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CN-224220233-U - Sensor pose adjusting device

CN224220233UCN 224220233 UCN224220233 UCN 224220233UCN-224220233-U

Abstract

The utility model belongs to the technical field of surgical navigation, and discloses a sensor pose adjusting device which comprises an adjusting bracket, a positioning piece and a control center, wherein the adjusting bracket comprises a base, a first rotating component, a second rotating component and a third rotating component, the first rotating component is arranged on the base, the second rotating component is arranged on the first rotating component, the third rotating component is arranged on the second rotating component, a sensor is arranged on the third rotating component, the positioning piece is fixed at a preset position, the pose of the positioning piece is acquired through the sensor, namely, the relative pose of the positioning piece relative to the sensor, if the pose of the positioning piece acquired by the sensor is not in a standard pose range, the pose of a surgical tool cannot be completely acquired, the control center controls the first rotating component, the second rotating component and the third rotating component to drive the sensor to rotate, and the sensor is adjusted to the preset pose, so that the pose of the positioning piece relative to the sensor is in the standard pose range.

Inventors

  • QI JITAO
  • CAI PENGFEI
  • ZHANG LIQUN
  • LIU JIYE

Assignees

  • 北京纳通医用机器人科技有限公司

Dates

Publication Date
20260512
Application Date
20250226

Claims (10)

  1. 1. A sensor pose adjustment device for adjusting the pose of a sensor, comprising: The adjusting bracket comprises a base (1), a first rotating assembly (2), a second rotating assembly (3) and a third rotating assembly (4), wherein the first rotating assembly (2) is installed on the base (1), the second rotating assembly (3) is installed on the first rotating assembly (2), the first rotating assembly (2) rotates to drive the second rotating assembly (3) to rotate, the third rotating assembly (4) is installed on the second rotating assembly (3), the second rotating assembly (3) rotates to drive the third rotating assembly (4) to rotate, and the sensor is installed on the third rotating assembly (4); the positioning piece is fixed at a preset position, and the sensor is used for acquiring the pose of the positioning piece; The control center is used for receiving information of the sensor and controlling the first rotating assembly (2), the second rotating assembly (3) and the third rotating assembly (4) to adjust the sensor to a preset pose.
  2. 2. The sensor pose adjustment device according to claim 1, characterized in that the rotation axis of the first rotation assembly (2), the rotation axis of the second rotation assembly (3) and the rotation axis of the third rotation assembly (4) are perpendicular to each other.
  3. 3. The sensor pose adjustment device according to claim 1, characterized in that the first rotating assembly (2) comprises a first driving member (21) and a first connecting member (22), the first driving member (21) is mounted on the base (1), the first connecting member (22) is connected to an output end of the first driving member (21), the first driving member (21) is configured to drive the first connecting member (22) to rotate, and the second rotating assembly (3) is mounted on the first connecting member (22).
  4. 4. A sensor pose adjustment device according to claim 3 characterized in that said second rotation assembly (3) comprises a second driving member (31) and a second connecting member (32), said second driving member (31) is mounted on said first connecting member (22), said second connecting member (32) is connected to an output end of said second driving member (31), said second driving member (31) is configured to drive said second connecting member (32) to rotate, and said third rotation assembly (4) is mounted on said second connecting member (32).
  5. 5. The sensor pose adjustment device according to claim 4, characterized in that the third rotation assembly (4) comprises a third driving member and a third connecting member, the third driving member is mounted on the second connecting member (32), the third connecting member is connected to an output end of the third driving member, and the sensor is mounted on the third connecting member.
  6. 6. The sensor pose adjustment device according to claim 5, characterized in that one end of the third connecting piece facing away from the third driving piece is provided with a fixing seat (5), and the sensor is mounted on the fixing seat (5).
  7. 7. The sensor pose adjustment device of claim 1 wherein the positioning member is configured to emit a light signal and the sensor is configured to receive the intensity and angle of the light signal to capture the pose of the positioning member.
  8. 8. The sensor pose adjustment device according to claim 1, further comprising a sensor acquisition system connected to the sensor and the control center for receiving information of the sensor and transmitting the information to the control center.
  9. 9. The sensor pose adjustment device of claim 1, wherein a standard pose range of the positioning member and the sensor is preset, the standard pose range being stored in the control center, the control center being configured to compare the pose of the positioning member with the standard pose range.
  10. 10. The sensor pose adjustment device according to claim 9, characterized in that the control center is configured to calculate pose deviations of the pose of the positioning member from a standard pose range, calculate motion information of the first rotating assembly (2), the second rotating assembly (3) and the third rotating assembly (4) according to the pose deviations, and control the first rotating assembly (2), the second rotating assembly (3) and the third rotating assembly (4) to operate.

