WO2023115901A1 - Spatial positioning apparatus for surgical navigation and rigid body structure - Google Patents

Abstract

A spatial positioning apparatus for surgical navigation and a rigid body structure. The spatial positioning apparatus comprises: a rigid body bracket (1) and a reflective member (5), wherein a through hole (4) is formed in the rigid body bracket (1), the minimum inner diameter of the through hole (4) constituting a reflective area (15), the reflective area (15) being used for limiting the exposed surface area of the reflective member (5). With the spatial positioning apparatus for surgical navigation and the rigid body structure, as the reflective area (15) is directly formed on the rigid body bracket (1), the position of the reflective area (15) is not changed during the process of removing and reinstalling the reflective member (5), so the tracking precision of the surgical navigation system is improved significantly.

Description

Spatial positioning device and rigid body structure for surgical navigation technical field

The present disclosure relates to the technical field of surgical navigation, in particular to a spatial positioning device and a rigid body structure for surgical navigation.

Background of the invention

With the development and progress of science and technology, the surgical navigation system based on optical tracking technology has been applied in clinical practice such as orthopedic surgery, which effectively reduces the difficulty of operation and the burden on patients. A common surgical navigation system includes a spatial positioning device, an image acquisition device, and a processing device. Wherein, the space positioning device is used to be fixed on the target object to be tracked, and a reflective point is arranged on it; the image acquisition device can receive the light reflected by the reflective point, so that the processing equipment can obtain the position of the space positioning device, and then Determine the location of the object.

The current space positioning device usually uses a detachable reflective ball as a reflective point, so that it can be replaced after the reflective ball is polluted. However, the surgical navigation system using this spatial positioning device has the problem of low tracking accuracy, which increases the risk of surgery.

Contents of the invention

In view of this, the present disclosure provides a spatial positioning device and a rigid body structure for surgical navigation, aiming at solving the technical problem of limited tracking accuracy of the surgical navigation system.

In a first aspect, the present disclosure provides a space positioning device for surgical navigation, including: a rigid body bracket; To limit the exposed area of the reflector.

Optionally, the through hole includes a through hole opening and a through hole inner cavity, the inner diameter of the through hole inner cavity is greater than the minimum inner diameter of the through hole opening, the smallest inner diameter of the through hole opening forms a reflective area, and the reflective member is arranged in the through hole inner cavity A part corresponding to the reflective area on the surface of the reflective member close to the opening of the through hole is exposed from the reflective area to reflect light.

Optionally, on a plane perpendicular to the axis of the through hole, the orthographic projection area of the reflective member is larger than the orthographic projection area of the reflective region.

Optionally, the reflector is made of rigid material.

Further, the spatial positioning device provided in the present disclosure further includes: a connecting bracket and a steel nail, one end of the connecting bracket is configured to be connected to the rigid body bracket, and the other end of the connecting bracket is configured to be connected to the steel nail.

Optionally, a boss is provided at one end of the connecting bracket close to the rigid body bracket, a first groove is provided on the rigid body bracket, the shape of the first groove matches the shape of the boss, and the connecting bracket and the rigid body bracket are configured to pass through the convex body. The platform is connected with the first groove.

Optionally, one end of the connecting bracket close to the steel nail is provided with a connecting part, and the steel nail includes a steel nail body and a steel nail base, and a second groove matching the connecting part is provided on the steel nail base, and the connecting bracket and the steel nail The nail is configured to connect with the second groove through the connecting portion.

Optionally, the included angle between the steel nail body and the rigid support is less than 90°.

In the second aspect, the present disclosure also provides a rigid body structure of a space positioning device for surgical navigation, the rigid body structure includes: a rigid body bracket, a through hole is formed on the rigid body bracket, and the smallest inner diameter of the through hole forms a reflective area, the reflective area Used to limit the exposed area of the reflector.

Optionally, the rigid body structure provided in the present disclosure further includes: a fixing member, configured to limit the position of the reflective member, so that the relative position of the reflective member and the rigid body support remains fixed.

Optionally, the through hole includes a through hole opening and a through hole inner cavity, the inner diameter of the through hole inner cavity is larger than the minimum inner diameter of the through hole opening, the smallest inner diameter of the through hole opening forms a reflective area, and the through hole inner cavity is used to accommodate the reflective member .

