CN205054433U - A optical tracking instrument for navigating operation - Google Patents
A optical tracking instrument for navigating operation Download PDFInfo
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- CN205054433U CN205054433U CN201520669414.3U CN201520669414U CN205054433U CN 205054433 U CN205054433 U CN 205054433U CN 201520669414 U CN201520669414 U CN 201520669414U CN 205054433 U CN205054433 U CN 205054433U
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- ball
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- supporting surface
- locating
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- 230000003287 optical effect Effects 0.000 title claims abstract description 15
- 241001481828 Glyptocephalus cynoglossus Species 0.000 claims description 43
- 238000001356 surgical procedure Methods 0.000 claims description 9
- 239000011324 bead Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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Abstract
The utility model relates to an optical tracking instrument for navigating operation, its characterized in that: it includes a mounting base be provided with two to six holding surfaces on the mounting base, each install two or four reflection of light balls on the holding surface, be located samely on the holding surface four reflection of light ball or be located adjacent two on the holding surface four reflection of light ball set becomes a locating surface, adjacent two the face normal vector contained angle of locating surface is 90-140. The utility model discloses compare by the tracking instrument of four single locating surfaces of the spherical one -tenth of the reflection of light in prior art, can show the effective tracking range that enlarges the system, improve the system accuracy.
Description
Technical field
This utility model relates to a kind of optical tracking instrument for navigating surgery, belongs to computer assisted surgery technical field.
Background technology
At present, clinically for optical alignment tracking system that the optical tracker of navigating surgery is mainly produced by Canadian NDI company.The positioning principle of this type systematic is: the Infrared irradiation that binocular position sensor is launched is on the surgical apparatus being provided with trace tool or apparatus, the bead (also claiming witch ball) of reflects infrared light infrared light reflection can be returned position sensor and being carried out calculating the position coordinates (comprising position and the angle of trace tool) of trace tool by system built-in software in trace tool, thus realize positioning tracking to corresponding surgical apparatus and apparatus.
According to the positioning principle of aforementioned system, in the tracking of surgical apparatus and apparatus, trace tool has been the parts of key effect, and the precision of the trace tool position coordinates that system-computed obtains determines the precision of operation guiding system.Trace tool conventional at present comprises the witch ball of 3 ~ 4 coplanar (this plane is called locating surface).As the trace tool disclosed in patent 200720012127.0, this optical tracking instrument only has a locating surface.Mainly system keeps track scope is less for the shortcoming of this design, be usually less than ± 90 °.And the precision of position coordinates of the trace tool to obtain due to optical tracking system is relevant with the angle of the locating surface of trace tool and binocular position sensor optical axis, the larger precision of angle is poorer, utilizes the operation guiding system precision of this trace tool to be difficult to ensure.
Summary of the invention
For the problems referred to above, the purpose of this utility model is to provide the high and optical tracking instrument for navigating surgery that following range is large of a kind of positioning precision.
For achieving the above object, this utility model is by the following technical solutions: a kind of optical tracking instrument for navigating surgery, it is characterized in that: it comprises a mounting base, described mounting base is provided with two to six supporting surfaces, supporting surface described in each is provided with two or four witch ball, be positioned at four described witch balls on same described supporting surface or four the described witch balls be positioned on adjacent two described supporting surfaces form a locating surface, the face normal vector angle of adjacent two described locating surfaces is 90 ° ~ 140 °.
Be connected by a witch ball mounting base between described witch ball with described supporting surface; Described witch ball mounting base comprises a ball holder, an O-ring seal and an annular cover plate; Described ball holder is fixedly connected on described supporting surface; Two hemisphere that described witch ball is not waited by diameter are formed, wherein, the major diameter hemispherical portion of described witch ball is fixed by the described annular cover plate that be located in described ball holder by after described ball holder picking-up, and the minor diameter hemispherical portion of described witch ball is stretched out from described annular cover plate; Between described ball holder and the major diameter hemispherical portion of described witch ball, described O-ring seal is set.
