CN215584364U - Navigation precision measuring device - Google Patents
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- CN215584364U CN215584364U CN202121776094.3U CN202121776094U CN215584364U CN 215584364 U CN215584364 U CN 215584364U CN 202121776094 U CN202121776094 U CN 202121776094U CN 215584364 U CN215584364 U CN 215584364U
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Abstract
The present disclosure relates to a navigation accuracy measuring device for measuring the navigation accuracy of a navigation system to an instrument, the navigation accuracy measuring device comprising: the detection die body is provided with a first tracker and a target position, the three-dimensional model of the detection die body is imported into a navigation system in advance, and the first tracker is used for being identified by a navigation camera of the navigation system, so that an image of the target position is formed in a display of the navigation system; the instrument three-dimensional model of the instrument die body is led into a navigation system in advance, and the second tracker is used for being recognized by a navigation camera, so that an image of the working position is formed in the display; the instrument phantom is operable to coincide the working position with the target position to determine the accuracy of the navigation of the instrument by the navigation system through the error between the image of the target position and the image of the working position in the display. The method and the device can accurately and intuitively measure the navigation precision of the instrument by the navigation system.
Description
Technical Field
The disclosure relates to the technical field of medical instruments, in particular to a navigation precision measuring device.
Background
At present, when an instrument needs to operate an invisible part of a subject, a target part of the subject and the instrument need to be displayed in an image mode by means of an instrument navigation system, and the instrument needs to be assisted to operate the target position according to the displayed position of the target part and the position of the instrument.
Generally, in the image, when the working position of the instrument and the target position of the target site coincide with each other, it indicates that the instrument reaches the actual position of the target site, at which the instrument can perform the operation.
In the related art, a certain error exists in the navigation of the surgical navigation system to the instrument, so that although the working position of the instrument coincides with the target position of the object in the image, the working position of the instrument and the target position of the object cannot coincide in an actual physical space. Therefore, the accuracy of the system navigation is an important evaluation index for the surgical navigation system, and for the robot-assisted navigation system, the accuracy has an industry recommended standard, while for the robot-free pure navigation system, the accuracy has a standard of a specified F2554. However, the standard does not consider the influence of image factors, and the accuracy of the navigation system cannot be effectively measured. Therefore, how to accurately and comprehensively evaluate the navigation precision of the surgical navigation system to the instrument needs to be solved in the aspect of measurement.
SUMMERY OF THE UTILITY MODEL
An object of the present disclosure is to provide a navigation accuracy measuring apparatus capable of accurately and intuitively measuring the navigation accuracy of an instrument by a navigation system to at least partially solve the above-mentioned problems in the related art.
In order to achieve the above object, the present disclosure provides a navigation accuracy measuring apparatus for measuring a navigation accuracy of an instrument by a navigation system, the navigation accuracy measuring apparatus including: the detection die body is provided with a first tracker and a target position, the three-dimensional model of the detection die body is pre-imported into the navigation system, and the first tracker is used for being identified by a navigation camera of the navigation system so as to construct an image and a posture of the three-dimensional model of the detection die body in the navigation system, so that an image of the target position is formed in a display of the navigation system; the instrument three-dimensional model of the instrument model body is pre-imported into the navigation system, and the second tracker is used for being recognized by the navigation camera so as to construct an image and a posture of the three-dimensional model of the instrument model body in the navigation system, so that an image of the working position is formed in the display; wherein the instrument phantom is configured to operably coincide the working position with the target position to determine the accuracy of the navigation of the instrument by the navigation system from an error between the image of the target position and the image of the working position in the display.
Optionally, the detection die body includes a base body, a target structure is provided on the base body, the target position is formed on the target structure, the instrument die body includes a body, a working structure is provided on the body, the working position is formed on the working structure, and the working structure is used for being matched with the target structure, so that the working position coincides with the target position.
Optionally, the number of the target structures is multiple, and the multiple target structures are arranged at intervals.
Optionally, the target position includes a first target position, the first target position is a target point, the working position includes a first working position for coinciding with the first target position, the first working position is a working point, and when the target point coincides with the working point, a value of a distance between an image of the first target position and an image of the first working position is the navigation accuracy.