Further, the rigid body bracket includes a stop part formed in the through hole, and the stop part is located between the opening of the through hole and the inner cavity of the through hole, and the rigid body structure also includes a fixing part, which is configured to be arranged in the through hole through screw connection In the inner cavity, so that the reflective member is fixed between the stop portion and the fixing member.

Optionally, the end of the fixing member away from the reflective member protrudes from the rigid support.

Further, the part of the fixing member protruding from the rigid support is hemispherical.

Optionally, the inner diameter of the opening of the through hole gradually decreases from the end away from the lumen of the through hole to the smallest inner diameter.

Optionally, the light reflectance of the side wall surface of the through hole opening is lower than the light reflectance of the surface of other parts of the rigid support.

Optionally, on a radial cross section, the sidewall of the opening of the through hole is arc-shaped or zigzag-shaped.

Optionally, a low-reflection area is provided around the reflective area, and the light reflectance of the low-reflection area is lower than the light reflectance of the surface of other parts of the rigid support.

Optionally, the surface of the rigid support is provided with an aluminum oxide coating layer.

Optionally, the rigid support includes four extensions, and each extension is provided with a through hole.

The space positioning device and rigid body structure for surgical navigation provided by the present disclosure can realize that the position of the reflective area will not change during the process of disassembling and reinstalling the reflective parts by directly forming the reflective area on the rigid body bracket, which significantly improves the Tracking accuracy of surgical navigation systems.

Brief description of the drawings

FIG. 1 is a schematic diagram of a spatial positioning device provided by an embodiment of the present disclosure.

FIG. 2 is a schematic diagram of a rigid support provided by an embodiment of the present disclosure.

FIG. 3 is a schematic partial cross-sectional view near the reflective area on the space positioning device provided by an embodiment of the present disclosure.

Fig. 4 is a schematic diagram of a spatial positioning device provided by a specific embodiment of the present disclosure.

Fig. 5 is a schematic diagram of a connection bracket provided by a specific embodiment of the present disclosure.

FIG. 6 is a schematic partial cross-sectional view of the vicinity of the reflective area on the space positioning device provided by an embodiment of the present disclosure.

Reference signs:

1. Rigid body bracket; 2. Connecting bracket; 3. Steel nails;

4. Through hole; 5. Reflector; 6. Through hole opening;

7. Through-hole cavity; 8. Fixing piece; 9. Boss;

10. Connecting part; 11. Steel nail body; 12. Steel nail base;

13. Locking device; 14. Arrival stop; 15. Reflective area.

Ways to Implement the Disclosure

In order to make the purpose, technical means and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. While the following detailed description sets forth numerous specific details in order to enable the disclosure to be fully understood, the disclosure may also be practiced in other ways. The embodiments described in the specification are only some of the embodiments of the present disclosure, and not all of the embodiments.

In the surgical navigation system, the spatial positioning device needs to be fixed on the human body, surgical tools or other devices in the operating room, and these positions are easily contaminated during the operation. When the surface of the reflective ball on the spatial positioning device is polluted, its reflective effect will be directly affected, so that the surgical navigation system cannot accurately know the position of the spatial positioning device, and cannot continue to provide good surgical assistance functions. In order to avoid this problem, in the related art, a detachable reflective ball is usually provided as a reflective point on the space positioning device, so that the reflective ball can be replaced or disinfected after being polluted.

However, if this spatial positioning device is used, tracking errors often occur in the surgical navigation system after the reflective ball is disassembled and reinstalled, which will have a negative impact on the smooth progress of the operation.

Through research and experiments, the inventors found that the main reason for this tracking error is that the position of the reflective ball tends to change during the process of repeated disassembly and installation of the reflective ball. The deep-seated reasons for the position change of the reflective ball mainly include two points: one is that there may be processing errors in the production process of the reflective ball and its installation parts; the other is that it is difficult to ensure the consistency of each installation operation when installing the reflective ball , there is a high possibility of operational errors.

For example, reflective balls are usually fixed on the rigid support by threaded connection, and in order to realize threaded connection, holes need to be drilled on each reflective ball. However, the process of punching holes on the sphere is difficult to ensure high precision and consistency, which makes it difficult to achieve consistent positions and depths of holes in each reflective sphere. In addition, the screws used to fix the reflective ball may also have processing errors. Furthermore, in the process of installing the reflective ball, when the screw is screwed into different reflective balls, not only the length of the screw-in cannot be guaranteed to be consistent, but also the angle deflection may occur, so that the reflective ball that is replaced or reinstalled after disinfection is in multiple Position errors may exist in both dimensions (for example, a direction parallel to the plane formed by multiple reflective points, and a direction perpendicular to the plane formed by multiple reflective points).

