CN211381748U - Surgical instrument tip calibration system - Google Patents
Surgical instrument tip calibration system Download PDFInfo
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- CN211381748U CN211381748U CN201921438745.0U CN201921438745U CN211381748U CN 211381748 U CN211381748 U CN 211381748U CN 201921438745 U CN201921438745 U CN 201921438745U CN 211381748 U CN211381748 U CN 211381748U
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Abstract
The present application relates to a surgical instrument tip calibration system. The system comprises the following components: the surgical instrument is provided with a surgical instrument positioner; the reference plate is provided with a calibration position, the shape of the calibration position is matched with that of the tip of the surgical instrument, and the tip of the surgical instrument is placed in the calibration position in the process of calibrating the tip of the surgical instrument; the navigator is used for acquiring the spatial position coordinates of the calibration positions on the reference plate, the surgical instrument and the reference plate, and the navigator is connected with the surgical instrument and the reference plate; and the computer is used for obtaining the axial vector of the surgical instrument tip according to the spatial position coordinates and the configuration data of the reference plate so as to finish calibration, and is connected with the navigator. By adopting the system, the calibration of the tip of the surgical instrument is not required to be carried out step by step according to the long and short shaft seed drills, and the calibration process is very simple.
Description
Technical Field
The utility model relates to the field of medical equipment, especially, relate to a most advanced calibration system of surgical instruments.
Background
The surgical instrument is a direct tool for doctors to perform operations, and is the key for realizing successful operation navigation for accurate and real-time tracking and positioning of the surgical instrument. In order to achieve the purpose of accurately tracking surgical instruments in the surgical process, the surgical instruments need to be calibrated before surgery.
The conventional surgical instrument calibration system usually uses the long and short axes for calibration, and taking a dental handpiece as an example, the calibration process can be divided into two steps: firstly, long-axis calibration is carried out, a long-axis seed drill is installed on a dental handpiece, a drill bit is kept at a calibration position of a reference plate, and a specific number of long-axis drill bit sample points are collected by adjusting different angles of a positioner arranged on the dental handpiece; and secondly, carrying out short shaft calibration, replacing the short shaft seed drill by the dental handpiece, repeating the operation of the first step of the long shaft calibration, and collecting to obtain a specific number of short shaft drill bit sample points. And finally, calculating to obtain a bit axial vector through the long-axis bit sample point and the short-axis bit sample point, and taking the bit axial vector as a calibration result. By adopting the traditional calibration system, the seed drills with different axial lengths need to be switched and installed in the calibration process, and the calibration process is complicated.
SUMMERY OF THE UTILITY MODEL
In view of the above, there is a need to provide a surgical instrument tip calibration system that can simplify the surgical instrument calibration process.
In order to achieve the above object, in one aspect, the embodiments of the present invention provide a surgical instrument tip calibration system, which includes:
the surgical instrument is provided with a surgical instrument positioner;
the reference plate is provided with a calibration position, the shape of the calibration position is matched with that of the tip of the surgical instrument, and the tip of the surgical instrument is placed in the calibration position in the process of calibrating the tip of the surgical instrument;
the navigator is used for collecting the spatial position coordinates of the calibration positions on the reference plate, the surgical instrument and the reference plate, and the navigator is connected with the surgical instrument and the reference plate;
and the computer is used for obtaining the axial vector of the surgical instrument tip according to the spatial position coordinates and the configuration data of the reference plate so as to finish calibration, and is connected with the navigator.
In one embodiment, the reference plate further comprises a reference plate positioner and a registration point.
In one embodiment, the reference plate locator comprises a plurality of infrared light-emitting lamps, and in the power-on state, the infrared light-emitting lamps emit infrared light for real-time capturing identification by the navigator to acquire the spatial position coordinates of the reference plate.
In one embodiment, the number of registration points is not less than 6, and the registration points are on different spatial planes.
In one embodiment, the registration points are spherical in shape.
In one embodiment, the nominal position includes a tip point and a tip point.
In one embodiment, the surgical instrument positioner includes a plurality of ir-emitting lamps that emit ir light in an energized state for real-time capture identification by the navigator.
In one embodiment, the system further comprises a display for displaying a range of viewing angles of the navigator, the range of viewing angles of the navigator being indicative of a position of the adjustment reference plate and the surgical instrument.
In one embodiment, the navigator and the computer are connected through an interface line, and data interaction is carried out through a COM protocol.
In one embodiment, the surgical instrument is a dental handpiece.
The surgical instrument tip calibration system comprises a surgical instrument, wherein a surgical instrument positioner is arranged on the surgical instrument; the reference plate is provided with a calibration position, the shape of the calibration position is matched with that of the tip of the surgical instrument, and the tip of the surgical instrument is placed in the calibration position in the process of calibrating the tip of the surgical instrument; the navigator is used for collecting the spatial position coordinates of the calibration positions on the reference plate, the surgical instrument and the reference plate, and the navigator is connected with the surgical instrument and the reference plate; and the computer is used for obtaining the axial vector of the surgical instrument tip according to the spatial position coordinates and the configuration data of the reference plate so as to complete calibration, and is connected with the reference plate and the navigator. According to the method and the device, the calibration position is set on the reference plate, so that the tip calibration of the surgical instrument is not needed to be carried out step by step according to the long and short shaft seed drills, and the calibration process is very simple.
