the combination hole 421 . Furthermore, the position and angle of the combination hole 421 and the combination post 422 do not change after combination; specifically, a soft pad can be provided outside the combination post 422; or when the combination hole 421 is a polygon, a magnetic mutual attraction structure can be provided at the combination. . Or, a locking screw hole is provided on the outer wall of the coupling hole 421, and a locking screw is provided in the locking hole; by inserting the screw into the coupling hole 421 through the screw hole, the coupling column 422 and the coupling hole are locked. 421 location. This locking method has better fixation effect and mature preparation process; a more preferred embodiment is that the combination hole 421 is a regular polygon hole and the combination post 422 is a regular polygon post. This setting can be achieved by adjusting the combination hole 421 and the combination post. The corresponding relationship between different sides of 422 achieves the purpose of adjusting the angle of the operating reference frame 3, and the most appropriate setting angle can be selected according to needs. Specifically, the cross-sectional areas of the combination holes 421 and the combination posts 422 are both regular hexagons. This setting can meet the needs of adjustment without increasing the difficulty of selecting angles due to too many sides. It is a setting method that can achieve the most direct angle setting.

A more specific implementation method is to set up two combination structures 42, and the intersection angle of the two combination structures 42 is 90 degrees; this arrangement can ensure that the left and right limbs are set up as a mirror image of the reference frame when operating the limbs, increasing the convenience of setting. .

A more specific implementation is that the operation reference frame 3 includes an operation-identified structure and a frame body; the operation-identified structure 2 and the frame body are combined through a universal ball head and a universal ball socket, and the universal ball head and the universal ball are combined. The socket achieves position locking through a locking structure. The locking structure includes a locking screw hole on the side wall and a locking screw. The locking screw enters the universal ball socket through the locking screw hole to lock the position of the universal ball head.

Alternatively, the operation-recognized structure and the frame are connected to a plurality of corresponding rotation blocking structures through a rotation axis, and conversion between different rotation blocking structures is realized through rotation.

The above has clearly and completely described the technical solutions in the embodiments of the present invention through specific embodiments. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of the embodiments. Those skilled in the art can refer to this Other advantages and effects of the present invention can be easily understood from the content disclosed in the specification. The present invention can also be implemented or applied through other different specific implementations. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments of the present invention, those of ordinary skill in the art can All other embodiments obtained without creative efforts belong to the scope of protection of the present invention.

Claims (6)