In order to solve the above problems, the present disclosure provides a spatial positioning device for surgical navigation and a rigid body structure for the spatial positioning device.

FIG. 1 is a schematic diagram of a spatial positioning device provided by an embodiment of the present disclosure. As shown in Figure 1, the space positioning device includes a rigid body support 1 and a reflector 5, a through hole 4 is formed on the rigid body support 1, and the smallest inner diameter of the through hole 4 forms a reflective area 15, and the reflective area 15 is used to limit the reflective member 5. exposed area.

In the spatial positioning device provided by the present disclosure, the reflective member arranged on the back of the rigid body support (the side relatively far away from the image acquisition device during use) is used to replace the commonly used one located on the front of the rigid body support (the side facing the image acquisition device relatively when in use). One side) of the reflective ball; correspondingly, the rigid body bracket provided by the present disclosure is provided with a through hole capable of exposing the reflective member, that is, a reflective area is formed at the smallest inner diameter of the through hole, so that the reflective member is exposed from the reflective area. The part can realize the function of light reflection.

That is to say, on the spatial positioning device provided by the present disclosure, the reflective area is directly formed on the rigid body support, therefore, the position of the reflective area will not change during the process of disassembling and reinstalling the reflective member, and the root cause The reasons for the tracking error of the surgical navigation system described above are avoided. It should be understood that the center point of the reflective area is the reflective point to be obtained by the surgical navigation system. Based on this inventive concept, the spatial positioning device of the present disclosure can solve the technical problem that the position of the reflective ball changes when it is disassembled, which leads to a tracking error in the surgical navigation system.

In a possible implementation, as shown in FIG. 2 and FIG. 3 , the through hole 4 may include a through hole opening 6 and a through hole cavity 7, the inner diameter of the through hole cavity 7 is greater than the minimum inner diameter of the through hole opening 6, A reflective region 15 is formed at the smallest inner diameter of the through-hole opening 6 . The reflective element 5 is disposed in the cavity 7 of the through hole, and the part corresponding to the reflective area 15 on the surface of the reflective element 5 close to the opening 6 of the through hole is exposed from the reflective area 15 to reflect light.

By adopting the method of arranging the reflective element in the inner cavity of the through hole, the inner wall of the inner cavity of the through hole can restrict the position of the reflective element, so that the reflective element is not easy to be shifted, and it also provides convenience for the installation operation.

Preferably, the inner cavity 7 of the through hole may have a size matching that of the reflective member 5 , so as to achieve more effective restriction on the position of the reflective member 5 . For example, the inner diameter of the through hole cavity 7 may be substantially equal to the maximum outer diameter of the reflective member 5 (the inner diameter of the through hole inner cavity 7 is greater than or equal to the maximum outer diameter of the reflective member 5 ). Further, the inner cavity 7 of the through hole may have a shape matched with the reflective member 5, so that the reflective member 5 is more stable in the installed state. For example, if the part of the reflective member 5 in contact with the inner wall of the through-hole cavity 7 is hemispherical, the inner wall of the through-hole inner cavity 7 can be a concave surface with the same radius as the hemispherical shape; circular piece, the inner wall of the through-hole cavity 7 can be composed of a top wall and a side wall perpendicular to each other.

Further, in order to ensure that the reflective member can completely cover the reflective area and avoid the phenomenon that the reflectivity in the reflective area is inconsistent due to the offset of the reflective member, in a preferred embodiment, the area of the reflective member 5 can be designed to be larger than The area of the reflective area 15. That is to say, on a plane perpendicular to the axis of the through hole 4 , the area of the orthographic projection of the reflective member 5 is larger than the area of the orthographic projection of the reflective region 15 . Based on such a design, even if the relative position of the reflective member and the reflective area changes or there is a processing error in the size of different reflective members, the spatial positioning device provided by the present disclosure can still ensure consistent reflectivity in the reflective area.

In the embodiment of the present disclosure, the reflective member 5 may be sheet-shaped, and the surface of the reflective member 5 exposed from the reflective area 15 may be a curved surface or a plane. Preferably, in order to reduce the requirement for machining accuracy, the reflective member 5 may adopt a sheet structure with both sides flat. In addition, in order to save the time of installation operation and reduce the risk of misoperation, the two sides of the sheet-like reflective element with both sides flat may have the same reflectivity, so that there is no need to distinguish the front and back of the reflective element during installation.