Described mounting base is provided with the interface be connected with operation tool and/or operating robot.
This utility model is owing to taking above technical scheme, it has the following advantages: 1, this utility model is compared to the trace tool being formed single locating surface in prior art by four witch balls, significantly can expand effective following range of system, improve system accuracy.2, the utility model proposes the syndeton of a kind of witch ball and supporting surface, it can realize accurately being located by connecting of witch ball and supporting surface.3, this utility model structure is simple, and dependable performance, can be widely used in the track and localization of clinical operation robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment one;
Fig. 2 is the connection diagram of witch ball mounting base and witch ball in embodiment one;
Fig. 3 is the structural representation of embodiment two.
Detailed description of the invention
Below in conjunction with drawings and Examples, this utility model is described in detail.
Embodiment one:
As shown in Figure 1, the present embodiment comprises a mounting base 1, it is for being connected with robot end or robot front end apparatus, mounting base 1 is provided with two supporting surfaces 2, each supporting surface 2 is provided with four witch balls 3, each witch ball 3 is fixed on supporting surface 2 by a witch ball mounting base 4.In the present embodiment, formed a locating surface 5 with the tetragon that four witch balls 3 on same supporting surface 2 are end points, the face normal vector angle of adjacent two locating surfaces 5 is 90 ° ~ 140 °, and the shape of two locating surfaces 5 or size are not identical.
As shown in Figure 2, witch ball mounting base 4 comprises ball holder 8, O-ring seal 9 and an annular cover plate 10, and wherein, ball holder 8 is fixedly connected on supporting surface 2.Two hemisphere that witch ball 3 in the present embodiment is not waited by diameter are formed, wherein, fixed by the annular cover plate 10 that be located in ball holder 8 after major diameter hemispherical portion is held up by ball holder 8, minor diameter hemispherical portion is stretched out from annular cover plate 10, and arranges O-ring seal 9 between ball holder 8 and major diameter hemispherical portion.
Embodiment two:
As shown in Figure 3, the present embodiment comprises a mounting base 1, and it, for being connected with robot end or robot front end apparatus, mounting base 1 is provided with six supporting surfaces 2, each supporting surface 2 is provided with two witch balls 3, each witch ball 3 is installed column 6 by one and is connected with supporting surface 2.In the present embodiment, formed a locating surface 5 with the tetragon that four witch balls 3 be positioned on adjacent two supporting surfaces 2 are end points, the face normal vector angle of adjacent two locating surfaces 5 is 90 ° ~ 140 °, and shape or the size of any two locating surfaces 5 are not identical.
The mounting base 1 of above two kinds of embodiments is provided with the interface 7 be connected with operation tool and/or operating robot.
On the basis of above-described embodiment, this utility model also comprises the variant based on above-described embodiment, number as supporting surface 2 also can be three, four or five, each supporting surface 2 is provided with two or four witch ball 3, with four witch balls 3 be positioned on same supporting surface 2 or formed a locating surface 5 with the tetragon that four witch balls 3 be positioned on adjacent two supporting surfaces 2 are top.Further, the witch ball 3 in embodiment one and embodiment two and mounting means thereof can exchange.In addition, this utility model can also be applied on the equipment or apparatus that in operation guiding system, other need location by the change shape of mounting base 1 or the connecting interface 7 of setting.
In conjunction with structure of the present utility model, utilize supporting control sequence, the feature of this utility model instrument definition is: when witch ball 3 number that single supporting surface 2 is installed is for " 4 ", this supporting surface 2 is defined as an independently locating surface 5 in instrument definition; When witch ball 3 number that single supporting surface 2 is installed is " 2 ", by 2-in-1 for adjacent two supporting surfaces and be defined as a locating surface 5 in instrument definition, and each supporting surface 2 can be shared by different locating surfaces 5.This utility model operationally, with the locating surface generating algorithm that weaves generate position and the physical dimension of four witch balls are installed, finally the data separate instrument specific detection software of generation is carried out two locating surface heterogeneites to detect, thus ensure that the instrument of design meets the specific requirements of optical positioning system.
