WO2017219206A1 - Surgical positioning device - Google Patents

Abstract

A surgical positioning device, comprising a first positioning plate (11) and a second positioning plate (12) connected with each other. Substrates of the first positioning plate (11) and the second positioning plate (12) are respectively embedded with a plurality of metal parts (13), and also respectively printed with at least three icons (14) which are not in the same line. The surgical positioning device can guide a surgical robot to reach a corresponding surgical position, and thus has higher precision.

Description

 Specification Name of Invention: A surgical positioning device

 Technical field

 [0001] The present invention pertains to medical devices, and more particularly to a surgical positioning device.

 Background technique

 [0002] At present, in orthopedic surgery at home and abroad, it is often necessary to use a body surface locator composed of an adhesive plaster, a vertical thin metal wire and a horizontal thin metal wire, so that the lesion position and the surgical position can be accurately determined after taking an X-ray film.

[0003] However, such a surface locator is only suitable for use in a doctor's manual surgery. After surgery by an orthopedic robot, it is impossible to direct the surgical robot for automatic navigation because the specific surgical position cannot be linked to the surgical robot.

 technical problem

 [0004] It is an object of the present invention to provide a surgical positioning device that aims to solve the problem that the prior art body surface positioner cannot guide the robot to perform automatic navigation.

 Problem solution

 Technical solution

 [0005] The present invention provides a surgical positioning device including a first positioning plate and a second positioning plate that are connected to each other, and a plurality of embedded bodies are respectively embedded in the base body of the first positioning plate and the second positioning plate. Metal parts, at least three icons not on the line are respectively printed on the bases of the first positioning plate and the second positioning plate

[0006] step by step

 [0007] step by step

 Pick up.

 [0008] further step by step

 [0009] step by step

 [0010] step by step

[0011] step by step [0012] Further, the surgical positioning device is mounted on the positioning bracket through the fixed mounting hole, and the positioning bracket is installed on the side of the operating bed or on the patient.

 Advantageous effects of the invention

 Beneficial effect

 [0013] The surgical positioning device of the present invention can determine a stereo coordinate system. Since the surgical positioning device includes a metal member and an icon for the binocular visual recognition system, it can be recognized by the X-ray machine and the binocular visual recognition system at the same time. The X-ray machine can position the surgical site through the metal part of the surgical positioning device into the stereo coordinate system determined by the surgical positioning device, and the binocular visual recognition system can calculate the three-dimensional determined by the surgical robot itself through the surgical positioning device. The position in the coordinate system, thereby unifying the coordinates of the surgical robot and the coordinates of the intelligent bone drill into the stereo coordinate system determined by the surgical positioning device. This guides the surgical robot to the corresponding surgical position, which is more intuitive and more accurate.

 Brief description of the drawing

 DRAWINGS

 1 is a schematic structural view of a surgical positioning device according to an embodiment of the present invention.

Embodiments of the invention

 [0015] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0016] In order to explain the technical solution described in the present invention, the following description will be made by way of specific embodiments.

[0017] Referring to FIG. 1, a surgical positioning device according to an embodiment of the present invention includes a first positioning plate 11 and a second positioning plate 12 connected to each other. In the embodiment of the present invention, the first positioning plate 11 and the second positioning plate are provided. 12 is perpendicular to each other, thereby simplifying the calculation of establishing a three-dimensional coordinate system. Of course, the first positioning plate 11 and the second positioning plate 12 may not be perpendicular to each other, that is, the angle between the first positioning plate 11 and the second positioning plate 12. Not 90 degrees. The first positioning plate 11 and the second positioning plate 12 are of an integrated structure or are connected to each other by a connecting member. The first positioning plate 1 1 and the second positioning plate 12 are both made of a transparent plastic material, and a plurality of metal members 13 are embedded in the base body according to a positioning algorithm. The metal members 13 may be metal balls, metal blocks, etc., the first positioning Plate 11 and second positioning plate 1 The metal member 13 on the 2 is used for the sensitization of the X-ray machine in both the horizontal and vertical directions, can block the X-ray, and form an image on the X-ray film for surgical positioning.

 [0018] Since the metal member 13 cannot be clearly recognized in the binocular visual recognition system of the intelligent bone drill of the surgical robot, the first positioning plate 11 and the second positioning plate 12 of the surgical positioning device provided by the embodiment of the present invention are on the base of the second positioning plate 12 At least three icons 14 that are not in line and are recognized by the binocular visual recognition system are also printed separately. A plane can be determined based on at least three icons 14 that are not in a straight line. Among them, the binocular vision recognition system consists of two industrial cameras installed in the lower part of the front end of the intelligent bone drill. The industrial camera is connected to the system via a network cable via an Ethernet switch, and the operator and authorized personnel can view the two industrial cameras through the network. The real image is also used for coordinate positioning before the surgical robot moves.

 [0019] The periphery of the first positioning plate 11 and/or the second positioning plate 12 of the surgical positioning device provided by the embodiment of the present invention has a fixed mounting hole 15 for fixing on a positioning bracket on the side of the operating bed or on the patient.

 [0020] There are two installation methods of the surgical positioning device provided by the embodiments of the present invention. One is to install a positioning bracket on the side of the operating bed, and then the surgical positioning device is mounted on the positioning bracket, and the other is fixed positioning on the patient. The stent is then mounted on the positioning bracket.

 [0021] The surgical positioning device provided by the embodiment of the present invention can determine a stereo coordinate system. Since the surgical positioning device includes a metal member and an icon for the binocular visual recognition system, it can be simultaneously recognized by the X-ray machine and the binocular vision. The system recognizes that the X-ray machine can position the surgical site to the stereo coordinate system determined by the surgical positioning device through the metal parts of the surgical positioning device, and the binocular visual recognition system can calculate the surgical robot itself through the surgical positioning device through the icon. The position in the determined stereo coordinate system is such that the coordinates of the surgical robot and the coordinates of the intelligent bone drill are unified into the stereo coordinate system determined by the surgical positioning device. This guides the surgical robot to the corresponding surgical position, which is more intuitive and more accurate.

 The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the present invention. Within the scope of protection of the invention.

Claims

 Claim A surgical positioning device, comprising: a first positioning plate and a second positioning plate connected to each other, wherein a plurality of metal parts are respectively embedded in the base body of the first positioning plate and the second positioning plate, At least three icons that are not in line are also printed on the bases of the first positioning plate and the second positioning plate, respectively. The surgical positioning device according to claim 1, wherein the first positioning plate and the second positioning plate each use a transparent plastic material as a base. The surgical positioning device according to claim 1, wherein the first positioning plate and the second positioning plate are an integrated structure or are connected to each other by a connecting member. The surgical positioning apparatus according to claim 1, wherein said first positioning plate and said second positioning plate are perpendicular to each other. The surgical positioning device according to claim 1, wherein the metal member is a metal ball or a metal block. The surgical positioning apparatus according to claim 1, wherein said plurality of metal members are embedded in the base body in accordance with a positioning algorithm. The surgical positioning device according to claim 1, wherein the periphery of the first positioning plate and/or the second positioning plate has a fixed mounting hole. The surgical positioning device according to claim 7, wherein said surgical positioning device is mounted on said positioning bracket through said fixed mounting hole, said positioning bracket being mounted on the side of the operating bed or on the patient.