In order to more reliably fix the reflective member on the rigid body support, it may be necessary to apply a relatively large external force to the reflective member during installation. For example, when the reflective member 5 is pushed into the cavity 7 of the through hole, pressure may be exerted on the reflective member 5 in a direction parallel to the axis of the through hole 4 . During this process, the reflective member 5 may be deformed after being stressed, for example, it will bulge upward from the reflective area 15, and this deformation will change the position of the reflective area 15 collected by the image acquisition device in the depth direction, and then lead to tracking errors.

Therefore, as a preferred implementation manner, the reflective member 5 can be made of rigid materials. Reflectors made of rigid materials can avoid deformation, thereby avoiding position errors in the depth direction.

Further, as shown in FIG. 1 , the spatial positioning device in this embodiment may further include a fixing member 8 . Specifically, the fixing member 8 can be fixedly connected with the rigid support 1 to support the reflective member 5, so that the relative position of the reflective member 5 and the rigid support 1 remains unchanged during use.

Exemplarily, in an implementation manner, as shown in FIG. 6 , threads may be provided on the inner wall of the through hole cavity 7 , and correspondingly, matching threads may be provided on the outer surface of the fixing member 8 . After the reflector 5 is placed into the through-hole cavity, installers or robots can screw the fixing piece 8 into the through-hole cavity 7, so that the fixing piece 8 is fixed in the through-hole cavity 7 by screwing, and at the same time , the fixing member 8 can abut the reflective member 5 against the inner wall at the top of the through-hole cavity 7, so as to achieve reliable fixing of the reflective member 5.

Here, the rigid support 1 may include a stop portion 14 formed in the through hole 4 , and the stop portion 14 may be located between the through hole opening 6 and the through hole lumen 7 . The stop portion 14 may be integrally formed with the rigid support 1 , or fixedly arranged in the through hole 4 by means of welding or the like. During the process of installing the reflective member 5 , when the fixing member 8 exerts a pushing force on the reflective member 5 , the stop portion 14 can cooperate with the fixing member 8 to limit the position of the reflective member 5 at the top of the cavity 7 of the through hole. That is to say, when the fixing member 8 is screwed into the inner cavity 7 of the through hole, the reflective member 5 can be fixed between the stop portion 14 and the fixing member 8 . By providing the stop portion, the spatial positioning device provided in this embodiment further ensures the installation reliability of the reflective member and improves the positional accuracy of the reflective member.

In practical applications, the spatial positioning device used for surgical navigation may need to be fixed on the patient's body in advance, and CT (Computed Tomography, computerized tomography) shooting is performed together with the patient, so that the surgical navigation system The processing device can pre-acquire the corresponding relationship between the spatial positioning device and the patient's skeleton, so as to provide basic information for subsequent spatial tracking.

However, due to the limitation of the scan step length of CT shooting, the three-dimensional image reconstructed from the two-dimensional CT image may not accurately display the position of the spatial positioning device. Specifically, if the reflective member adopts a thin sheet structure (for example, the thickness is smaller than the scanning step of CT shooting), and it happens to be in the direction parallel to the scanning layer during CT shooting, then it may happen that the reflective member happens to be located in the adjacent direction. Between the two scan layers, the reflective piece cannot appear in the CT image. If the exact position of the reflector cannot be found in the CT image, the surgical navigation system cannot determine the exact position of the spatial positioning device, and cannot obtain an accurate correspondence between the spatial positioning device and the patient's bones.

In order to solve this problem, the space positioning device provided by the present disclosure can adopt a fixed piece 8 with a certain thickness, so that the fixed piece 8 installed in the inner cavity 7 of the through hole can protrude from the rigid body support 1 from the side away from the reflective piece 5, thereby Make sure that the fixture can be photographed during the CT scan. It should be understood that in the spatial positioning device of the present disclosure, the reflective area 15 is directly formed on the rigid body support 1, and the fixing member 8 is directly fixed on the preset position on the rigid body support 1. Therefore, the reflective area 15 and The positional relationship between the fixing parts 8 can be set or measured in advance. That is to say, as long as the position of the fixing member 8 can be accurately found in the CT image, the position of the reflective area 15 can be accurately calculated, and then the accurate position of the spatial positioning device can be obtained.

