CN109745121B - Device and method for measuring intracranial puncture error of mechanical arm under magnetic navigation - Google Patents

Abstract

The invention provides a device for measuring intracranial puncture errors of a mechanical arm under magnetic navigation, which comprises a bottom plate, wherein a plane rectangular coordinate system is arranged on the bottom plate, a first base is detachably arranged on the bottom plate, a first cylindrical through hole is arranged between the upper surface and the lower surface of the first base, the diameter of the first cylindrical through hole is the same as that of a spherical foam ball used for a test, and when the first base is connected with the bottom plate, the center point of the first cylindrical through hole coincides with the origin of the plane rectangular coordinate system; a second base is detachably arranged on the first base along the Z-axis direction, a second cylindrical through hole is formed between the upper surface and the lower surface of the second base, the diameter of the second cylindrical through hole is the same as that of a puncture needle used for the test, and when the second base is connected with the first base, the puncture needle penetrates through the second cylindrical through hole. The device has low cost and simple use, can simplify the measurement process of puncture errors, and ensures higher measurement accuracy.

Description

Device and method for measuring intracranial puncture error of mechanical arm under magnetic navigation

Technical Field

The invention relates to the field of error measurement devices, in particular to a device and a method for measuring intracranial puncture errors of a mechanical arm under magnetic navigation.

Background

Minimally invasive, accurate medical treatment is becoming a common goal pursued by the field of surgery, and computer-assisted surgery (CAS) is also known as a manifestation of minimally invasive, accurate medical treatment, and electromagnetic navigation, as an emerging navigation technique, has been widely used in various fields such as neurosurgery, cardiovascular intervention, bronchoscopy, joint surgery, spinal surgery, and the like. The mechanical arm is used as a direct implementation of navigation operation, and has higher requirements on puncture precision. Therefore, the measurement of the puncture precision of the mechanical arm has important significance.

In the prior art, in the intracranial puncture accuracy test of a mechanical arm under magnetic navigation, a test model is obtained by removing shells of cooked quail eggs, embedding the eggs in a certain solid medium, taking out the eggs after puncturing, and measuring the distance between a puncture needle and an egg center to obtain puncture errors, wherein the measurement method is approximately shown in fig. 5, wherein an O point is a yolk center, an MN is a puncture needle, yolk is cut along the puncture needle from horizontal and vertical directions respectively to obtain two mutually perpendicular sections, namely, a section A and a section B, respectively measuring the distances AP and BP between the center A and the point B of the section and the puncture needle, and calculating the distance PO between the puncture needle and the center O point of the yolk according to the geometric relation. The measuring method is complex in process and calculation, the quail eggs cannot be guaranteed to be right circular, the tangential plane is cut manually, and large errors exist in the measuring method.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a device and a method for measuring the intracranial puncture error of a mechanical arm under magnetic navigation so as to improve the error measurement precision, and the device and the method have the advantages of simple use and low cost.

In order to achieve the above object, according to one aspect of the present invention, there is provided a device for measuring an intracranial puncture error of a mechanical arm under magnetic navigation, comprising a base plate, a planar rectangular coordinate system is provided on the base plate, a first base is detachably provided on the base plate, a first cylindrical through hole is provided between an upper surface and a lower surface of the first base, the diameter of the first cylindrical through hole is the same as that of a foam ball in a right sphere shape used for testing, and when the first base is connected with the base plate, the center point of the first cylindrical through hole coincides with an origin of the planar rectangular coordinate system; the first base is detachably provided with a second base along the Z-axis direction, a second cylindrical through hole is formed between the upper surface and the lower surface of the second base, the diameter of the second cylindrical through hole is the same as that of a puncture needle used for the test, and when the second base is connected with the first base, the puncture needle penetrates through the second cylindrical through hole.

Preferably, the first base and the second base may each adopt a cube with a square bottom surface.

Another aspect of the present invention proposes a method for measuring an intracranial penetration error of a robotic arm under magnetic navigation, the method comprising the steps of:

step 1, placing the bottom plate on a plane, connecting the first base with the bottom plate, and enabling the center point of the first cylindrical through hole to coincide with the origin of the rectangular coordinate system of the plane;

step 2, placing a foam ball with a puncture needle in a first cylindrical through hole of the first base;

step 3, the second base is moved downwards along the Z-axis direction, so that the puncture needle passes through a second cylindrical through hole in the second base, and then the second base is connected with the first base;

and 4, pressing the puncture needle to make the tip end of the puncture needle to make a mark point on the bottom plate, then taking out the bottom plate, and measuring the distance between the mark point and the origin of the plane rectangular coordinate system, wherein the distance is the distance between the puncture needle and the sphere center of the foam sphere, namely the puncture error.

The device for measuring the intracranial puncture error of the mechanical arm under magnetic navigation has the advantages of low cost, simple use, simplified puncture error measurement process and higher measurement precision.

Drawings

Fig. 1 shows a schematic structural diagram of the device for measuring the intracranial puncture error of a mechanical arm under magnetic navigation in a use state.

Fig. 2 shows a schematic structural diagram of a test model according to the present invention.

Fig. 3 shows a schematic structural diagram of an apparatus for measuring puncture errors after step 1 is completed in the method according to the present invention.

Figure 4 shows a schematic view of the floor involved after all steps have been completed in the method according to the invention.

Fig. 5 shows a schematic diagram of puncture error calculation in the prior art.

Reference numerals: 1-bottom plate, 2-first base, 3-first cylindrical through-hole, 4-second base, 5-second cylindrical through-hole, 6-foam ball, 7-pjncture needle.

Detailed Description

The following describes the embodiments of the present invention further with reference to the drawings.