Optionally, a ball is disposed on the target structure, the target point is located on a center of the ball, a first cylindrical groove used for being matched with the ball is disposed on an end surface of one end of the working structure away from the main body, a depth of the first cylindrical groove is equal to a radius of the ball, a diameter of the first cylindrical groove is equal to a diameter of the ball, and the working point is located at an intersection point of a central axis of the first cylindrical groove and a plane where the end surface of the working structure is located.
Optionally, the target position includes a second target position, the second target position is a target line, the working position includes a second working position for coinciding with the second target position, the second working position is a working line, when the target line coincides with the working line, a straight-line distance between each of two end points of the image of the second target position and the image of the second working position forms two values, a distance between each of two end points of the image of the second working position and the image of the second target position forms another two values, and the two values and/or the another two values are the navigation accuracy.
Optionally, a second cylindrical groove is arranged on the target structure, the target line is located on a central axis of the second cylindrical groove, the working structure is configured as a round bar, at least a part of bar bodies of the round bar are used for being inserted into the second cylindrical groove, the outer side wall of the inserted part of bar bodies is attached to the inner side wall of the second cylindrical groove, and the working line is located on the central axis of the round bar.
Optionally, the target position includes a third target position, the third target position is a target surface, the working position includes a third working position for coinciding with the third target position, the third target position is a working surface, when the target surface coincides with the working surface, a straight-line distance between each of at least three points at any different positions in the image of the third target position and the image of the third working position forms at least three values, a straight-line distance between each of at least three points at any different positions in the image of the third working position and the image of the third target position forms at least three other values, and the at least three values and/or the at least three other values are the navigation accuracy.
Optionally, the target position includes a third target position, the third target position is a target surface, the working position includes a third working position for coinciding with the third target position, the third target position is a working surface, and when the target surface coincides with the working surface, an included angle between a normal line of a surface where an image of the third target position is located and a normal line of a surface where an image of the third working position is located is the navigation accuracy.
Optionally, an accommodating groove is formed in the target structure, a first plane is formed in an inner side wall of the accommodating groove, the target surface is located on the first plane, the working structure has a matching structure for being inserted into the accommodating groove, the matching structure has a second plane for being attached to the first plane, and the working surface is located on the second plane.
According to the technical scheme, namely the navigation precision measuring device provided by the disclosure, the working position on the instrument die body is overlapped with the target position on the detection die body, and the navigation precision of the navigation system to the instrument is determined according to the error between the image of the target position and the image of the working position in the display of the navigation system.
In specific work, a three-dimensional model of a detection die body and a three-dimensional model of an instrument die body are pre-imported into a navigation system, a first tracker and a second tracker are identified through a navigation camera in the navigation system, so that images and postures of the three-dimensional model of the detection die body and the three-dimensional model of the instrument die body are built in the navigation system, further images of a target position and an image of a working position can be formed in a display, then the working position on the instrument die body is overlapped with the target position on the detection die body, and the navigation precision of the navigation system on an instrument is determined through errors between the images of the target position and the working position in the display. In addition, the measured navigation precision can be compared with the preset navigation precision to determine whether the navigation precision of the navigation system is qualified. Therefore, the navigation precision measuring device provided by the disclosure can accurately and intuitively measure the navigation precision of the navigation system to the instrument, and is suitable for popularization and application.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a perspective view of a navigation accuracy measuring apparatus provided in an exemplary embodiment of the present disclosure;
fig. 2 is a side view of a navigation accuracy measuring apparatus provided in an exemplary embodiment of the present disclosure;
FIG. 3 is a cross-sectional view taken at the location A-A in FIG. 2;
FIG. 4 is an enlarged partial schematic view of the location B in FIG. 3;
fig. 5 is a schematic structural diagram of a third target position of the navigation accuracy measuring device provided in the third exemplary embodiment of the present disclosure, which is matched with a third working position.
Description of the reference numerals
1-detecting a die body; 110-a substrate; 111-a first mounting face; 112-a second mounting surface; 120-a target structure; 121-sphere; 122-a second cylindrical recess; 123-accommodating grooves; 2-a first tracker; 3-an instrument mould body; 310-a body; 320-a working configuration; 321-a first cylindrical recess; 322-round bar; 323-mating structure; 324-a second plane; 4-a second tracker; 5-a first target position; 6-a first working position; 7-a second target position; 8-second working position.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, unless otherwise specified, "inner and outer" refer to inner and outer relative to the contour of the component or structure itself. In addition, it should be noted that terms such as "first", "second", and the like are used for distinguishing one element from another, and have no order or importance. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.