Preferably, in order to further improve the positioning accuracy of the fixing member, as shown in FIG. 3 , in an embodiment of the present disclosure, the part of the fixing member 8 protruding from the rigid body support 1 may be hemispherical. Since four non-coplanar points can determine a unique spherical surface, by using a fixture with this shape, a more accurate position of the fixture can be obtained from the CT image, thereby further improving the tracking accuracy of the surgical navigation system . At the same time, under the premise of the same height, the volume of the hemisphere is smaller than the volume of the cylinder. Therefore, by designing the part of the fixing part that protrudes from the rigid support into a hemispherical shape, the weight of the fixing part can be made lighter, which is beneficial to reduce the pressure of the doctor. and patient burden.

During the operation, the part of the reflective member exposed from the reflective area reflects light. Therefore, in the image obtained by the image acquisition device shooting the spatial positioning device, the area with higher brightness can be considered as the reflective area. Based on this, after obtaining the image, the processing device will determine the area with higher brightness in the image as the reflective area, and determine the position of the spatial positioning device according to the position of the center point of the reflective area. Therefore, in order to ensure the high precision of space tracking, it is necessary to increase the brightness difference between the reflective area and other areas on the space positioning device.

In order to achieve this effect, in the space positioning device provided by the present disclosure, the inner diameter of the through-hole opening 6 on the rigid support 1 can be set to gradually decrease from the end away from the through-hole lumen 7 to the smallest inner diameter. That is to say, the through-hole opening 6 can be designed as a wide mouth shape with a wide top and a narrow bottom. For example, in the embodiment shown in FIG. 3 , the cross-section of the through-hole opening 6 can be approximately semi-elliptical. In an example, the cross-section of the through-hole opening 6 can also adopt a horn-like shape. With this design, when the reflective area is not on a plane perpendicular to the incident light, the shielding of the incident light by the sidewall of the through-hole opening 6 can be reduced, thereby increasing the area and brightness of the reflective area in the image.

In addition, in order to increase the brightness difference between the reflective area and other areas on the space positioning device, it is also possible to choose to highlight the reflective area by reducing the brightness of other areas.

Specifically, in the spatial positioning device provided in the present disclosure, the surface of the rigid body support 1 may be provided with an aluminum oxide coating layer, thereby reducing the overall brightness of the rigid body support 1 in images.

Optionally, a low reflection area can also be provided around the light reflection area. Here, the light reflectance of the low reflection area is not only lower than the light reflectance of the reflective member 5, but also lower than the light reflectance of the surface of other parts of the rigid support 1, so as to further improve the relative brightness of the reflective area. Exemplarily, the low-reflection area can be formed by chemically treating a predetermined area around the reflective area on the surface of the rigid support 1 , or by changing the shape of the surface of the rigid support 1 within the predetermined area.

For example, in the embodiment where the through hole 4 includes the through hole opening 6 and the through hole cavity 7, the sidewall of the through hole opening 6 is located around the light reflection area 15, in order to improve the distance between the light reflection area 15 and the side wall of the through hole opening 6. The difference in brightness shown in the image can set the light reflectance of the sidewall surface of the through-hole opening 6 to be lower than the light reflectance of the surface of other parts of the rigid support 1 . Preferably, as shown in FIG. 3 , in the space positioning device provided by the present disclosure, the sidewall of the through-hole opening 6 can be designed to be arc-shaped or broken-line-shaped in radial section. By adopting such a design, when the sidewall of the through-hole opening 6 is closer to the angle perpendicular to the incident light relative to the light-reflecting area 15, the light reflected by the sidewall of the through-hole opening 6 can be dispersed, so that the incident light comes from multiple Different angles are reflected, thereby weakening the intensity of light reflected from the sidewall of the through-hole opening 6 collected by the image acquisition device, and reducing the brightness of the area near the reflection area 15 in the image.

In the spatial positioning device provided in the present disclosure, the rigid support 1 may include at least three extensions integrally formed, and the through hole 4 is formed near the end of each extension. Specifically, the extension part can be designed as an elongated shape, so as to reduce the weight of the rigid body bracket. Preferably, the number of extensions is four, that is, four reflective areas are formed on the rigid support 1, and the four reflective areas form a topological shape, so that the surgical navigation system can accurately determine the position of the spatial positioning device in three-dimensional space , to achieve high-precision tracking.

