CN208319312U - Utensil pose navigation device in a kind of art towards knee cartilage transplantation - Google Patents
Utensil pose navigation device in a kind of art towards knee cartilage transplantation Download PDFInfo
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- CN208319312U CN208319312U CN201720995775.6U CN201720995775U CN208319312U CN 208319312 U CN208319312 U CN 208319312U CN 201720995775 U CN201720995775 U CN 201720995775U CN 208319312 U CN208319312 U CN 208319312U
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Abstract
The utility model relates to utensil pose navigation devices in a kind of art towards knee cartilage transplantation, it includes endoscope inserting tube, the doubly telecentric camera lens, endoscope illuminator and endoscope camera head are provided in the endoscope inserting tube, the doubly telecentric camera lens is connect through optical fiber with the light source being arranged in outside the endoscope inserting tube, for the structure light that the light source issues by being projected in cartilage surface after doubly telecentric camera lens refraction, the structure light after projection is transmitted to the endoscope camera head；The endoscope illuminator and endoscope camera head are connect through conducting wire with the Magnetic position tracker being arranged in outside the endoscope inserting tube, which connect through the tracker electronic unit with the computer；The six axis robot is connect through another Magnetic position tracker with the tracker electronic unit.
Description
Technical field
The utility model relates to a kind of operation navigation device field, especially with regard to a kind of towards knee cartilage transplantation
Utensil pose navigation device in art.
Background technique
Endoscope is a kind of instrument by insertion surgical incision and for checking organ internal structure.As a kind of micro-
The operation of wound formula or non-intrusion type, because its notch is small, hospital stays short advantage is widely used in diagnosing and treating difference disease
Disease.Currently, most of endoscopic surgery is to be carried out using monocular endoscope, however traditional endoscope is only capable of providing X-Y scheme
As information, the stereoscopic vision perception of surgical target can not be provided for surgeon, surgeon must rely on motion parallax, object
It excludes and other is indirectly according to the spatial relationship for removing object in assessment art.
In today that popular sports are carried out extensively, knee articular cartilage defect generation is not uncommon in sportsman,
Account for about the 5%~10% of injury of knee joint sum.It is difficult self-healing after articular cartilage damage, is easy to happen irreversible disease
Reason changes, and finally evolves into traumatic arthritis or osteoarthritis.Hangody etc. is put forward for the first time the shifting of autologous bone cartilage since 1991
After planting art and being applied to clinic, Microendoscopic carries out cartilage transplantation because its wound is few, small on function of joint influence, postoperative function is extensive
The advantages that multiple fast, it has also become the preferred treatment method of current joint cartilage damage.However, endoscopic surgery narrow space, behaviour
Make difficult, especially conventional endoscope does not have three-dimensional perception and position location functionality, is difficult to accomplish when cutting bone column and joint
Face is vertical, it is difficult to ensure surgical effect.In recent years, it is had been developed that for the supplementary instrument of endoscopic surgery, but instrument
Operation still relies on surgical experience level.
Summary of the invention
In view of the above problems, the object of the present invention is to provide utensil positions in a kind of art towards knee cartilage transplantation
Appearance navigation device can effectively solve the problem of conventional endoscope can not obtain depth information, and when solving endoscopic surgery
Utensil is difficult to keep vertical technical problem with articular surface.
To achieve the above object, the utility model takes following technical scheme: a kind of art towards knee cartilage transplantation
Middle utensil pose navigation device, it is characterised in that: it includes endoscope inserting tube, optical fiber front end, doubly telecentric camera lens, light source, interior peeps
Mirror light source, endoscope camera head, six axis robot, Magnetic position tracker, tracker electronic unit and computer；It is peeped in described
Be provided with the doubly telecentric camera lens, endoscope illuminator and endoscope camera head in mirror inserting tube, the doubly telecentric camera lens through optical fiber with
Light source connection outside the endoscope inserting tube is set, and the structure light that the light source issues is rolled over by the doubly telecentric camera lens
Cartilage surface is projected in after penetrating, the structure light after projection is transmitted to the endoscope camera head；It the endoscope illuminator and interior peeps
Mirror camera is connect through conducting wire with the Magnetic position tracker being arranged in outside the endoscope inserting tube, the electromagnetic type
Location tracking device is connect through the tracker electronic unit with the computer；The six axis robot is through another electromagnetic type position
Tracker is set to connect with the tracker electronic unit.
Further, the light source includes He-Ne laser, frosted glass, beam expanding lens, imaging lens and coupled lens group；It is described
The laser that He-Ne laser projects generates laser speckle after the frosted glass, successively passes through the beam expanding lens, imaging lens
Optical fiber is injected with after coupled lens group.
Further, the six axis robot has the end repetitive positioning accuracy of 0.005mm.
Further, the six axis robot uses model model Meca500, producer Mecademic, the machine of Inc.
Tool hand.