In an embodiment of the present disclosure, a navigation accuracy measuring device is provided for measuring the navigation accuracy of an instrument by a navigation system. Referring to fig. 1 to 5, the navigation accuracy measuring apparatus includes: the detection die body 1 is provided with a first tracker 2 and a target position, a three-dimensional model of the detection die body 1 is imported into a navigation system in advance, and the first tracker 2 is used for being identified by a navigation camera of the navigation system so as to construct an image and a posture of the three-dimensional model of the detection die body 1 in the navigation system, so that an image of the target position is formed in a display of the navigation system; the instrument body 3 is provided with a second tracker 4 and a working position, the instrument three-dimensional model of the instrument body 3 is led into a navigation system in advance, and the second tracker 4 is used for being recognized by a navigation camera so as to construct an image and a posture of the three-dimensional model of the instrument body 3 in the navigation system, so that an image of the working position is formed in a display; wherein the instrument phantom 3 is configured to operatively coincide the working position with the target position to determine the accuracy of the navigation of the instrument by the navigation system from the error between the image of the target position and the image of the working position on the display.
According to the technical scheme, namely the navigation precision measuring device provided by the disclosure, the working position on the instrument die body 3 is overlapped with the target position on the detection die body 1, and the navigation precision of the navigation system to the instrument is determined according to the error between the image of the target position and the image of the working position in the display of the navigation system.
In specific work, a three-dimensional model of a detection die body 1 and a three-dimensional model of an instrument die body 3 are pre-imported into a navigation system, a first tracker 2 and a second tracker 4 are identified through a navigation camera in the navigation system, so that images and postures of the three-dimensional model of the detection die body 1 and the three-dimensional model of the instrument die body 3 are built in the navigation system, further an image of a target position and an image of a working position can be formed in a display, then the working position on the instrument die body 3 is overlapped with the target position on the detection die body 1, and the navigation precision of the navigation system on an instrument is determined through errors between the image of the target position and the image of the working position in the display. In addition, the measured navigation precision can be compared with the preset navigation precision to determine whether the navigation precision of the navigation system is qualified. Therefore, the navigation precision measuring device provided by the disclosure can accurately and intuitively measure the navigation precision of the navigation system to the instrument, and is suitable for popularization and application.
The navigation system can be a surgical navigation system for guiding an operator to operate surgical instruments, and the navigation precision measuring device provided by the disclosure is used for measuring the navigation precision of the surgical navigation system to the surgical instruments. The preset navigation precision can be set according to the actual application requirement and can be a value or a range, if the measured navigation precision is smaller than the preset navigation precision value or within the preset navigation precision range, the navigation precision of the instrument is qualified by the navigation system, the use requirement is met, otherwise, the instrument is unqualified.
In some embodiments, referring to fig. 1, the detection phantom 1 includes a base 110, a target structure 120 is disposed on the base 110, a target site is formed on the target structure 120, the instrument phantom 3 includes a body 310, a working structure 320 is disposed on the body 310, the working site is formed on the working structure 320, and the working structure 320 is configured to cooperate with the target structure 120 to enable the working site to coincide with the target site. In this way, the working position can be accurately overlapped with the target position by the cooperation of the working mechanism 320 and the target mechanism 120, and the accuracy of the navigation accuracy measuring apparatus can be improved. Wherein the base 110 and the body 310 may be configured in any suitable shape, the disclosure is not limited thereto.
To further improve the measurement accuracy of the present disclosure, in some specific embodiments, referring to fig. 1, the number of the target structures 120 is multiple, and the multiple target structures 120 are arranged at intervals. Like this, the working structure 320 can cooperate with a plurality of target structures 120 in proper order to make the working position cooperate with a plurality of target positions in proper order, and then can obtain the measurement result of the navigation precision in a plurality of target positions department, through comprehensive processing these a plurality of measurement results, for example can get the average value of these a plurality of measurement results, can make the navigation precision measuring device's that this disclosure provided measurement structure more accurate, objective.