Fig. 4 is a schematic diagram of a spatial positioning device for surgical navigation provided by a specific embodiment of the present disclosure. In this embodiment, the spatial positioning device is used to be fixed on the patient's body, so that the surgical navigation system can restore the position of the patient's bones based on the spatial positioning device.

As shown in FIG. 4 , the space positioning device in this embodiment includes a rigid support 1 , a connecting support 2 and a steel nail 3 , the rigid support 1 is connected to one end of the connecting support 2 , and the other end of the connecting support 2 is connected to the steel nail 3 . A through hole 4 is opened on the rigid support 1, and a reflective member for reflecting infrared light is arranged in the through hole 4 . In this embodiment, the reflective member is specifically a reflective sheet 5 . During the operation, the infrared light reflected by the reflective sheet 5 can be collected by the image acquisition device, so that the processing equipment can determine the position of the rigid support 1, that is, the position of the spatial positioning device, and then construct the patient's bone position.

In this embodiment, the rigid support 1 and the connecting support 2 are designed separately, so that the structural stability of the entire space positioning device can be ensured while reducing the difficulty of processing.

As shown in FIG. 3 , the through hole 4 includes a through hole opening 6 and a through hole inner cavity 7 , and the reflective sheet 5 is disposed at the junction of the through hole opening 6 and the through hole inner cavity 7 . The diameter of the reflective sheet 5 is larger than the minimum inner diameter of the through-hole opening 6 , and the diameter of the reflective sheet 5 is smaller than the inner diameter of the inner cavity 7 of the through-hole. As shown in FIG. 3 , the through-hole opening 6 in this embodiment is a hemispherical groove structure, the cross-sectional sidewall of the upper part of the through-hole opening 6 is arc-shaped, and the cross-sectional shape of the lower part is rectangular. The cross-sectional shape of the through-hole cavity 7 in this embodiment is a rectangle. Wherein, the inner diameter of the through-hole cavity 7 is larger than the minimum inner diameter of the through-hole opening 6 , that is, the inner diameter of the through-hole cavity 7 is larger than the inner diameter of the lower portion of the through-hole opening 6 . Through such an arrangement, the reflective sheet 5 can be restricted above the cavity 7 of the through hole.

As shown in Figure 3, the reflective sheet 5 is fixed in the through-hole cavity 7 through the fixing member 8, wherein the inner wall of the through-hole cavity 7 is provided with threads, and the fixing device 8 is provided with the inner wall of the through-hole cavity 7. matching threads. After the reflective sheet 5 is placed on the top of the through hole inner cavity 7, the reflective sheet 5 can be fixed at the junction of the through hole opening 6 and the through hole inner cavity 7 by threading the fixing device 8 with the through hole inner cavity 7 .

In this embodiment, as shown in FIG. 3 , the fixing device 8 is a hemispherical structure. The fixing device 8 can be made of aluminum alloy or other materials such as PVC.

As shown in FIG. 5 , the connecting bracket 2 has a streamlined structure, and the end of the connecting bracket 2 close to the rigid body bracket 1 is in the shape of a round handle. The round handle-shaped structure is provided with a boss 9, the cross section of the boss 9 is a key shape, and is composed of a circular part and a protruding part extending from the circular part, wherein, a circle is opened on the circular part of the boss 9. hole. A first groove is provided on the rigid support 1 , and the shape of the first groove matches the shape of the boss 9 . The connection between the connecting bracket 2 and the rigid body bracket 1 is realized through the clamping between the boss 9 and the first groove. The cross-section of the boss 9 adopts a key shape to prevent fooling, so that the connecting bracket 2 can only be connected with the rigid body bracket 1 from a unique angle, thereby avoiding installation errors. The cross section of the boss 9 can also adopt other shapes with anti-fooling functions, such as the shape of "convex" and the like.

In addition, one end of the connecting bracket 2 close to the steel nail 3 is provided with a connecting portion 10, and the angle between the connecting portion 10 and the round handle structure of the connecting bracket 2 is less than 90°. The connection part 10 may be a triangular prism with chamfered corners. As shown in FIG. 4 , the steel nail 3 includes a steel nail body 11 and a steel nail base 12 , and the steel nail base 12 is provided with a second groove matching the connecting portion 10 . The connection between the connecting bracket 2 and the steel nail 3 is achieved through the clamping between the connecting portion 10 and the second groove. The steel nail body 11 is perpendicular to the end surface of the steel nail base 12 . The section of the triangular prism in this embodiment is an isosceles triangle other than an equilateral triangle. By setting the connecting part 10 as such a triangular prism, the connecting part 10 can only be connected to the second groove from a unique angle during installation. connections for fool-proof functionality and avoid installation errors. Similarly, the cross-section of the connecting portion 10 can also be set in other shapes with fool-proof functions.