1. An adjustable operating reference frame for calibration reference frame, characterized in that it includes, The combined structure is used to be combined with an operating instrument, which is an instrument with a cylindrical section in an intertrochanteric fracture surgical navigation system; at least two combination structures are provided on the operating instrument, and the combination structure includes a combination hole that can adjust the position. ; Set the corresponding combination column on the operation reference frame; the shape of the combination hole is a regular polygon, the shape of the combination column is adapted to the combination hole, and the position and angle of the combination hole and the combination column do not change after combination; the operation reference frame includes the operation quilt Identify the structure and the frame; operate the identified structure and the frame through a universal ball head and a universal ball socket. The universal ball head and the universal ball socket achieve position locking through a locking structure. The locking structure includes side The locking screw hole and locking screw on the wall, the locking screw enters the universal ball socket through the locking screw hole to lock the position of the universal ball head; or, the operation identified structure and the frame communicate with the corresponding through the rotation axis Multiple rotating clamping structures are connected, and the conversion between different rotating clamping structures is realized through rotation; The calibrated recognized structure is recognized by the navigation system, and the calibrated recognized structure is connected to the combined structure; after the combined structure is combined with an operating instrument that can be combined with the operating reference frame, the spatial posture of the calibrated identified structure and the operating instrument is determined and known ;Set the operation-recognized structure on the operation reference frame; Through the navigation system identification and knowing the spatial posture relationship between the calibrated identified structure set on the operating instrument and the operating identified structure of the operating reference frame, combined with the known spatial posture relationship between the calibrated identified structure and the operating instrument, the operation is known. Identify the spatial posture of structures and operating instruments; The positions of the combined structure and the calibrated identified structure do not change relative to each other; the combined structure and the operating structure are combined in one way; the combined structure includes a socket structure, the socket structure is a cylindrical socket structure, and the operating instrument includes a cylindrical socket structure section; the cylindrical socket structure is provided with a cylindrical hole with the same diameter as the cylindrical section on the operating structure; and the cylindrical section and the cylindrical hole have one and only one combination position; the cylindrical socket structure includes a cylindrical barrel , four extension structures extend around the cylindrical barrel, and the four extension structures are set on the same identification plane; the cylindrical section on the operating instrument includes a setting plane; the setting plane passes through the central axis of the cylindrical section; to identify The plane coincides with the set plane to determine the set angle, and the set position where the end of the cylindrical section contacts the cylindrical socket structure is used to determine the socket position; both the operation recognized structure and the calibration recognized structure are set to be recognized by the navigation system. points; every three identified points are not set on the same straight line; the operation of the identified structure and the calibration of the identified structure are set in the same way, but the shapes are different; The operating instrument is an instrument with a cylindrical section. The outer diameter of the cylindrical section of different operating instruments is different. In order to meet the requirements of setting a calibration reference frame for the same operation, the inner diameter of the cylindrical barrel is equal to the largest cylinder among the operating instruments. The outer diameter of the cylindrical section; the connecting head is provided with an adapting hole, and each connecting head is provided with a type of adapting hole. The diameter of the adapting hole corresponds to the outer diameter of the cylindrical section of different operating instruments; in the cylindrical Connectors are provided at both ends of the barrel. When using, temporarily adjust and determine the positions of all operating instruments and operating reference frames according to the conditions of the surgical site. After confirmation, combine the connectors of the corresponding operating instruments in pairs in sequence. At both ends of the cylindrical barrel, after completing the calibration of the two operating instruments and the operating reference frame in sequence, replace the two connectors until the calibration of all instruments is completed; When using it, first, set the operating reference frame and operating instruments to the surgical position, select a spatial posture that does not affect the operator's operation and does not interfere with other surgical movements, and immediately move the operating reference frame and operating instruments to the correct position once confirmed. The position and posture are locked and become an unknown but determined spatial posture; second, combine the calibration reference frame and the operating instrument at the known spatial posture; third, identify the calibration through the navigation system By calibrating the spatial postures of the recognized structure and the recognized operation structure and the known relationship between the calibration reference frame and the operating equipment, the software is used to calculate the specific space of the operating reference frame and operating equipment. Position and posture; tracking of the navigation system is achieved through conversion. 2. The calibration reference frame for the adjustable operation reference frame according to claim 1, characterized in that the calibration of the identified structure includes: at least three extension structures extending from the combined structure, and one is provided at the outer end of each extension structure. A recognized point that can be recognized by the navigation system. 3. The calibration reference frame for the adjustable operation reference frame according to claim 2, characterized in that four extension structures are extended, and an identified point is provided at the outer end of each extension structure, and every three identified points are Not set on the same straight line; forming a 4-sided structure with the identified point as the vertex. 4. The calibration reference frame for the adjustable operating reference frame according to claim 1, characterized in that, The extension structure includes a plate structure extending from the cylindrical tube and on the same set plane. Extension plates of the same or different lengths protrude from the plate structure, and an identified point is set on the extension plate; The extension plates have the same length, and a non-penetrating notch 1 is provided on the extension plate to reduce the mass of the calibration reference frame; a notch 2 is also provided on the cylindrical tube for observation. 5. The calibration reference frame for the adjustable operation reference frame according to claim 1, characterized in that an insertion part is provided at the first end of the connector, and an insertion hole is provided at the rear end of the corresponding cylindrical tube for the insertion part to be inserted; the insertion part It is adapted to the insertion hole, the outer diameter of the insertion part is equal to the diameter of the insertion hole, and the internal hole position of the insertion part is adapted to the hole; the diameter of the insertion hole is larger than the inner diameter of the cylindrical barrel, which is used to avoid the insertion hole setting on the cylindrical barrel setting. Influence. 6. The calibration reference frame for the adjustable operation reference frame according to claim 5, characterized in that an extension tube is provided at the second end of the connector, and the extension tube is also a cylinder, which is used to facilitate the setting of the connector, and in addition, the extension tube is a cylinder. The barrel is set to a certain length, which is used to contact the set position of the operating instrument; it is convenient to calibrate the reference frame and the operating instrument to achieve the preset spatial posture state.