WO2017173816A1 - High precision optical tracking tool - Google Patents
High precision optical tracking tool Download PDFInfo
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- WO2017173816A1 WO2017173816A1 PCT/CN2016/103504 CN2016103504W WO2017173816A1 WO 2017173816 A1 WO2017173816 A1 WO 2017173816A1 CN 2016103504 W CN2016103504 W CN 2016103504W WO 2017173816 A1 WO2017173816 A1 WO 2017173816A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
Definitions
- the invention relates to a high precision optical tracking tool
- Positioning accuracy is the most important performance of a surgical robot, which mainly refers to the absolute spatial accuracy of the robot.
- robots are often equipped with a variety of different types of end tools, these end tools are often connected to the robot body using a quick loading mechanism. Due to the limitations of the robot arm's own mechanical precision, it is often used to install an optical tracking tool near the end tool for "hand-eye feedback" to improve accuracy.
- the accuracy of the surgical robot often depends on the accuracy of the optical stereo positioning technique.
- the optical stereo positioning technology utilizes the monocular or binocular stereo vision principle to identify pre-designed landmarks attached to the object being tracked, thereby calculating the spatial position and direction of the object being tracked.
- the marker points are generally pre-arranged on a rigid body, which is called an optical tracking tool. Due to the limitations of the principles and the need to improve accuracy, the marking points on the optical tracking tool must meet certain constraints. These constraints are mainly the minimum distance between the point pairs formed between the points and the minimum difference between the different pairs of points, so the marker points cannot be arranged in a small range, which also limits the optical tracking tool. smallest size.
- the absolute spatial precision of the robot end tool generally refers to the spatial positioning accuracy of the surgical needle tip.
- the accuracy of this particular point is affected by the size and mounting distance of the optical tracking tool itself.
- optical tracking tools are often limited to not being able to approach specific points, while oversized optical tracking tools are hampered by use.
- Intraoperative self-test refers to the rapid detection of whether the robot has the correct type of end tool installed, whether the end tool is deformed and whether the installation is in place without changing the medical procedure without adding extra steps.
- an object of the present invention is to provide a high precision optical tracking tool, the optical
- the installation of the tracking tool on a surgical robot (or other device that requires precise positioning) can significantly improve positioning accuracy and enable rapid detection of the type and status of the end tool.
- a high-precision optical tracking tool which comprises: a rigid support, a main marker point group and a second marker point group; wherein the main marker point group includes three More than one first marking point, each of the first marking points being disposed on the rigid bracket; the second marking point group comprising one or two second marking points when the high precision optical tracking tool is mounted
- the distance between the second marker point and each of the first marker points is greater than 50 mm.
- the distance between any two of the first marking points is greater than 50 mm and the difference between each of the distances is greater than 5 mm.
- At least three of the first marker points are at an angle of 75° or less in the main marker point group.
- the difference in distance between the marker points is greater than 5 mm.
- the present invention has the following advantages due to the above technical solution: 1.
- the present invention includes a main marker point group and a second marker point group.
- the main marker point group is mounted through the rigid bracket.
- the second marker point group is disposed on the end tool, and the number of marker points in the second marker point group may be set less (one or two) as the case occurs, because the marker in the second marker point group The point is closer to a specific point of the end tool, so the positioning accuracy can be significantly improved.
- the second marker point group of the present invention disposed on different end tools is different, and therefore, it is possible to identify which end tool is currently used by detecting the positional relationship. 3.
- the invention can be used for real-time detection of the end tool.
- the data of the optical tracking device determines that the position relationship between the second marker point group and the main marker point group is incorrect. This reminds the operator to check and reinstall or replace it.
- the invention can be widely applied to devices that require precise positioning.
- Figure 1 is a schematic view showing the entire structure of the present invention.
- the present invention proposes a high-precision optical tracking tool comprising a rigid support 1, a main marker point group and a second marker point group.
- the main marker point group includes three or more marker points 2, and each marker point 2 is disposed on the rigid stent 1, and the distribution of the marker points 2 satisfies the following two conditions: 1 the distance between each of the two marker points 2 is greater than 50 mm And the difference between each distance is greater than 5mm (take three mark points ABC as an example, there are three lines of AB, AC, BC, these distances should be greater than 50mm, 55mm, 60mm in order); 2 at least three points 2 to 75 Angle below ° (not collinear).
- the second marker point group includes one or two marker points 3.