Further, as shown in FIG. 4 , holes are provided on the end surface of the steel nail base 12 around the steel nail body 11 , and screws are arranged in the holes, and the screws are used to prevent the rigid support 1 from rotating. In this embodiment, the number of holes on the steel nail base 12 can be set to five. The single steel nail body 11 is prone to rotation during operation, which in turn will drive the rigid body bracket 1 to rotate, affecting the operation. In this embodiment, by setting screws in one or more holes on the end surface of the steel nail base 12, the screws can be arranged in cooperation with the steel nail body 11 to prevent the rigid body bracket 1 from rotating during use.

In this embodiment, as shown in FIG. 4 , a locking device 13 is provided at the joint between the connecting bracket 2 and the steel nail base 12 . The purpose of setting the locking device 13 is to ensure that when the rigid body support 1 is installed, there will be no displacement between the connecting support 2 and the steel nail base 12, thereby ensuring the overall high precision and structural reliability of the spatial positioning device.

Through the fool-proof design of the boss 9 and the connecting part 10 of the connecting bracket 2 and the setting of the locking device 13 at the junction of the connecting bracket 2 and the steel nail base 12, it can further solve the problem of disinfection and repetition of the space positioning device in the current surgical navigation process. During the disassembly and installation process, the installation error caused the tracking accuracy to decrease.

In this embodiment, the angle between the steel nail body 11 and the rigid support 1 is less than 90°. The purpose of such setting is to reflect the infrared light at a vertical angle to the reflective sheet 5 fixed on the rigid body support 1 after the steel nail body 11 is installed on the patient's body, thereby achieving the best tracking accuracy.

In an implementation manner, the rigid support 1 may include at least three extensions, and the through hole 4 may be provided on each extension of the rigid support 1 . Preferably, there may be four extension parts, so as to balance cost and tracking accuracy. One end of the four extension parts is connected together, and the other end extends outward in a fan shape. Specifically, the extension part can adopt a rod-shaped structure, and a through hole 4 can be provided at the free end of each extension part, and a reflective sheet 5 and a fixing part 8 are arranged in the through hole 4 . The lengths of the four extensions can be determined according to actual needs, and the angles between the four extensions can also be determined according to actual needs, so as to ensure the tracking accuracy of the spatial positioning device in different usage scenarios.

In the spatial positioning device provided by the embodiments of the present disclosure, both the rigid body bracket 1 and the connecting bracket 2 can be made of aluminum alloy, so as to achieve light weight. However, since the aluminum alloy material is easy to reflect light, at some angles, components made of the aluminum alloy material may affect the positioning accuracy of the image acquisition device or processing equipment for the reflective member. Therefore, in the embodiment of the present disclosure, the surface of the rigid support 1 and/or the connection support 2 may be provided with an aluminum oxide coating layer, thereby reducing the light reflectivity of the surface of the rigid support 1 and/or the connection support 2, thereby avoiding the rigid body The infrared light reflected by the surface of the bracket 1 and/or the surface connected to the bracket 2 is so strong that it affects the optical tracking accuracy of the surgical navigation system.

Another embodiment of the present disclosure provides a rigid body structure, which can be set in a space positioning device of a surgical navigation system for fixing a reflector. Specifically, the rigid body structure includes a rigid body bracket 1 as shown in FIGS. The exposed area of the reflector.

On the rigid body structure used in the space positioning device provided by the present disclosure, the reflective area is directly formed on the rigid body support, therefore, in the process of disassembling and reinstalling the reflector, the rigid body structure provided by the present disclosure can ensure that the space positioning device The position of the reflective point (the center point of the reflective area) on the head will not change, which fundamentally avoids the problem of tracking error in the surgical navigation system caused by the position change of the detachable reflective ball.

The rigid body structure provided in this embodiment may also include a fixing member 8 as shown in FIG. 1 , FIG. 3 and FIG. 4 . Specifically, the fixing member 8 can be fixedly connected with the rigid support 1 to support the reflective member, so that the relative position of the reflective member and the rigid support 1 remains unchanged during use.