In some embodiments, referring to fig. 1 and 2, the top surface of the base 110 includes a first mounting surface 111 having a plane shape and a second mounting surface 112 inclined to an extending direction of the first mounting surface 111, and each of the first mounting surface 111 and the second mounting surface 112 is provided with one or more target structures 120. In this way, by providing one or more target structures 120 on different mounting surfaces, a plurality of target locations can be dispersed at different locations in the three-dimensional space in which the substrate 110 is located, and measurement results obtained from the plurality of target locations can be more accurate and comprehensive.
The second mounting surfaces 112 may be configured in any suitable manner, for example, the number of the second mounting surfaces 112 may be multiple, and the included angle between each second mounting surface 112 and the first mounting surface 111 is different; or, as shown in fig. 1, the plurality of second mounting surfaces 112 are divided into two groups, the two groups of second mounting surfaces 112 are symmetrically disposed on two opposite sides of the first mounting surface 111, and included angles between each second mounting surface 112 of each group of second mounting surfaces 112 and the first mounting surface 111 are different. In this way, by setting the second mounting surfaces 112 with different inclination angles, the target positions are more dispersed in the three-dimensional space, which is beneficial to improving the accuracy of the measurement result.
Considering that the actual working position of the instrument may be various, for example, in the surgical navigation system, the working position of the surgical instrument may be a point, a line or a plane, so to further make the measurement result of the present disclosure more accurate and objective, for the case that the working position of the instrument phantom 3 is a point, a line or a plane, the navigation accuracy of the navigation system to the instrument may be measured according to the three embodiments provided below.
In the first embodiment, the target position includes a first target position 5, the first target position 5 is a target point, the working position includes a first working position 6 for coinciding with the first target position 5, the first working position 6 is a working point, and when the target point coincides with the working point, a distance between an image of the first target position 5 and an image of the first working position 6 has a value of navigation accuracy. Thus, the instrument body 3 is operated to make the working point coincide with the target point, the distance between the image of the first target position 5 and the image of the first working position 6 in the display of the instrument body is calculated through the surgical navigation system, the value of the distance is the navigation error of the navigation system to the instrument, namely the navigation precision of the navigation system to the instrument, and whether the navigation precision of the navigation system meets the requirement or not can be judged through comparing with the set navigation precision.
When the first target position 5 and the first working position 6 are both points, the target structure 120 and the working structure 320 may be configured in any suitable manner, for example, in some embodiments, as shown with reference to fig. 4, a sphere 121 is provided on the target structure 120, the target point is located on the center of the sphere 121, a first cylindrical recess 321 for fitting with the sphere 121 is provided on an end surface of the working structure 320 at an end facing away from the main body 310, the depth of the first cylindrical recess 321 is equal to the radius of the sphere 121, the diameter of the first cylindrical recess 321 is equal to the diameter of the sphere 121, and the working point is located at an intersection point of the central axis of the first cylindrical recess 321 and a plane where the end surface of the working structure 320 is located. Thus, when the sphere 121 is placed in the first cylindrical recess 321, the working point and the target point can be overlapped, and the navigation accuracy can be calculated by the image of the working point and the image of the target point. In other embodiments, the target structure 120 is provided with a sphere 121, the target point is located on the center of the sphere 121, and the working structure 320 is provided with a hemispherical recess having a diameter equal to that of the sphere 121, and the working point is located on the center of the hemispherical recess. Thus, placing the sphere 121 in the hemispherical recess also allows the operating point and the target point to coincide.
In the second embodiment, the target positions include a second target position 7, the second target position 7 is a target line, the working positions include a second working position 8 for coinciding with the second target position 7, the second working position 8 is a working line, when the target line coincides with the working line, the straight-line distance between each of the two end points of the image of the second target position 7 and the image of the second working position 8 forms two values, the distance between each of the two end points of the image of the second working position 8 and the image of the second target position 7 forms another two values, and the two values and/or the another two values are/is the navigation accuracy. Thus, the instrument phantom 3 is operated to make the working line coincide with the target line, the two obtained values and/or the other two obtained values can be evaluated, including but not limited to the maximum value, the mean value, the standard deviation and the confidence interval, the evaluation result can be used for representing the navigation error of the navigation system to the instrument, namely, the evaluation result can be the navigation precision, and whether the navigation precision of the navigation system meets the requirement or not can be judged by comparing with the set navigation precision.