- the main marker point group When the present invention is applied to a device requiring positioning, the main marker point group is connected to the device through the rigid bracket 1, and the installation position of the second marker point group satisfies the following Condition: the distance between the marker point 3 and each marker point 2 in the main marker point group is greater than 50 mm, and the difference between the points of the marker group consisting of the marker point 3 and the marker point 2 is greater than 5 mm (in terms of Mark 2 is ABC, and marker 3 is D. There are six lines of AB, AC, AD, BC, BD, and CD. These distances should be greater than 50mm, 55mm, 60mm, 65mm, 70mm, 75mm, and 80mm. ).
- the end tool 5 is connected to the surgical robot body 4 via a quick connect mechanism 6, and the rigid stent 1 of the present invention is mounted on the surgical robot body 4.
- the second marker point group is disposed on the end tool 5, and the second marker point group can be set to a different structure (the number of marker points 3 and its positional relationship with the main marker point group) for different end tools 5. Since the positional relationship between the different second marker point groups and the main marker point group is different, it is possible to identify which end tool 5 is currently used by detecting the positional relationship.
- the end tool 5 when the end tool 5 does not maintain normal installation or damage, it can detect that the positional relationship between the second marker point group and the main marker point group is incorrect, thereby reminding the operator of the surgical robot to perform an inspection to re- Install or replace. Furthermore, the present invention provides a significant improvement in positioning accuracy since the marker point 3 is closer to a particular point of the end tool 5 than conventional optical tracking tools.
- the invention can be applied not only to a surgical robot but also to any device that requires precise positioning, and the method of use is similar to that described above when applied to other devices.
Abstract
A high precision optical tracking tool, comprising a rigid support frame (1), a main marker point group, and a second marker point group; the main marker point group comprises more than three first marker points (2), the first marker points (2) all being arranged on the rigid support frame (1); the second marker point group comprises one or two second marker points (3), and when the high precision optical tracking tool is mounted on a device to be positioned, the distance between the second marker points (3) and each first marker point (2) is greater than 50 mm. When used in a surgical robot, the main marker point group is mounted on the surgical robot body (4) by means of the rigid support frame (1), and the second marker point group is arranged on a tail end tool (5); as the marker points in the second marker point group are closer to specific points on the tail end tool (5), positioning precision can be significantly improved. In addition, by means of changing the structure of the second marker point group, different shapes can be formed with the main marker point group, enabling identification of the second marker point group.
Description
本发明涉及一种高精度光学跟踪工具The invention relates to a high precision optical tracking tool
定位精度是手术机器人最重要的一项性能，该精度主要指机器人的绝对空间精度。为适应不同的手术，机器人往往备有多种不同类型的末端工具，这些末端工具多使用快速装卸机构和机器人本体相连接。由于机器人手臂自身机械精度的限制，往往采用在末端工具附近安装光学跟踪工具进行“手眼反馈”来提高精度。在这种情况下，手术机器人的精度往往依赖于光学立体定位技术的精度。光学立体定位技术是利用单目或双目立体视觉原理，识别附着在被跟踪物体上中预先设计的标志点，进而计算出被跟踪物体的空间位置和方向。对于成熟的设备一般将标志点预先布置在一个刚体上，这个刚体称之为光学跟踪工具。由于原理的限制和提升精度的需求，被光学跟踪工具上的标志点必须满足某些限制条件。这些限制条件主要是点与点之间形成的点对的最小距离和不同点对之间距离的最小差，故而无法将标志点布置在一个很小的范围内，也相应限制了光学跟踪工具的最小尺寸。Positioning accuracy is the most important performance of a surgical robot, which mainly refers to the absolute spatial accuracy of the robot. In order to adapt to different operations, robots are often equipped with a variety of different types of end tools, these end tools are often connected to the robot body using a quick loading mechanism. Due to the limitations of the robot arm's own mechanical precision, it is often used to install an optical tracking tool near the end tool for "hand-eye feedback" to improve accuracy. In this case, the accuracy of the surgical robot often depends on the accuracy of the optical stereo positioning technique. The optical stereo positioning technology utilizes the monocular or binocular stereo vision principle to identify pre-designed landmarks attached to the object being tracked, thereby calculating the spatial position and direction of the object being tracked. For mature equipment, the marker points are generally pre-arranged on a rigid body, which is called an optical tracking tool. Due to the limitations of the principles and the need to improve accuracy, the marking points on the optical tracking tool must meet certain constraints. These constraints are mainly the minimum distance between the point pairs formed between the points and the minimum difference between the different pairs of points, so the marker points cannot be arranged in a small range, which also limits the optical tracking tool. smallest size.
机器人末端工具的绝对空间精度，以手术器械为例一般是指手术导针针尖的空间定位精度。此特定点的精度受光学跟踪工具本身的大小及安装距离影像，原则上希望提高精度需要尽可能将光学跟踪工具中的标志点靠近特定点，或是增加光学跟踪工具本身的大小。但是光学跟踪工具往往受到限制无法靠近特定点，同时过大的光学跟踪工具对使用有阻碍。The absolute spatial precision of the robot end tool, taking the surgical instrument as an example, generally refers to the spatial positioning accuracy of the surgical needle tip. The accuracy of this particular point is affected by the size and mounting distance of the optical tracking tool itself. In principle, it is desirable to increase the accuracy by as close as possible to the point in the optical tracking tool or to increase the size of the optical tracking tool itself. However, optical tracking tools are often limited to not being able to approach specific points, while oversized optical tracking tools are hampered by use.
此外，末端工具类型的识别和状态检测也是手术机器人的一个重要的方面，这项工作一般通过术中自检测来实现。术中自检测是指在不改变医疗流程不添加额外步骤的前提下对机器人是否安装了正确类型的末端工具、末端工具是否变形及安装是否到位进行快速检测。In addition, the identification and status detection of end tool types is also an important aspect of surgical robots, and this work is generally achieved by intraoperative self-testing. Intraoperative self-test refers to the rapid detection of whether the robot has the correct type of end tool installed, whether the end tool is deformed and whether the installation is in place without changing the medical procedure without adding extra steps.
发明内容Summary of the invention
针对上述问题，本发明的目的是提供一种高精度光学跟踪工具，该光学跟
踪工具安装在手术机器人(或者其它需要精确定位的设备上)能够显著提高定位精度，并且能够对末端工具的类型、状态进行快速检测。In view of the above problems, an object of the present invention is to provide a high precision optical tracking tool, the optical
The installation of the tracking tool on a surgical robot (or other device that requires precise positioning) can significantly improve positioning accuracy and enable rapid detection of the type and status of the end tool.
为实现上述目的，本发明采用以下技术方案：一种高精度光学跟踪工具，其特征在于：它包括刚性支架、主标记点群和第二标记点群；其中，所述主标记点群包括三个以上第一标记点，各所述第一标记点均设置在所述刚性支架上；所述第二标记点群包括一个或两个第二标记点，当所述高精度光学跟踪工具安装在需要定位的设备上时所述第二标记点与每一所述第一标记点间的距离均大于50mm。In order to achieve the above object, the present invention adopts the following technical solution: a high-precision optical tracking tool, which comprises: a rigid support, a main marker point group and a second marker point group; wherein the main marker point group includes three More than one first marking point, each of the first marking points being disposed on the rigid bracket; the second marking point group comprising one or two second marking points when the high precision optical tracking tool is mounted When the device to be positioned is on the device, the distance between the second marker point and each of the first marker points is greater than 50 mm.
任意两所述第一标记点间的距离均大于50mm且各所述距离的差大于5mm。The distance between any two of the first marking points is greater than 50 mm and the difference between each of the distances is greater than 5 mm.
在所述主标记点群中至少有三个所述第一标记点成75°以下的夹角。At least three of the first marker points are at an angle of 75° or less in the main marker point group.
在所述第二标记点与所述第一标记点所组成的大群中，各标记点间距离的差大于5mm。In the large group consisting of the second marker point and the first marker point, the difference in distance between the marker points is greater than 5 mm.
本发明由于采取以上技术方案，其具有以下优点：1、本发明包括一个主标记点群和一个第二标记点群，当本发明在手术机器人上应用时，主标记点群通过刚性支架安装在手术机器人本体上，第二标记点群设置在末端工具上其中，第二标记点群中的标记点数量可以视情况设置得较少(一个或两个)，由于第二标记点群中的标记点更接近末端工具的特定点，因此定位精度可以得到显著的提高。2、本发明设置在不同的末端工具上的第二标记点群不同，因此，可以通过检测位置关系识别出当前使用的是哪一个末端工具。3、本发明可以用于末端工具的实时检测，当末端工具没有维持正常安装或是发生损坏时，将由光学跟踪设备的数据判断出第二标记点群与主标记点群的位置关系不正确，从而提醒操作人员进行检查，进行重新安装或者更换。本发明可以广泛应用于需要精确定位的设备上。The present invention has the following advantages due to the above technical solution: 1. The present invention includes a main marker point group and a second marker point group. When the present invention is applied to a surgical robot, the main marker point group is mounted through the rigid bracket. On the body of the surgical robot, the second marker point group is disposed on the end tool, and the number of marker points in the second marker point group may be set less (one or two) as the case occurs, because the marker in the second marker point group The point is closer to a specific point of the end tool, so the positioning accuracy can be significantly improved. 2. The second marker point group of the present invention disposed on different end tools is different, and therefore, it is possible to identify which end tool is currently used by detecting the positional relationship. 3. The invention can be used for real-time detection of the end tool. When the end tool does not maintain normal installation or damage, the data of the optical tracking device determines that the position relationship between the second marker point group and the main marker point group is incorrect. This reminds the operator to check and reinstall or replace it. The invention can be widely applied to devices that require precise positioning.
以下结合附图来对本发明进行详细的描绘。然而应当理解，附图的提供仅为了更好地理解本发明，它们不应该理解成对本发明的限制。The invention is described in detail below with reference to the accompanying drawings. It is to be understood, however, that the appended claims
图1是本发明的整体结构示意图。BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic view showing the entire structure of the present invention.
下面结合附图和实施例对本发明进行详细的描述。
The invention will now be described in detail in conjunction with the drawings and embodiments.
如图1所示，本发明提出了一种高精度光学跟踪工具，它包括刚性支架1、主标记点群和第二标记点群。其中，主标记点群包括三个以上标记点2，各标记点2均设置在刚性支架1上，并且标记点2的分布满足以下两个条件：①每任意两标记点2间的距离大于50mm且各个距离的差大于5mm(以三个标记点ABC为例，有AB、AC、BC三条连线，这些距离应乱序依次大于50mm、55mm、60mm)；②至少有三个标记点2成75°以下的夹角(不共线)。第二标记点群包括一个或两个标记点3，当本发明应用于需要定位的设备上时，主标记点群通过刚性支架1连接在设备上，第二标记点群的安装位置则满足以下条件：标记点3与主标记点群中的每个标记点2间的距离均大于50mm，同时，在标记点3与标记点2所组成的标记点大群中各点距离的差大于5mm(以标记点2为ABC，标记点3为D为例，有AB、AC、AD、BC、BD、CD六条连线，这些距离排序后应依次大于50mm、55mm、60mm、65mm、70mm、75mm、80mm)。As shown in FIG. 1, the present invention proposes a high-precision optical tracking tool comprising a rigid support 1, a main marker point group and a second marker point group. Wherein, the main marker point group includes three or more marker points 2, and each marker point 2 is disposed on the rigid stent 1, and the distribution of the marker points 2 satisfies the following two conditions: 1 the distance between each of the two marker points 2 is greater than 50 mm And the difference between each distance is greater than 5mm (take three mark points ABC as an example, there are three lines of AB, AC, BC, these distances should be greater than 50mm, 55mm, 60mm in order); 2 at least three points 2 to 75 Angle below ° (not collinear). The second marker point group includes one or two marker points 3. When the present invention is applied to a device requiring positioning, the main marker point group is connected to the device through the rigid bracket 1, and the installation position of the second marker point group satisfies the following Condition: the distance between the marker point 3 and each marker point 2 in the main marker point group is greater than 50 mm, and the difference between the points of the marker group consisting of the marker point 3 and the marker point 2 is greater than 5 mm (in terms of Mark 2 is ABC, and marker 3 is D. There are six lines of AB, AC, AD, BC, BD, and CD. These distances should be greater than 50mm, 55mm, 60mm, 65mm, 70mm, 75mm, and 80mm. ).