It should be understood that the specific implementation manners and corresponding beneficial effects of the rigid body bracket and/or the fixing member in the rigid body structure provided by this embodiment are similar to those of the foregoing embodiments, and will not be repeated here to avoid repetition.

It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above descriptions are only specific implementation manners of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (20)

A space positioning device for surgical navigation, characterized in that it comprises: Rigid body support; and reflective pieces, Wherein, a through hole is formed on the rigid support, and the smallest inner diameter of the through hole constitutes a reflective area, and the reflective area is used to limit the exposed area of the reflective member. The space positioning device according to claim 1, characterized in that, The through hole includes a through hole opening and a through hole inner cavity, the inner diameter of the through hole inner cavity is larger than the minimum inner diameter of the through hole opening, and the minimum inner diameter of the through hole opening constitutes the reflective area, The reflective member is disposed in the inner cavity of the through hole, and a part corresponding to the reflective area on the surface of the reflective member close to the opening of the through hole is exposed from the reflective area to reflect light. The space positioning device according to claim 1, characterized in that, On a plane perpendicular to the axis of the through hole, the orthographic projection area of the reflective member is larger than the orthographic projection area of the reflective area. The space positioning device according to any one of claims 1-3, characterized in that, The reflector is made of rigid material. The spatial positioning device according to claim 1, further comprising: A connecting bracket and a steel nail, one end of the connecting bracket is configured to be connected to the rigid body bracket, and the other end of the connecting bracket is configured to be connected to the steel nail. The space positioning device according to claim 5, characterized in that, One end of the connecting bracket close to the rigid body bracket is provided with a boss, and the rigid body bracket is provided with a first groove, the shape of the first groove matches the shape of the boss, The connection bracket and the rigid body bracket are configured to be connected through the boss and the first groove. The space positioning device according to claim 5 or 6, characterized in that, One end of the connecting bracket close to the steel nail is provided with a connecting portion, The steel nail includes a steel nail body and a steel nail base, and the steel nail base is provided with a second groove matching the connecting portion, The connecting bracket and the steel nail are configured to be connected through the connecting portion and the second groove. The space positioning device according to claim 7, wherein the angle between the steel nail body and the rigid body support is less than 90°. A rigid body structure of a spatial positioning device for surgical navigation, characterized in that it comprises: a rigid body support, a through hole is formed on the rigid body support, The smallest inner diameter of the through hole constitutes a reflective area, and the reflective area is used to limit the exposed area of the reflective member. The rigid body structure according to claim 9, further comprising: The fixing part is used to limit the position of the reflective part, so that the relative position of the reflective part and the rigid body bracket remains fixed. The rigid body structure according to claim 9, characterized in that, The through hole includes a through hole opening and a through hole inner cavity, the inner diameter of the through hole inner cavity is larger than the minimum inner diameter of the through hole opening, and the minimum inner diameter of the through hole opening constitutes the reflective area, The inner cavity of the through hole is used for accommodating the reflective member. The rigid body structure according to claim 11, characterized in that, The rigid bracket includes a stop portion formed in the through hole, and the stop portion is located between the opening of the through hole and the inner cavity of the through hole, The rigid body structure further includes a fixing piece, and the fixing piece is configured to be screwed into the inner cavity of the through hole, so that the reflective piece is fixed between the stop portion and the fixing piece . The rigid body structure according to claim 10 or 12, characterized in that, An end of the fixing member away from the reflective member protrudes from the rigid support. The rigid body structure according to claim 13, characterized in that, The part of the fixing part protruding from the rigid support is hemispherical. The rigid body structure according to claim 11, characterized in that, The inner diameter of the opening of the through hole gradually decreases from the end away from the lumen of the through hole to the minimum inner diameter. The rigid body structure according to claim 15, characterized in that, The light reflectance of the surface of the side wall of the opening of the through hole is lower than the light reflectance of the surface of other parts of the rigid support. The rigid body structure according to claim 15, characterized in that, On the radial section, the sidewall of the opening of the through hole is arc-shaped or zigzag-shaped. The rigid body structure according to claim 9, characterized in that, A low-reflection area is provided around the reflective area, and the light reflectance of the low-reflection area is lower than the light reflectance of the surface of other parts of the rigid support. The rigid body structure according to claim 9, characterized in that, The surface of the rigid support is provided with an aluminum oxide coating layer. The rigid body structure according to any one of claims 9-12 and 15-19, characterized in that, The rigid support includes four extensions, each of which is provided with a through hole.

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