When the second target position 7 and the second working position 8 are both a line, the target structure 120 and the working structure 320 may be configured in any suitable manner, for example, in some embodiments, as shown in fig. 3, the target structure 120 is provided with a second cylindrical groove 122, the target line is located on the central axis of the second cylindrical groove 122, the working structure 320 is configured as a round bar 322, at least a part of the bar body of the round bar 322 is used for being inserted into the second cylindrical groove 122, the outer side wall of the inserted part of the bar body is attached to the inner side wall of the second cylindrical groove 122, and the working line is located on the central axis of the round bar 322. Like this, with round bar 322 disect insertion can be so that the working line and the coincidence of target line in the cylindrical recess 122 of second, easy operation is convenient, and because of the highly coincided of working line and target line, can improve this disclosed measurement accuracy. The target line may be any partial line segment of the central axis of the first cylindrical recess 122, which is cut according to the actual application requirement, for example, the target line may be a line segment (refer to a dotted line segment in the first cylindrical recess 122 in fig. 3) where the central axis is located in the first cylindrical recess 122, and the working line may be a line segment (refer to a dotted line segment on the circular rod 322 in fig. 3) which completely coincides with the target line when the circular rod 322 is inserted into the first cylindrical recess 122.
In some embodiments, the body 310 of the instrument phantom 3 may be configured as a handle coaxially connected to the rod 322 to facilitate the operator to hold the handle to move the instrument phantom 3, and the second tracker 4 is disposed on the handle to avoid affecting the coincidence of the working position and the target position.
In some embodiments, as shown in fig. 3 and 4, the ball 121 described in the first embodiment may be disposed on the bottom wall of the second cylindrical recess 122, and correspondingly, the first cylindrical recess 321 may be disposed at one end of the round rod 322 for being inserted into the second cylindrical recess 122. Therefore, by the mode, the navigation precision when the working position and the target position are points can be measured, the navigation precision when the working position and the target position are lines can be measured, selective measurement can be carried out according to actual application requirements, and the operation is simpler and more convenient.
In the embodiment provided in the second embodiment, the working structure 120 is detachably connected to the base 110, so as to facilitate preparation and assembly of the test phantom 1. For example, the base body 110 is provided with a mounting groove 113 for detachably mounting the working structure 120, and the working structure 120 may be configured as a cylinder with an external thread, which is screwed into the mounting groove 113, wherein the second cylindrical recess 122 opens coaxially on the cylinder. Thus, the working structure 120 may be removably attached to the base 110 by way of a threaded connection.
In a third embodiment, the target position includes a third target position, the third target position is a target surface, the working position includes a third working position for coinciding with the third target position, the third target position is a working surface, when the target surface coincides with the working surface, a straight-line distance between each of at least three points at arbitrary different positions in the image of the third target position and the image of the third working position forms at least three values, a straight-line distance between each of at least three points at arbitrary different positions in the image of the third working position and the image of the third target position forms another at least three values, and the at least three values and/or the another at least three values are navigation accuracy. Thus, the instrument phantom 3 is operated to enable the working surface to coincide with the target surface, the obtained at least three values and/or the at least three other values can be evaluated, including but not limited to a maximum value, a mean value, a standard deviation and a confidence interval, the evaluation result can be used for representing the navigation error of the navigation system to the instrument, namely, the evaluation result can be the navigation precision, and whether the navigation precision of the navigation system meets the requirement or not can be judged by comparing with the set navigation precision. The more points are selected on the image of the third target position or the image of the third working position, the more accurate the obtained navigation error range is, that is, the more accurate the measured navigation precision is.
In some embodiments, when at least three points on the image of the third target position are selected or when at least three points on the image of the third working position are selected, at least three points at different positions on the edge of the image of the third target position or at least three points at different positions on the edge of the image of the third working position may be preferred, so that the accuracy of the obtained navigation error range, i.e. the accuracy of the measured navigation accuracy, may be improved.