This utility model is only described with above-described embodiment, and the structure of each parts, setting position and connection thereof all can change to some extent.On the basis of technical solutions of the utility model, all improvement of carrying out individual part according to utility model principle of the present utility model or equivalents, all should not get rid of outside protection domain of the present utility model.
Claims (3)
1. the optical tracking instrument for navigating surgery, it is characterized in that: it comprises a mounting base, described mounting base is provided with two to six supporting surfaces, supporting surface described in each is provided with two or four witch ball, be positioned at four described witch balls on same described supporting surface or four the described witch balls be positioned on adjacent two described supporting surfaces form a locating surface, the face normal vector angle of adjacent two described locating surfaces is 90 ° ~ 140 °.
2., as claimed in claim 1 for the optical tracking instrument of navigating surgery, it is characterized in that: be connected by a witch ball mounting base between described witch ball with described supporting surface; Described witch ball mounting base comprises a ball holder, an O-ring seal and an annular cover plate; Described ball holder is fixedly connected on described supporting surface; Two hemisphere that described witch ball is not waited by diameter are formed, wherein, the major diameter hemispherical portion of described witch ball is fixed by the described annular cover plate that be located in described ball holder by after described ball holder picking-up, and the minor diameter hemispherical portion of described witch ball is stretched out from described annular cover plate; Between described ball holder and the major diameter hemispherical portion of described witch ball, described O-ring seal is set.
3., as claimed in claim 1 or 2 for the optical tracking instrument of navigating surgery, it is characterized in that: described mounting base is provided with the interface be connected with operation tool and/or operating robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520669414.3U CN205054433U (en) | 2015-08-31 | 2015-08-31 | A optical tracking instrument for navigating operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520669414.3U CN205054433U (en) | 2015-08-31 | 2015-08-31 | A optical tracking instrument for navigating operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205054433U true CN205054433U (en) | 2016-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520669414.3U Active CN205054433U (en) | 2015-08-31 | 2015-08-31 | A optical tracking instrument for navigating operation |
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| CN (1) | CN205054433U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105147395A (en) * | 2015-08-31 | 2015-12-16 | 北京天智航医疗科技股份有限公司 | Optical tracking tool for navigation surgery |
| CN105266897A (en) * | 2015-11-25 | 2016-01-27 | 上海交通大学医学院附属第九人民医院 | Microscopic surgical operation navigation system based on augmented reality and navigation method |
| CN111419399A (en) * | 2020-03-17 | 2020-07-17 | 京东方科技集团股份有限公司 | Positioning tracking piece, positioning ball identification method, storage medium and electronic device |
-
2015
- 2015-08-31 CN CN201520669414.3U patent/CN205054433U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105147395A (en) * | 2015-08-31 | 2015-12-16 | 北京天智航医疗科技股份有限公司 | Optical tracking tool for navigation surgery |
| WO2017036340A1 (en) * | 2015-08-31 | 2017-03-09 | 北京天智航医疗科技股份有限公司 | Optical tracking tool for navigating surgery |
| CN109938839A (en) * | 2015-08-31 | 2019-06-28 | 北京天智航医疗科技股份有限公司 | A kind of optical tracking tool for navigating surgery |
| US10925678B2 (en) | 2015-08-31 | 2021-02-23 | Tinavi Medical Technologies Co., Ltd. | Optical tracking tool for navigating surgery |
| CN109938839B (en) * | 2015-08-31 | 2024-03-26 | 北京天智航医疗科技股份有限公司 | Optical tracking tool for navigation surgery |
| CN105266897A (en) * | 2015-11-25 | 2016-01-27 | 上海交通大学医学院附属第九人民医院 | Microscopic surgical operation navigation system based on augmented reality and navigation method |
| CN111419399A (en) * | 2020-03-17 | 2020-07-17 | 京东方科技集团股份有限公司 | Positioning tracking piece, positioning ball identification method, storage medium and electronic device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |