CN219661883U - Tracker and operation tool assembly - Google Patents

Abstract

The utility model relates to a tracker and a surgical tool assembly. The tracker includes: a support having opposed first and second surfaces; the first tracing ball group comprises a plurality of first tracing balls, and the first tracing balls are arranged on the first surface of the support; the second tracing ball group comprises a plurality of second tracing balls, and the second tracing balls are arranged on the second surface of the support. The tracker is equivalent to two traditional trackers, and the tracker does not need to be manually adjusted after the surgical tool is turned backwards, so that the surgical efficiency is improved.

Description

Tracker and operation tool assembly

Technical Field

The utility model relates to the field of medical equipment, in particular to a tracker and a surgical tool assembly.

Background

In a tracker for surgery, a tracer ball is provided on a holder, which is fixed to a surgical tool, and a navigation system of a surgical robot recognizes the tracer ball to determine the position of the surgical tool. A plurality of tracer balls are typically disposed on the same surface of the holder, and this form of tracker is suitable for use with more irregularly shaped surgical tools. For special-shaped surgical tools, if the direction of the surgical tool is changed in the surgical process, the tracker cannot be identified by the navigation system of the surgical robot, the direction of the tracker needs to be manually adjusted and manually identified in software, and the operation is affected.

Disclosure of Invention

Based on the problems, the utility model provides the tracker and the surgical tool assembly, which are convenient for the identification of the navigation system of the surgical robot and improve the surgical efficiency.

One embodiment of the present utility model provides a tracker including: a support having opposed first and second surfaces; the first tracer ball group comprises a plurality of first tracer balls, and the first tracer balls are arranged on the first surface of the support; the second tracer ball group comprises a plurality of second tracer balls, and the second tracer balls are arranged on the second surface of the support.

According to some embodiments of the utility model, the support comprises: a connection part for connecting a surgical tool; one end of the bracket is connected with the connecting part; the tracer ball seat is connected with the other end of the support, and the first tracer ball group and the second tracer ball group are both arranged on the tracer ball seat.

According to some embodiments of the utility model, the tracer ball seat is provided with a first tracer ball hole and a second tracer ball hole, the first tracer ball being provided to the first tracer ball hole and the second tracer ball being provided to the second tracer ball hole.

According to some embodiments of the utility model, the first and second tracer ball holes are coaxial.

According to some embodiments of the utility model, the connection is provided with a through hole through which a surgical tool can be passed.

According to some embodiments of the utility model, the bracket is provided with lightening holes.

According to some embodiments of the utility model, the tracker further comprises a locking structure disposed on the support, the locking structure configured to lock the tracker to a surgical tool.

According to some embodiments of the utility model, the locking structure comprises a first locking block and a second locking block, a gap is arranged between the first locking block and the second locking block, and the first locking block and the second locking block are close to each other to lock the tracker.

According to some embodiments of the utility model, the first and second tracer balls are luminescent balls or reflective balls.

One embodiment of the present utility model provides a surgical tool assembly comprising: a surgical tool; a tracker as described above, said tracker being provided to said surgical tool.

The tracker provided by the utility model has the advantages that the first tracing ball group is arranged on the first surface of the support, the second tracing ball group is arranged on the second surface of the support, and the tracker can be used as two traditional trackers, so that the use is convenient, the manufacturing cost is saved, and the operation efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the present utility model, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings by a person skilled in the art without departing from the scope of the present utility model as claimed.

FIG. 1 is a schematic diagram of a first tracker according to an embodiment of the present utility model;

FIG. 2 is a side view of a first tracker of an embodiment of the present utility model;

FIG. 3 is a schematic illustration of an embodiment of the present utility model with a tracker disposed on a surgical tool;

FIG. 4 is a second schematic diagram of an embodiment of the present utility model with a tracker disposed on a surgical tool;

FIG. 5 is a schematic diagram of a second tracker according to an embodiment of the present utility model;

FIG. 6 is a side view of a second tracker of an embodiment of the present utility model;

FIG. 7 is a schematic view of a first tracer ball disposed on a carrier according to an embodiment of the utility model;

FIG. 8 is a schematic view of a second tracer ball disposed on a carrier according to an embodiment of the utility model;

fig. 9 is a schematic view of a locking structure according to an embodiment of the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made more complete and clear by reference to the accompanying drawings of embodiments of the present utility model, wherein it is evident that the embodiments described are some, but not all, of the embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1 and 2, an embodiment of the present utility model provides a tracker 100 comprising a support 1, a first set of trackball 2 and a second set of trackball 3. The first tracing ball group 2 of the tracker 100 corresponds to a traditional tracker, the second tracing ball group 3 corresponds to another traditional tracker, and the operation efficiency is improved.

The support 1 has opposite first and second surfaces 1a, 1b. The holder 1 is used for attaching surgical tools.

The first tracer ball group 2 is disposed on the support 1, and the first tracer ball group 2 includes a plurality of first tracer balls 21, for example, the first tracer balls 21 are reflective balls. A plurality of first tracer balls 21 are each provided on the first surface 1a of the support 1. The plurality of first tracer balls 21 are arranged asymmetrically and non-collinearly, and the navigation system of the surgical robot is able to identify the first tracer balls 21 to determine the position of the surgical tool. The first ball set 2 is arranged on the support 1 and corresponds to a conventional tracker. Optionally, the number of first tracer balls 21 is at least three.

The second tracer ball group 3 is disposed on the support 1, and the second tracer ball group 3 includes a plurality of second tracer balls 31, for example, the second tracer balls 31 are reflective balls. A plurality of second tracer balls 31 are each arranged on the second surface 1b of the support 1. The plurality of second tracer balls 31 are disposed asymmetrically and non-collinearly, and the navigation system of the surgical robot is capable of identifying the second tracer balls 31 to determine the position of the surgical tool. The second set of tracking balls 3 is arranged on the support 1, corresponding to another conventional tracker. Optionally, the number of second tracer balls 31 is at least three.

The identification information formed by the plurality of first trackball 21 of the first trackball set 2 and the identification information formed by the plurality of second trackball set 3 of the second trackball set 3 are different, and the navigation system of the surgical robot is capable of identifying the first trackball set 2 and the second trackball set 3 as two different combinations.

As shown in fig. 3 and 4, for example, the first trackball set 2 is set as a first tracker and the second trackball set 3 is set as a second tracker in the navigation system of the surgical robot. When the tracker 100 is mounted on the surgical tool 200, the first tracking ball group 2 is opposite to the navigation system of the surgical robot, and the navigation system of the surgical robot recognizes the first tracking ball group 2 to determine the position of the surgical tool 200 by the first tracker. During the operation, the surgical tool 200 is turned so that the second tracer ball group 3 faces the navigation system of the surgical robot, and after the navigation system of the surgical robot recognizes the second tracer ball group 3, the position of the surgical tool 200 is automatically adjusted to be determined by the second tracker.

The tracker 100 of this embodiment sets up first tracer ball group 2 and second tracer ball group 3 on the relative two surfaces of support 1, and the tracker 100 of this embodiment is equivalent to two traditional trackers, and the navigation system of operation robot can switch between first tracker and second tracker according to the information of discernment, and the operation instrument rotates and does not influence the operation and goes on, and it is more convenient to use, practices thrift manufacturing cost, improves operation efficiency.

As shown in fig. 5 and 6, in some embodiments, the support 1 comprises: a connection 11, a bracket 12 and a tracer ball seat 13.

The connection portion 11 is used to connect the surgical tool 200. One end of the bracket 12 is connected with the connecting part 11, and the other end of the bracket 12 is connected with the tracing ball seat 13. The first and second sets of tracer balls 2, 3 are both provided in the tracer ball seat 13. For example, the number of first tracer balls 21, the number of second tracer balls 31 and the number of tracer balls 13 are all the same, and one tracer ball 13 and one second tracer ball 31 are provided on each tracer ball 13. The tracker 100 has a simple overall structure and is convenient to manufacture.

In some embodiments, one surface of the tracer ball seat 13 is provided with a first tracer ball bore and the other surface of the tracer ball seat 13 is provided with a second tracer ball bore. The first tracer ball 21 is arranged in the first tracer ball hole, and the second tracer ball 31 is arranged in the second tracer ball hole, so that the first tracer ball group 2 and the second tracer ball group 3 are connected with the tracer ball seat 13 conveniently. Optionally, glue is applied in the first and second ball holes, bonding the first and second ball 21, 31 to the ball seat 13.

As shown in fig. 7 and 8, in some embodiments, the first and second trackball holes are coaxially disposed such that the first trackball 21 and the corresponding second trackball 31 are disposed in mirror image with respect to the center plane of the support 1, facilitating the preparation of the tracker 100.