In order to facilitate understanding of the navigation accuracy by the operator using the navigation system, for example, to facilitate understanding of the navigation accuracy by the operator or medical staff using the surgical navigation system, the navigation accuracy may be expressed in the form of an angle on the basis of the navigation accuracy obtained according to the values of at least six distances in the third embodiment of the present disclosure, for example, the target position includes a third target position, the third target position is the target plane, the working position includes a third working position for coinciding with the third target position, the third target position is the working plane, and when the target plane coincides with the working plane, an included angle between a normal line of a plane where an image of the third target position is located and a normal line of a plane where an image of the third working position is located is the navigation accuracy. In this way, the angle between the normal line of the surface where the image of the third target position is located and the normal line of the surface where the image of the third working position is located can be calculated by the navigation system, that is, the angle between the surface where the image of the working surface is located and the surface where the image of the target surface is located, the navigation accuracy is expressed by the value of the angle, and the navigation accuracy is expressed by the value of the distance in combination with the navigation accuracy expressed by the value of the distance in the third embodiment, so that different people can understand the navigation accuracy conveniently.
Where the third target position and the third working position are both planar, the target structure 120 and the working structure 320 may be configured in any suitable manner, for example, referring to fig. 5, the target structure 120 is provided with a receiving groove 123, the receiving groove 123 has a first plane on an inner sidewall thereof, the target surface is located on the first plane, the working structure 320 has a mating structure 323 for insertion into the receiving groove 123, the mating structure 323 has a second plane 324 for engagement with the first plane, and the working surface is located on the second plane 324. In this way, by inserting the fitting structure 323 into the receiving groove 123, the first plane and the second plane 324 are attached, so that the working surface and the target surface are overlapped, and then the navigation accuracy is calculated from the image of the working surface and the image of the target surface.
In some embodiments, the receiving groove 123 may be configured as a rectangular groove, the target surface is one of the planar inner side walls in the rectangular groove, the matching structure 323 may be configured as a rectangular plate matching with the rectangular groove, and the working surface is a surface coinciding with the target surface when the rectangular plate is inserted into the rectangular groove. Therefore, the target surface and the working surface can be overlapped in height through the positioning matching of the rectangular plate and the rectangular groove, and the accuracy of the navigation precision measuring device is improved.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A navigation accuracy measuring apparatus for measuring a navigation accuracy of a navigation system to an instrument, comprising:
the detection die body (1) is provided with a first tracker (2) and a target position, a three-dimensional model of the detection die body (1) is pre-imported into the navigation system, and the first tracker (2) is used for being recognized by a navigation camera of the navigation system so as to construct an image and a posture of the three-dimensional model of the detection die body (1) in the navigation system, so that an image of the target position is formed in a display of the navigation system; and
the device comprises an instrument die body (3), wherein a second tracker (4) and a working position are arranged on the instrument die body (3), an instrument three-dimensional model of the instrument die body (3) is pre-imported into the navigation system, and the second tracker (4) is used for being recognized by the navigation camera so as to construct an image and a posture of the three-dimensional model of the instrument die body (3) in the navigation system, so that an image of the working position is formed in the display;
wherein the instrument phantom (3) is configured to operably coincide the working position with the target position to determine the navigation accuracy of the instrument by the navigation system from an error between the image of the target position and the image of the working position in the display.
2. The navigation accuracy measuring device according to claim 1, wherein the detection phantom (1) comprises a base body (110), a target structure (120) is arranged on the base body (110), the target position is formed on the target structure (120), the instrument phantom (3) comprises a body (310), a working structure (320) is arranged on the body (310), the working position is formed on the working structure (320), and the working structure (320) is used for matching with the target structure (120) so that the working position coincides with the target position.
3. The navigation accuracy measuring apparatus according to claim 2, wherein the number of the target structures (120) is plural, and the plural target structures (120) are provided at intervals.
4. The navigation accuracy measuring apparatus according to claim 2, wherein the target position includes a first target position (5), the first target position (5) is a target point, the working position includes a first working position (6) for coinciding with the first target position (5), the first working position (6) is a working point, and a value of a distance between an image of the first target position (5) and an image of the first working position (6) when the target point coincides with the working point is the navigation accuracy.
