CN103826542A - 手术器械方向校准参数和作用方向的确定方法及校准工具 - Google Patents

手术器械方向校准参数和作用方向的确定方法及校准工具 Download PDF

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CN103826542A
CN103826542A CN201180073767.1A CN201180073767A CN103826542A CN 103826542 A CN103826542 A CN 103826542A CN 201180073767 A CN201180073767 A CN 201180073767A CN 103826542 A CN103826542 A CN 103826542A
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operating theater
theater instruments
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CN103826542B (zh
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季鹰
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Hangzhou Fuyang Gengrui Technology Co., Ltd.
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季鹰
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Z—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
    • G16Z99/00—Subject matter not provided for in other main groups of this subclass
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/40—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/40—Data acquisition and logging

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Business, Economics & Management (AREA)
  • Business, Economics & Management (AREA)
  • Primary Health Care (AREA)
  • Epidemiology (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Urology & Nephrology (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

一种手术器械方向校准参数的确定方法及其校准工具和手术器械作用方向的确定方法。该方向校准参数确定方法包括：安装跟踪标记物（21）的被测物（40）置于校准工具（30）上，使其保持方向不变并且自转，通过位置跟踪设备确定跟踪标记物的至少两个三维旋转矩阵，利用该三维旋转矩阵，通过三维空间中的两点关系公式或直线方向转动公式求出方向校准参数。基于求得的方向校准参数及跟踪标记物当前三维旋转矩阵，确定手术器械当前的作用方向。该方法不需将被测物置于某已知方向，也不需通过确定该方向上的两个点，便可求出手术器械的方向校准参数，从而可以确定出手术器械在实际使用中的作用方向，为医生提供可靠得方向信息，保障手术顺利进行，提高手术精准度。

Description

PCT国内申请，说明书已公开。

Claims (1)

  1. PCT国内申请，权利要求书已公开。
CN201180073767.1A 2011-10-11 2011-10-11 手术器械方向校准参数和作用方向的确定方法及校准工具 Active CN103826542B (zh)

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PCT/CN2011/080636 WO2013053103A1 (zh) 2011-10-11 2011-10-11 手术器械方向校准参数和作用方向的确定方法及校准工具

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CN103826542A true CN103826542A (zh) 2014-05-28
CN103826542B CN103826542B (zh) 2016-11-16

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US (1) US9157762B2 (zh)
EP (1) EP2767240B1 (zh)
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CN108938088A (zh) * 2018-08-10 2018-12-07 杭州三坛医疗科技有限公司 线状激光光束的路径导向方法及激光钻孔手术定位方法
CN110940257A (zh) * 2018-09-25 2020-03-31 国核电站运行服务技术有限公司 一种测量管道倾角变化的装置及方法
CN112638251A (zh) * 2018-08-27 2021-04-09 季鹰 一种测量位置的方法

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CN104146773B (zh) * 2014-08-12 2016-03-30 江苏久信医疗科技股份有限公司 用于校准手术器械的校准块
WO2016141378A1 (en) * 2015-03-05 2016-09-09 Think Surgical, Inc. Methods for locating and tracking a tool axis
CN105030331A (zh) * 2015-04-24 2015-11-11 长春理工大学 位置传感器与三维腹腔镜摄像机标定装置及方法
US11690680B2 (en) 2019-03-19 2023-07-04 Mako Surgical Corp. Trackable protective packaging for tools and methods for calibrating tool installation using the same
CN111956327B (zh) * 2020-07-27 2024-04-05 季鹰 图像测量与配准方法

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US20070173790A1 (en) * 2002-09-18 2007-07-26 Stryker Leibinger Gmbh & Co. Kg Method and system for calibrating a surgical tool and adapter therefor
US6954600B2 (en) * 2002-09-30 2005-10-11 Canon Kabushiki Kaisha Electric contact member applying voltage to charger, process cartridge, and image forming apparatus
CN1529158A (zh) * 2003-09-28 2004-09-15 鹰 季 实现扩景三维超声波图像的方法和超声波装置
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CN101099673A (zh) * 2007-08-09 2008-01-09 上海交通大学 采用红外反光球为标志点的手术器械定位方法
CN101879092A (zh) * 2010-06-30 2010-11-10 珠海和佳医疗设备股份有限公司 一种用于电磁定位手术导航系统的配准组件及其校准方法

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108938088A (zh) * 2018-08-10 2018-12-07 杭州三坛医疗科技有限公司 线状激光光束的路径导向方法及激光钻孔手术定位方法
CN108938088B (zh) * 2018-08-10 2020-05-19 杭州三坛医疗科技有限公司 线状激光光束的路径导向方法及激光钻孔手术定位方法
CN112638251A (zh) * 2018-08-27 2021-04-09 季鹰 一种测量位置的方法
CN112638251B (zh) * 2018-08-27 2023-12-05 季鹰 一种测量位置的方法
CN110940257A (zh) * 2018-09-25 2020-03-31 国核电站运行服务技术有限公司 一种测量管道倾角变化的装置及方法
CN110940257B (zh) * 2018-09-25 2021-09-24 国核电站运行服务技术有限公司 一种测量管道倾角变化的装置及方法

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Publication number Publication date
CA2851747C (en) 2016-07-26
CN103826542B (zh) 2016-11-16
WO2013053103A1 (zh) 2013-04-18
JP2015502186A (ja) 2015-01-22
EP2767240A4 (en) 2016-01-13
US20140214358A1 (en) 2014-07-31
CA2851747A1 (en) 2013-04-18
JP6346562B2 (ja) 2018-06-20
EP2767240B1 (en) 2022-05-04
EP2767240A1 (en) 2014-08-20
US9157762B2 (en) 2015-10-13

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