Description

Sensor pose adjusting device Technical Field The utility model relates to the technical field of surgical navigation, in particular to a sensor pose adjusting device. Background Surgical navigation is a technique that provides accurate guidance to the surgeon during surgery, combining advanced techniques in many areas, such as medical imaging, computer vision, robotics, etc. Through the operation navigation system, doctors can perform detailed three-dimensional modeling and planning on the focus of a patient before operation, and view the information in real time in operation so as to more accurately position the position relation between the surgical instrument and the focus and improve the accuracy and safety of the operation. The surgical navigation has a debugging process, wherein a positioning piece (a reference frame) is arranged at a surgical position in the debugging process, a sensor is fixed on a bracket, pose information of the positioning piece is acquired, pose deviation of the sensor is calculated, the pose of the sensor is adjusted through the pose deviation, so that the sensor can be ensured to completely acquire pose information of a surgical tool in surgery, and a 3D model of a body part of a patient is modeled. However, the existing sensor support needs an operator to manually adjust the position and the posture according to experience, the accuracy of the posture is judged by acquiring the position and posture information of the locating piece again in the adjustment process, deviation is easy to generate in adjustment, surgical tools in a part of an operation are not visible, and meanwhile, because the space of an operation room is compact, the operator is difficult to manually adjust the support. Disclosure of utility model The utility model aims to provide a sensor pose adjusting device which can automatically adjust the pose of a sensor and has high accuracy. To achieve the purpose, the utility model adopts the following technical scheme: A sensor pose adjustment device for adjusting a pose of a sensor, comprising: the adjusting bracket comprises a base, a first rotating assembly, a second rotating assembly and a third rotating assembly, wherein the first rotating assembly is installed on the base, the second rotating assembly is installed on the first rotating assembly, the first rotating assembly rotates to drive the second rotating assembly to rotate, the third rotating assembly is installed on the second rotating assembly, the second rotating assembly rotates to drive the third rotating assembly to rotate, and the sensor is installed on the third rotating assembly; the positioning piece is fixed at a preset position, and the sensor is used for acquiring the pose of the positioning piece; The control center is used for receiving information of the sensor and controlling the first rotating assembly, the second rotating assembly and the third rotating assembly to adjust the sensor to a preset pose. Preferably, the rotation axes of the first rotation assembly, the second rotation assembly and the third rotation assembly are perpendicular to each other. Preferably, the first rotating assembly includes a first driving member and a first connecting member, the first driving member is mounted on the base, the first connecting member is connected to an output end of the first driving member, the first driving member is configured to drive the first connecting member to rotate, and the second rotating assembly is mounted on the first connecting member. Preferably, the second rotating assembly includes a second driving member and a second connecting member, the second driving member is mounted on the first connecting member, the second connecting member is connected to an output end of the second driving member, the second driving member is configured to drive the second connecting member to rotate, and the third rotating assembly is mounted on the second connecting member. Preferably, the third rotating assembly includes a third driving member and a third connecting member, the third driving member is mounted on the second connecting member, the third connecting member is connected to an output end of the third driving member, and the sensor is mounted on the third connecting member. Preferably, a fixing seat is installed at one end of the third connecting piece, which is away from the third driving piece, and the sensor is installed on the fixing seat. Preferably, the positioning member is configured to emit an optical signal, and the sensor is configured to receive the intensity and angle of the optical signal to acquire the pose of the positioning member. Preferably, the sensor pose adjusting device further comprises a sensor acquisition system, wherein the sensor acquisition system is connected with the sensor and the control center and is used for receiving information of the sensor and transmitting the information to the control center. Preferably, a standard gesture range of the pos