Drawings
Preferred but non-limiting embodiments of the present invention will be described by way of example with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a surgical instrument tip calibration system according to one embodiment;
FIG. 2 is a schematic diagram of a reference plate in one embodiment.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention can be embodied in many different forms other than those specifically described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit and scope of the invention, and it is therefore not to be limited to the specific embodiments disclosed below.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The embodiment of the present application provides a surgical instrument tip calibration system 100, as shown in fig. 1, the surgical instrument tip calibration system 100 may include a surgical instrument 110, a reference plate 120, a navigator 130, and a computer 140. The surgical instrument 110 is provided with a surgical instrument positioner 111. The surgical instrument 110 is connected to a port of the navigator 130. The reference plate 120 is provided with index positions (not shown in fig. 1) having a shape matching the shape of the surgical instrument tip, which is placed in the index positions during the indexing of the surgical instrument tip. The reference plate 120 is connected to another port of the navigator 130. During the calibration process, the navigator 130 is used to acquire spatial position coordinates of the reference plate 120, the surgical instrument 110, and the calibration positions on the reference plate. The navigator 130 is connected to the computer 140, and is configured to send the acquired spatial position coordinates to the computer 140, so that the computer 140 obtains an axial vector of the surgical instrument tip according to the spatial position coordinates and the preset configuration data of the reference plate 120 to complete calibration.
According to the surgical instrument tip calibration system, the calibration positions are set on the reference plate, so that the calibration of the surgical instrument tip is not required to be performed step by step according to the long and short axis seed drills, and the calibration process is very simple; while eliminating the need to customize long and short shaft seed drills for different types of surgical instrument tips, which can help save costs. In addition, for some surgical instrument tips with complex geometries, it is troublesome to produce corresponding long and short axis seed drills, which takes a lot of time, and thus the efficiency of calibrating the surgical instrument tip can be improved.
In one embodiment, as shown in fig. 2, reference plate 120 further includes a reference plate positioner 210 and a registration point 220. In the case of a non-registered reference plate 120, the reference plate 120 may be registered via the registration points 220 on the reference plate 120, and then the registered reference plate 120 may be used to calibrate the tip of the surgical instrument. Further, in the present embodiment, it is also possible to reduce the occupied volume of the reference plate 120 and reduce the weight of the reference plate by changing the shape of the reference plate 120.
In one embodiment, with continued reference to FIG. 2, reference plate locator 210 includes a plurality of IR light lamps that emit infrared light in an energized state for real-time capture recognition by navigator 130 to obtain spatial position coordinates of reference plate 120. The navigator 130 can recognize the position coordinates of the reference plate positioner through the built-in drive real-time calculation. In the present embodiment, the arrangement rule of the plurality of infrared light-emitting lamps included in the reference plate locator 210 on the reference plate may be described with reference to the arrangement rule limit of the navigator 130 used. Referring to the arrangement rule restriction description of the navigator 130, the navigator 130 can obtain a better instrument identification accuracy, so that the error value of the surgical instrument tip calibration can be reduced.
In one embodiment, the number of registration points 220 is no less than 6, and the registration points 220 are on different spatial planes. Specifically, in the present embodiment, the shape of the registration point 220 is described as a sphere, the registration points 220 may be arranged at random positions on the reference plate, and the spherical centers of all the registration points 220 are located on different spatial planes. When aligning the reference plate, a calibrated surgical instrument and a corresponding surgical instrument tip may be selected, the calibrated surgical instrument tips are sequentially placed into the alignment point 220, spatial position coordinates of the alignment point 220 in the reference plate coordinate system are acquired by the navigator 130, and the acquired spatial position coordinates are transmitted to the computer 140. And then the computer 140 calculates the registration matrix of the reference plate 120 according to the pre-stored reference plate configuration data and the spatial position coordinates of the registration point 122 in the reference plate coordinate system, thereby completing the registration of the reference plate 120. In the embodiment, the plurality of registration points are arranged, and all the registration points are on different spatial planes, so that the registration accuracy of the reference plate can be improved, and the calibration accuracy of the tip of the surgical instrument can be further improved.
In one embodiment, reference is continued to FIG. 2. The nominal position 230 includes a tip point 231 and an end point 232. In particular, in this embodiment, the surgical instrument tip may be a tip with an elbow. The tip point 231 and the end point 232 correspond to the tip point and the bend turning point of the bend of the surgical instrument tip, respectively. When the surgical instrument tip is placed in the nominal position, the surgical instrument tip may be brought into close proximity with the nominal position 230.
In one embodiment, the surgical instrument positioner includes a plurality of ir-emitting lamps that emit infrared light in an energized state for real-time capture recognition by the navigator to obtain spatial position coordinates of the surgical instrument 110. The navigator 130 can recognize the position coordinates of the surgical instrument 110 through the built-in drive real-time calculation.