Because the utility model adopts the above technical scheme, it has the following advantages: being peeped in the three-dimensional of 1, the utility model
Mirror is able to achieve in little space the real-time three-dimensional visualization of (about 10mm diameter) knee cartilage curved surface, and solving conventional endoscope can not
The problem of obtaining depth information.2, the utility model calculates the space obtained using miniature six axis robot according to three-dimensional endoscope
Coordinate and direction vector navigate out the position of utensil and posture in art, complete cutting for cartilage by the auxiliary positioning of manipulator and appoint
Business, utensil is difficult to keep vertical technical problem with articular surface when solving endoscopic surgery.3, the utility model dissipates laser
Spot is coupled to imaging fibre, and curved surface three-dimensional information can be statically obtained with the image-forming range of 6mm without being scanned, is suitble to micro-
The characteristics of invasive procedures narrow space.4, the utility model is distinguished at endoscope inserting tube, cartilage joint with six axis robot end
With Magnetic position tracker, the creation that threedimensional model is completed while self poisoning is may be implemented in three-dimensional endoscope, meanwhile,
Itself available position and posture in the three-dimensional model of manipulator.5, the six axis robot that the utility model uses has
The end repetitive positioning accuracy of 0.005mm can complete extremely stablely cartilage and cut task compared with the hand operation of doctor.
Detailed description of the invention
Fig. 1 is the overall structure diagram of utility model device.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the utility model provides utensil pose navigation device in a kind of art towards knee cartilage transplantation,
It includes endoscope inserting tube 1, optical fiber front end 2, doubly telecentric camera lens 3, light source, endoscope illuminator 4, endoscope camera head 5, six axis machines
Tool hand 6, Magnetic position tracker 7, tracker electronic unit 8 and computer 9.
Doubly telecentric camera lens 3, endoscope illuminator 4 and endoscope camera head 5, doubly telecentric camera lens 3 are provided in endoscope inserting tube 1
It is connect through optical fiber with the light source being arranged in outside endoscope inserting tube 1, the structure light that light source issues is thrown after being reflected by doubly telecentric camera lens 3
Structure light of the shadow after cartilage surface, projection is transmitted to endoscope camera head 5, and the structure light that endoscope camera head 5 receives
Image has the characteristics that amplification factor is constant in the z-axis direction.Endoscope illuminator 4 and endoscope camera head 5 are through conducting wire and setting
A Magnetic position tracker 7 connection outside endoscope inserting tube 1.The Magnetic position tracker 7 is through tracker electronics list
Member 8 is connect with computer 9, meanwhile, six axis robot 6 is connect through another Magnetic position tracker 7 with tracker electronic unit 8.
In the present embodiment, fibre diameter is preferably 1mm, and 1 diameter of endoscope inserting tube is preferably 7mm.
In the various embodiments described above, light source includes He-Ne laser 10, frosted glass 11, beam expanding lens 12, imaging lens 13 and coupling
Close lens group 14.The laser that He-Ne laser 10 projects generates laser speckle after frosted glass 11, successively by beam expanding lens 12,
Optical fiber is injected after imaging lens 13 and coupled lens group 14.
In the various embodiments described above, six axis robot 6 uses ultra-compact six axis robot, and the manipulator has
The end repetitive positioning accuracy of 0.005mm.In a preferred embodiment, the use of six axis robot 6 model Meca500,
Producer is Mecademic, and the manipulator of Inc., which is 4.5kg, payload 0.5kg, maximum extension
Length is 332mm.
Based on above-mentioned apparatus, the utility model also provides utensil pose navigation in a kind of art towards knee cartilage transplantation
Method comprising following steps:
1) Source calibration.In the range of apart from endoscope inserting tube 15-20mm, a reference planes and handle are taken every 1mm
The speckle image of reference planes preserves, and saves 15 width speckle images after calibration altogether.
2) endoscope inserting tube 1 is put into knee notch in underwater environment, made between 1 front end of endoscope inserting tube and cartilage surface
Speckle pattern is projected at distance about 10mm and shoots image, which is successively carried out mutually with 15 width reference pictures being previously saved
Relevant calculation there are 15 width computing cross-correlation result images.
3) position existing for representation space object at the peak value on cross correlation image, peak value is summed to obtain horizontal direction picture
The offset Δ x of element, interpolated operation obtain the depth map of entire scene.
Wherein, the D coordinates value of each spatial point is as follows in depth map:
In formula, b is baseline length, NxFor imaging plane width,For the coordinate value of object on the image plane,
(u0,v0) it is projection centre, f is focal length, L=20mm, LwFor when image-forming range is L, video camera can projection screen width
Value.
4) coordinate value by target object on world coordinate system is transformed into tracker electronic unit 8, unified by electronics list
First coordinate systemIt indicates.Formula of Coordinate System Transformation are as follows:In formula,
For the spin matrix of Magnetic position tracker 7,For endoscope inserting tube front end and Magnetic position tracker 7 it is opposite away from
From,For translation matrix.