5. The navigation accuracy measuring device according to claim 4, wherein a sphere (121) is arranged on the target structure (120), the target point is located at the center of the sphere (121), a first cylindrical groove (321) for matching with the sphere (121) is arranged on an end surface of the working structure (320) facing away from one end of the body (310), the depth of the first cylindrical groove (321) is equal to the radius of the sphere (121), the diameter of the first cylindrical groove (321) is equal to the diameter of the sphere (121), and the working point is located at an intersection point of the central axis of the first cylindrical groove (321) and a plane where the end surface of the working structure (320) is located.
6. The navigation accuracy measuring apparatus according to claim 2, wherein the target position includes a second target position (7), the second target position (7) is a target line, the working position includes a second working position (8) for coinciding with the second target position (7), the second working position (8) is a working line, when the target line coincides with the working line, a straight-line distance between each of two end points of the image of the second target position (7) and the image of the second working position (8) forms two values, a distance between each of two end points of the image of the second working position (8) and the image of the second target position (7) forms two other values, and the two values and/or the two other values are the navigation accuracy.
7. The navigation accuracy measuring device according to claim 6, wherein the target structure (120) is provided with a second cylindrical groove (122), the target line is located on a central axis of the second cylindrical groove (122), the working structure (320) is configured as a round bar (322), at least a part of a bar body of the round bar (322) is used for being inserted into the second cylindrical groove (122) and an outer side wall of the inserted part of the bar body is attached to an inner side wall of the second cylindrical groove (122), and the working line is located on the central axis of the round bar (322).
8. The navigation accuracy measuring apparatus according to claim 2, wherein the target position includes a third target position which is a target surface, the working position includes a third working position for coinciding with the third target position, the third target position is a working surface, when the target surface coincides with the working surface, linear distances between points at least three arbitrary positions in the image of the third target position and the image of the third working position respectively form at least three values, linear distances between points at least three arbitrary positions in the image of the third working position and the image of the third target position respectively form at least three other values, and the at least three values and/or the at least three other values are the navigation accuracy.
9. The navigation accuracy measuring apparatus according to claim 2, wherein the target position includes a third target position, the third target position is a target surface, the working position includes a third working position for coinciding with the third target position, the third target position is a working surface, and when the target surface coincides with the working surface, an included angle between a normal line of a surface on which an image of the third target position is located and a normal line of a surface on which an image of the third working position is located is the navigation accuracy.
10. The navigation accuracy measuring device according to claim 8 or 9, wherein the target structure (120) is provided with a receiving groove (123), an inner side wall of the receiving groove (123) is provided with a first plane, the target surface is positioned on the first plane, the working structure (320) is provided with a matching structure (323) used for being inserted into the receiving groove (123), the matching structure (323) is provided with a second plane (324) used for being jointed with the first plane, and the working surface is positioned on the second plane (324).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114544159A (en) * | 2022-02-23 | 2022-05-27 | 上海电气集团股份有限公司 | Bone cutting instrument wear detection device, wear detection system, and wear detection method |
| CN115005988A (en) * | 2022-07-01 | 2022-09-06 | 北京大学第三医院（北京大学第三临床医学院） | A positioning error measuring device and method |
| CN115444554A (en) * | 2022-08-16 | 2022-12-09 | 北京市医疗器械检验研究院(北京市医用生物防护装备检验研究中心) | Verification method and CT verification phantom for surgical navigation robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114544159A (en) * | 2022-02-23 | 2022-05-27 | 上海电气集团股份有限公司 | Bone cutting instrument wear detection device, wear detection system, and wear detection method |
| CN114544159B (en) * | 2022-02-23 | 2024-11-19 | 上海电气集团股份有限公司 | Bone cutting instrument wear detection device, wear detection system and wear detection method |
| CN115005988A (en) * | 2022-07-01 | 2022-09-06 | 北京大学第三医院（北京大学第三临床医学院） | A positioning error measuring device and method |
| CN115005988B (en) * | 2022-07-01 | 2025-01-21 | 北京大学第三医院（北京大学第三临床医学院） | Positioning error measurement device and method |
| CN115444554A (en) * | 2022-08-16 | 2022-12-09 | 北京市医疗器械检验研究院(北京市医用生物防护装备检验研究中心) | Verification method and CT verification phantom for surgical navigation robot system |
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