As shown in fig. 1, the device for measuring the intracranial puncture error of the mechanical arm under magnetic navigation according to the invention comprises a bottom plate 1, wherein a plane rectangular coordinate system is arranged on the bottom plate 1, the origin of the plane rectangular coordinate system is marked as O, a first base 2 is detachably arranged on the bottom plate 1, a first cylindrical through hole 3 is arranged between the upper surface and the lower surface of the first base 2, the diameter of the first cylindrical through hole 3 is the same as the diameter of a foam ball 6 which is used for testing and takes the shape of a right sphere, and when the first base 2 is connected with the bottom plate 1, the center point of the first cylindrical through hole 3 coincides with the origin of the plane rectangular coordinate system; a second base 4 is detachably provided on the first base 2 in the direction of the Z axis, a second cylindrical through hole 5 is provided between the upper surface and the lower surface of the second base 4, the diameter of the second cylindrical through hole 5 is the same as the diameter of the puncture needle 7 used for the test, and the puncture needle 7 passes through the second cylindrical through hole 5 when the second base 4 is connected with the first base 2.

The detachable implementation manner between the first base 2 and the bottom plate 1 and the detachable implementation manner between the first base 2 and the second base 4 may have the same structure, and the detachable implementation manner between the first base 2 and the bottom plate 1 is illustrated as an example, and the implementation manner may be: the base plate 1 is provided with a plurality of plug-in columns, the first base 2 is provided with jacks which are equal in number to the plug-in columns and matched with the plug-in columns, so that the distribution of the jacks on the first base 2 is required to correspond to the plug-in columns, and when the first base 2 is required to be connected with the base plate 1, the plug-in columns are inserted into the jacks.

The implementation manner of the first base 2 and the bottom plate 1 which are detachable may also be: when the lower surface of the first base 2 is a plane, a plurality of limiting plates can be arranged on the bottom plate 1, the first base 2 can be just placed in the limiting plates due to the distribution of the limiting plates, and when the first base 2 is required to be connected with the bottom plate 1, the first base 2 is inserted between the limiting plates, so that the lower surface of the first base 2 contacts the bottom plate 1.

The first base 2 and the second base 4 according to the present invention may each be a cube with a square bottom surface, preferably a cube, so as to facilitate structural design and calculation.

The test model to which the device according to the invention is fitted is a foam sphere 6, said foam sphere 6 being a right circular sphere, as shown in fig. 2. In the intracranial puncture accuracy test of the mechanical arm under magnetic navigation, after the puncture needle 7 passes through the foam ball 6 along a planned path, a slight error exists between the puncture needle 7 and a puncture target point, and the device is used for measuring the error between the puncture needle 7 and the puncture target point.

The method for measuring the intracranial puncture error of the mechanical arm under magnetic navigation comprises the following steps:

step 1, placing the bottom plate 1 on a plane, connecting the first base 2 with the bottom plate 1, and enabling the center point of the first cylindrical through hole 3 to coincide with the origin of the rectangular coordinate system of the plane, as shown in fig. 3.

Step 2, placing a foam ball 6 with a puncture needle 7 in the first cylindrical through hole 3 of the first base 2.

And 3, moving the second base 4 downwards along the Z-axis direction, enabling the puncture needle 7 to pass through the second cylindrical through hole 5 in the second base 4, and then connecting the second base 4 with the first base 2.

And 4, pressing the puncture needle 7 to make the tip end of the puncture needle make a mark point A on the bottom plate 1, then taking out the bottom plate 1, and measuring the distance OA between the mark point A and the origin O of the plane rectangular coordinate system, wherein the distance OA is the distance between the puncture needle 7 and the sphere center of the foam ball 6, namely the puncture error, as shown in fig. 4.

The device for measuring the intracranial puncture error of the mechanical arm under magnetic navigation has the advantages of low cost and simple use, can simplify the measurement process of the puncture error, and ensures higher measurement accuracy.

Claims (3)

1. A device for measuring an intracranial puncture error of a mechanical arm under magnetic navigation, which is characterized in that: the test device comprises a bottom plate, wherein a plane rectangular coordinate system is arranged on the bottom plate, a first base is detachably arranged on the bottom plate, a first cylindrical through hole is formed between the upper surface and the lower surface of the first base, the diameter of the first cylindrical through hole is the same as that of a foam ball which is used for the test and is in a right sphere shape, and when the first base is connected with the bottom plate, the center point of the first cylindrical through hole coincides with the origin of the plane rectangular coordinate system; the first base is detachably provided with a second base along the Z-axis direction, a second cylindrical through hole is formed between the upper surface and the lower surface of the second base, the diameter of the second cylindrical through hole is the same as that of a puncture needle used for the test, and when the second base is connected with the first base, the puncture needle penetrates through the second cylindrical through hole.

2. The device for measuring an intracranial penetration error of a robotic arm under magnetic navigation of claim 1, wherein: the first base and the second base are cubes with square bottom surfaces.

3. A method for measuring an intracranial penetration error of a robotic arm under magnetic navigation based on the device of claim 1, characterized by: the method comprises the following steps:

step 1, placing the bottom plate on a plane, connecting the first base with the bottom plate, and enabling the center point of the first cylindrical through hole to coincide with the origin of the rectangular coordinate system of the plane;

step 2, placing a foam ball with a puncture needle in a first cylindrical through hole of the first base;

step 3, the second base is moved downwards along the Z-axis direction, so that the puncture needle passes through a second cylindrical through hole in the second base, and then the second base is connected with the first base;

and 4, pressing the puncture needle to make the tip end of the puncture needle to make a mark point on the bottom plate, then taking out the bottom plate, and measuring the distance between the mark point and the origin of the plane rectangular coordinate system, wherein the distance is the distance between the puncture needle and the sphere center of the foam sphere, namely the puncture error.

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