5) the improved cubic lattice algorithm based on Point Interpolation is used, is rendered in OpenGL platform and generates entity curved surface,
Its step includes:
5.1) setting two neighboring grid vertex is C respectivelyiAnd Ci-1, then the spacing parameter t=C of cloud grid is puti-Ci-1；
5.2) it calculates with CiCi-1It is each point cloud in the square of side length in side length CiCi-1On projection, if projection
Point diIn the left side at side length midpoint, then the cloud is allocated to vertex Ci, otherwise it is allocated to Ci-1；
5.3) according to the distribution on vertex, triangular curved is extracted, in a square, there are vertexs of a triangle
Two Dimension Numerical Value 1 is given, otherwise assigns 0；
5.4) type that curved surface extracts is obtained according to the index of 8 two Dimension Numerical Values, and then completes curved surface rendering, generated visual
Change curved surface.
6) calculate separately the weighted average for generating all the points cloud three-dimensional coordinate of entity curved surface, i.e. the center of gravity G's of curved surface
Coordinate value is For x-axis coordinate value,For y-axis coordinate value,For z-axis coordinate value.
7) using point G as the center of circle, r is upper three clouds of circle of radius for search, when forming an equilateral triangle,
The three-dimensional coordinate for storing these three points, remembers that the vertex of equilateral triangle is respectively P1, P2, P3。
8) vector product for calculating any both sides of equilateral triangle, acquires the normal vector in the minimum neighborhood of equilateral triangle, then
The normal vector for crossing point G represents utensil in art, perpendicular to the posture of curved surface, G is the current location of utensil in art.
9) normal vector of the G in the coordinate value and step 8) of step 6) mean camber center of gravity G is real-time transmitted to six by computer 9
Axis robot 6 controls 6 tip of six axis robot with the posture point of arrival G perpendicular to curved surface, realizes that the pose of utensil in art is led
Boat, i.e., the axis of utensil is perpendicular to cartilage curved surface.
The various embodiments described above are merely to illustrate the utility model, and structure and size, setting position and the shape of each component are all
Can be varied, on the basis of technical solutions of the utility model, it is all according to the utility model principle to individual part into
Capable improvement and equivalents, should not exclude except the protection scope of the utility model.
Claims (4)
1. utensil pose navigation device in a kind of art towards knee cartilage transplantation, it is characterised in that: it includes that endoscope is visited
Pipe, optical fiber front end, doubly telecentric camera lens, light source, endoscope illuminator, endoscope camera head, six axis robot, Magnetic position tracking
Device, tracker electronic unit and computer；
The doubly telecentric camera lens, endoscope illuminator and endoscope camera head, the doubly telecentric are provided in the endoscope inserting tube
Camera lens is connect through optical fiber with the light source being arranged in outside the endoscope inserting tube, and the structure light that the light source issues is by described
It is projected in cartilage surface after the refraction of doubly telecentric camera lens, the structure light after projection is transmitted to the endoscope camera head；It is peeped in described
Mirror light source and endoscope camera head are through conducting wire and the Magnetic position tracker being arranged in outside the endoscope inserting tube
Connection, the Magnetic position tracker are connect through the tracker electronic unit with the computer；The six axis robot is through another
The one Magnetic position tracker is connect with the tracker electronic unit.
2. utensil pose navigation device in a kind of art towards knee cartilage transplantation as described in claim 1, feature exist
In: the light source includes He-Ne laser, frosted glass, beam expanding lens, imaging lens and coupled lens group；The He-Ne laser is thrown
The laser of injection generates laser speckle after the frosted glass, successively passes through the beam expanding lens, imaging lens and coupled lens group
After inject optical fiber.
3. utensil pose navigation device in a kind of art towards knee cartilage transplantation as described in claim 1, feature exist
In: the six axis robot has the end repetitive positioning accuracy of 0.005mm.
4. utensil pose navigation device in a kind of art towards knee cartilage transplantation as described in claim 1, feature exist
In: the six axis robot uses model model Meca500, producer Mecademic, the manipulator of Inc..
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720995775.6U CN208319312U (en) | 2017-08-09 | 2017-08-09 | Utensil pose navigation device in a kind of art towards knee cartilage transplantation |
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| CN201720995775.6U CN208319312U (en) | 2017-08-09 | 2017-08-09 | Utensil pose navigation device in a kind of art towards knee cartilage transplantation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107485447A (en) * | 2017-08-09 | 2017-12-19 | 北京信息科技大学 | Utensil pose guider and method in a kind of art towards knee cartilage transplantation |
| CN111870211A (en) * | 2020-07-28 | 2020-11-03 | 北京信息科技大学 | Three-dimensional endoscope with instrument pose navigation function and navigation method thereof |
-
2017
- 2017-08-09 CN CN201720995775.6U patent/CN208319312U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107485447A (en) * | 2017-08-09 | 2017-12-19 | 北京信息科技大学 | Utensil pose guider and method in a kind of art towards knee cartilage transplantation |
| CN107485447B (en) * | 2017-08-09 | 2023-07-04 | 北京信息科技大学 | Device and method for navigating pose of surgical instrument for knee cartilage grafting |
| CN111870211A (en) * | 2020-07-28 | 2020-11-03 | 北京信息科技大学 | Three-dimensional endoscope with instrument pose navigation function and navigation method thereof |
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