In one embodiment, with continued reference to fig. 1, the system further includes a display 150 for displaying a range of viewing angles of the navigator 130, the range of viewing angles of the navigator being used to indicate positions for adjusting the reference plate 120 and the surgical instrument 110. Specifically, the user can read the current positions of the surgical instrument 110 and the reference plate 120 within the range of the navigator viewing angle through the display 150, and adjust the surgical instrument 110 and the reference plate 120 within the range of the navigator viewing angle, so that the accuracy of calibrating the tip of the surgical instrument can be improved.
In one embodiment, the navigator 130 and the computer 140 are connected by an interface line and perform data interaction via a COM protocol.
In one embodiment, a specific embodiment is provided for a user to operate a surgical tip calibration system of the present application, comprising the steps of:
(1) and (5) connection confirmation. One port of the navigator is connected with a surgical instrument; the other port of the navigator is connected with the reference plate; the navigator is connected with the computer through an interface line.
(2) The computer and navigator are turned on. The reference plate positioner and the surgical instrument positioner are electrified, and the reference plate positioner and the surgical instrument positioner emit infrared light which can be captured by the navigator in real time.
(3) A calibrated surgical instrument and a corresponding calibrated surgical instrument tip are selected. And sequentially placing the pointed ends of the calibrated surgical instruments into the registration points of the reference plate, and acquiring the spatial position coordinates of the registration points through the navigator. In the registration process, the navigator transmits the acquired spatial position coordinates of the registration points to the computer in real time through a COM protocol, and the computer calculates the registration matrix according to the received spatial position coordinates of the registration points, pre-stored reference plate configuration data and a preset algorithm. During the registration process, the progress of the registration of the reference plate can also be displayed in real time through the display.
(4) The surgical instrument tip is placed tightly into the nominal position on the reference plate. The nominal position includes a tip point and a tip point.
(5) And adjusting the surgical instrument and the reference plate to be within the visual angle range of the navigator.
(6) The orientation of the navigator or reference plate is adjusted so that the surgical instrument positioner can acquire the spatial position coordinates of the tip point and the end point in the required calibration positions on a plurality of faces. And the acquired spatial position coordinates of the tip point and the tail end point are transmitted to a computer through a navigator, and the computer calculates and obtains an axial vector calibrated by the tip of the surgical instrument according to the received spatial position coordinates of the tip point and the tail end point and a registration matrix of a reference plate, so that the calibration of the tip of the surgical instrument is completed.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A surgical instrument tip calibration system, the system comprising:
the surgical instrument is provided with a surgical instrument positioner, and the tip of the surgical instrument is a tip with an elbow;
the calibration position comprises a tip point and a tail end point, and the tip point and the tail end point respectively correspond to a tip point and an elbow turning point of the tip of the surgical instrument;
the navigator is used for acquiring the spatial position coordinates of the reference plate, the surgical instrument and the calibration position on the reference plate, and the navigator is connected with the surgical instrument and the reference plate;
and the computer is used for obtaining the axial vector of the surgical instrument tip according to the spatial position coordinates and the configuration data of the reference plate so as to finish calibration, and is connected with the navigator.
2. The surgical instrument tip calibration system of claim 1, wherein the reference plate further comprises a reference plate positioner and a registration point.
3. The surgical instrument tip calibration system of claim 2, wherein the reference plate locator comprises a plurality of infrared light emitting lamps that emit infrared light in an energized state for real-time capture recognition by the navigator to obtain spatial position coordinates of the reference plate.
4. The surgical instrument tip calibration system of claim 2, wherein the number of registration points is not less than 6, and the registration points are on different spatial planes.
5. A surgical instrument tip calibration system according to any one of claims 2 to 4, wherein the registration points are spherical in shape.
6. A surgical instrument tip calibration system as recited in claim 2, wherein the registration points are disposed at random locations on the reference plate.
7. The surgical instrument tip calibration system of claim 1, wherein the surgical instrument positioner includes a plurality of infrared light emitting lamps that emit infrared light in an energized state for real-time capture identification by the navigator.
8. The surgical instrument tip calibration system of claim 1, further comprising a display for displaying a range of viewing angles of the navigator, the range of viewing angles of the navigator being indicative of a position of the adjustment reference plate and the surgical instrument.
9. The surgical instrument tip calibration system of claim 1, wherein the navigator and the computer are connected by an interface line and perform data interaction via a COM protocol.
10. The surgical instrument tip calibration system of claim 1, wherein the surgical instrument is a dental handpiece.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921438745.0U CN211381748U (en) | 2019-08-30 | 2019-08-30 | Surgical instrument tip calibration system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921438745.0U CN211381748U (en) | 2019-08-30 | 2019-08-30 | Surgical instrument tip calibration system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115969518A (en) * | 2023-03-17 | 2023-04-18 | 深圳卡尔文科技有限公司 | Navigation method based on reference plate positioning |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115969518A (en) * | 2023-03-17 | 2023-04-18 | 深圳卡尔文科技有限公司 | Navigation method based on reference plate positioning |
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