图1是本发明在手术机器人上的应用示意图，在本实施例中，末端工具5通过快速连接机构6与手术机器人本体4连接，本发明的刚性支架1安装在手术机器人本体4上，本发明的第二标记点群设置在末端工具5上，对于不同的末端工具5第二标记点群可以设置成不同的结构(标记点3的数量及其与主标记点群的位置关系)。由于不同的第二标记点群与主标记点群的位置关系不同，因此可以通过检测位置关系识别出当前安使用的是哪个末端工具5。而在使用时，当末端工具5没有维持正常安装或是发生损坏时，可以检测出第二标记点群与主标记点群的位置关系不正确，从而提醒手术机器人的操作人员进行检查，以重新安装或者更换。此外，本发明由于标记点3相比与传统光学跟踪工具而言更接近末端工具5的特定点，因此定位精度有显著的提高。1 is a schematic view of the application of the present invention on a surgical robot. In the present embodiment, the end tool 5 is connected to the surgical robot body 4 via a quick connect mechanism 6, and the rigid stent 1 of the present invention is mounted on the surgical robot body 4. The second marker point group is disposed on the end tool 5, and the second marker point group can be set to a different structure (the number of marker points 3 and its positional relationship with the main marker point group) for different end tools 5. Since the positional relationship between the different second marker point groups and the main marker point group is different, it is possible to identify which end tool 5 is currently used by detecting the positional relationship. In use, when the end tool 5 does not maintain normal installation or damage, it can detect that the positional relationship between the second marker point group and the main marker point group is incorrect, thereby reminding the operator of the surgical robot to perform an inspection to re- Install or replace. Furthermore, the present invention provides a significant improvement in positioning accuracy since the marker point 3 is closer to a particular point of the end tool 5 than conventional optical tracking tools.
本发明不仅可以应用于手术机器人，也可以应用于任何一种需要精确定位的设备，在应用在其它设备上时，使用方法与上述方式类似。The invention can be applied not only to a surgical robot but also to any device that requires precise positioning, and the method of use is similar to that described above when applied to other devices.
上述各实施例仅用于对本发明的目的、技术方案和有益效果进行了进一步详细说明，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
The above embodiments are only used to further clarify the objects, technical solutions and advantageous effects of the present invention, and are not intended to limit the present invention. Any modifications, equivalents, and modifications made within the spirit and principles of the present invention. Improvements and the like should be included in the scope of protection of the present invention.
Claims (4)
- 一种高精度光学跟踪工具，其特征在于：它包括刚性支架、主标记点群和第二标记点群；其中，所述主标记点群包括三个以上第一标记点，各所述第一标记点均设置在所述刚性支架上；所述第二标记点群包括一个或两个第二标记点，当所述高精度光学跟踪工具安装在需要定位的设备上时所述第二标记点与每一所述第一标记点间的距离均大于50mm。A high-precision optical tracking tool, comprising: a rigid support, a main marker point group and a second marker point group; wherein the main marker point group comprises three or more first marker points, each of the first Marking points are each disposed on the rigid support; the second set of point points includes one or two second marked points, the second marked point when the high precision optical tracking tool is mounted on a device requiring positioning The distance from each of the first marking points is greater than 50 mm.
- 如权利要求1所述的一种高精度光学跟踪工具，其特征在于：任意两所述第一标记点间的距离均大于50mm且各所述距离的差大于5mm。A high-precision optical tracking tool according to claim 1, wherein the distance between any two of said first marking points is greater than 50 mm and the difference between said distances is greater than 5 mm.
- 如权利要求2所述的一种高精度光学跟踪工具，其特征在于：在所述主标记点群中至少有三个所述第一标记点成75°以下的夹角。A high-precision optical tracking tool according to claim 2, wherein at least three of said first marker points are at an angle of 75 or less in said main marker point group.
- 如权利要求1或2或3所述的一种高精度光学跟踪工具，其特征在于：在所述第二标记点与所述第一标记点所组成的大群中，各标记点间距离的差大于5mm。 A high-precision optical tracking tool according to claim 1 or 2 or 3, wherein in the large group consisting of the second marker point and the first marker point, the difference in distance between the marker points More than 5mm.
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| CN115153837A (en) * | 2022-09-05 | 2022-10-11 | 杭州柳叶刀机器人有限公司 | Mark point arrangement method and device of optical tracking tool and electronic equipment |
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| CN205649543U (en) * | 2016-04-05 | 2016-10-19 | 北京天智航医疗科技股份有限公司 | High accuracy optical tracking instrument |
| CN111633652A (en) * | 2020-06-02 | 2020-09-08 | 杜思傲 | Method for registering robot coordinate system by using three-dimensional positioning device |
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| CN115153837B (en) * | 2022-09-05 | 2022-12-16 | 杭州柳叶刀机器人有限公司 | Mark point arrangement method and device of optical tracking tool and electronic equipment |
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| CN205649543U (en) | 2016-10-19 |
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