As shown in fig. 6, in some embodiments, the connection portion 11 is provided with a through hole 111. For example, the through hole 111 is a cylindrical hole, and the surgical tool 200 having a cylindrical shape as a whole can be inserted into the through hole 111, so that the tracker 100 can be connected to the surgical tool 200.

As shown in fig. 5, in some embodiments, the bracket 12 is provided with a weight-reducing hole 121 to reduce the weight of the tracker 100. The shape of the lightening holes 121 is set according to the need.

In some embodiments, the tracker 100 further comprises a locking structure 4, the locking structure 4 being provided on the support 1, the locking structure 4 being used to lock the tracker 100 to the surgical tool 200, enabling a detachable connection of the tracker 100 to the surgical tool 200.

As shown in fig. 9, for example, the lock structure 4 includes a first lock piece 41 and a second lock piece 42, the first lock piece 41 and the second lock piece 42 being provided on the same end face of the connecting portion 11 with a gap provided between the first lock piece 41 and the second lock piece 42. Alternatively, the first locking piece 41 and the second locking piece 42 are symmetrically disposed with respect to the axis of the through hole 111. The first locking piece 41 and the second locking piece 42 are connected by a fastener such as a screw. The surgical tool 200 is passed between the first lock block 41 and the second lock block 42, the fasteners are tightened, and the first lock block 41 and the second lock block 42 are moved closer to each other to clamp the surgical tool 200, thereby fastening the tracker 100 to the surgical tool 200. The fastener is unscrewed and the first locking block 41 and the second locking block 42 are moved away from each other to remove the tracker 100.

In some embodiments, the tracker 100 is an active tracker, and the first trackball 21 and the second trackball 31 are both luminescent balls, for example luminescent balls capable of emitting infrared light. The navigation system of the surgical robot determines the position of the luminous ball according to the infrared light emitted by the luminous ball. The tracker 100 may also be a passive tracker, and the first tracer ball 21 and the second tracer ball 31 are reflective balls. The navigation system of the surgical robot determines the position of the reflective ball according to the light reflected by the reflective ball.

Embodiments of the present utility model also provide a surgical tool assembly including the tracker 100 and the surgical tool 200 as described above, the tracker 100 being disposed on the surgical tool 200.

The tracker 100 of the utility model can be used for navigating special-shaped surgical tools, the tracker 100 is equivalent to two traditional trackers, the direction of the tracker 100 does not need to be manually adjusted in the surgical process through the cooperation of a surgical robot navigation system, and the manual adjustment is not needed on navigation system software, so that the surgical efficiency is improved.

The above description of the embodiments of the present utility model is provided in detail. The principles and embodiments of the present utility model have been described herein with reference to specific examples, which are provided to facilitate understanding of the technical solution of the present utility model and the core ideas thereof. Therefore, those skilled in the art will appreciate that many changes and modifications can be made in the specific embodiments and applications of the utility model based on the spirit and scope of the utility model. In view of the foregoing, this description should not be construed as limiting the utility model.

Claims (10)

1. A tracker, comprising:

a support having opposed first and second surfaces;

the first tracer ball group comprises a plurality of first tracer balls, and the first tracer balls are arranged on the first surface of the support;

the second tracer ball group comprises a plurality of second tracer balls, and the second tracer balls are arranged on the second surface of the support.

2. The tracker of claim 1 wherein said stand-offs comprise:

a connection part for connecting a surgical tool;

one end of the bracket is connected with the connecting part;

the tracer ball seat is connected with the other end of the support, and the first tracer ball group and the second tracer ball group are both arranged on the tracer ball seat.

3. The tracker of claim 2 wherein the track ball seat is provided with a first track ball hole and a second track ball hole, the first track ball being disposed in the first track ball hole and the second track ball being disposed in the second track ball hole.

4. A tracker according to claim 3, wherein the first and second trackball holes are coaxial.

5. A tracker according to claim 2, wherein the connection is provided with a through hole through which a surgical tool can be passed.

6. A tracker according to claim 2, wherein the bracket is provided with a lightening hole.

7. The tracker of claim 1 further comprising a locking structure disposed on said support for locking said tracker to a surgical tool.

8. The tracker of claim 7 wherein said locking structure comprises a first locking block and a second locking block, a gap being provided between said first locking block and said second locking block, said first locking block and said second locking block being in proximity to each other to lock said tracker.

9. The tracker of claim 1 wherein the first tracking ball and the second tracking ball are both lighted balls or are both reflective balls.

10. A surgical tool assembly, comprising:

a surgical tool;

the tracker of any of claims 1-9, provided to the surgical tool.