CN104758066B - Equipment for surgical navigation and surgical robot - Google Patents
Equipment for surgical navigation and surgical robot Download PDFInfo
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- CN104758066B CN104758066B CN201510227049.5A CN201510227049A CN104758066B CN 104758066 B CN104758066 B CN 104758066B CN 201510227049 A CN201510227049 A CN 201510227049A CN 104758066 B CN104758066 B CN 104758066B
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Abstract
The invention provides equipment for surgical navigation and a surgical robot. The equipment comprises an optical tracking and positioning device, an accelerated speed tracking and positioning device and a fusing and positioning device; the optical tracking and positioning device is used for detecting a first space position and a first posture of a device to be positioned, the accelerated speed tracking and positioning device is used for detecting space linear accelerated speed and space angular accelerated speed of the device to be positioned, and the fusing and positioning device is used for determining a second space position and a second posture of the device to be positioned as the space position and the posture of the device to be positioned according to the first detected space position, the first detected posture, the space linear accelerated speed and the space angular accelerated speed of the device to be positioned. The equipment can spatially position the device to be positioned in surgery continuously and accurately, and is low in cost and small in computation amount.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly, is related to a kind of equipment and hand for surgical navigational
Art robot.
Background technology
Robot is not only applicable to industrial circle, has also been widely applied in medical field.Operating robot
The appearance of (Surgical Robot) is only short 10 years, has been achieved with major progress.Operating robot is the group of one group of apparatus
Attach together and put, it is generally by probe (endoscope or ultrasonic probe etc.), operating theater instruments, minisize pick-up head, control stick, a Duo Geji
The devices such as tool arm assemble, additionally, also including operation guiding system.The operation principle of the operating robot for using at present is：
Doctor is sitting in before computer display screen, by display screen observation focus situation in patient body, by remote control robot
Operating theater instruments by focus precise ablation (or repair).
Fig. 1 illustrates the example of existing operating robot, including remote control bar, operating theater instruments, ultrasonic probe, Duo Geji
Tool arm (being respectively used to clamp operating theater instruments, ultrasonic probe etc.) and operation guiding system, doctor is controlled by remote control bar
Mechanical arm processed (i.e. control is clamped in the operating theater instruments and ultrasonic probe of mechanical arm tail end) shows being performed the operation in face of doctor
What is shown is real-time ultrasonic image, there is the body operation region corresponding to physical location and operating theater instruments model, doctor in image
The information provided with real-time ultrasonic image is to be operated according to manipulation mechanical arm.Obviously, it is desirable to successfully carry out
Operation, it is necessary to obtain real-time, the accurate spatial relation of operating theater instruments and body operation region.
Operation guiding system provides setting for operating theater instruments and body operation region real-time spatial position relation i.e. in operation
Standby, the operation guiding system of operating robot illustrated in fig. 1 is modal NDI Polaris optical tracking alignment systems,
Occupation mode is as follows：Mechanical arm is in original state, and mechanical arm tail end is clamped with respectively operating theater instruments and ultrasonic probe, surgical device
Tool and ultrasonic probe have been respectively fixedly connected with witness marker lattice array (for example, passive rigid body), and alignment sensor is placed in into triangle
On frame, no longer move after support is placed in place, using it as the reference point of world coordinate system；Open orientation sensing
Device, obtains the initial position of operating theater instruments and the initial position (that is, the absolute position under world coordinate system) of ultrasonic probe；Open
Beginning practical operation, using ultrasonic probe the locus in world coordinate system and the attitude in body operation region are obtained, and
Locus and attitude of the operating theater instruments in world coordinate system, (computer is according to this to provide real-time navigation information for doctor
Spatial positional information generates in three dimensions and shows the ultrasonic picture and operating theater instruments model in body operation region.
However, the drawbacks of existing optical tracking alignment system also has certain, is concentrated mainly on：Cannot in surgical procedure
Ensure that optical tracking alignment system treats positioner and carries out the positioning (i.e., it is impossible to ensure to position always normally) of continuous effective,
And once positioning fails, operation will be interrupted because of the real-time position information that doctor cannot obtain device to be positioned.
The content of the invention
The exemplary embodiment of the present invention is to provide a kind of equipment and operating robot for surgical navigational, to overcome
Existing operation guiding system cannot ensure that treating positioner carries out the problem of consecutive tracking.
According to an aspect of the present invention, there is provided a kind of equipment for surgical navigational, the equipment includes：Optical tracking is determined
Position device, for detecting the first locus and first attitude of device to be positioned；Acceleration tracing positioning apparatus, for detecting
The spatial linear acceleration and space angular acceleration of device to be positioned；Fusion positioner, for empty according to first for detecting
Between the spatial linear acceleration and space angular acceleration of position and the first attitude and device to be positioned determine device to be positioned
The locus and attitude of second space position and the second attitude as device to be positioned.
Alternatively, positioner is merged according to the first locus of the device to be positioned detected at the first moment and the
The spatial linear acceleration and Space Angle of one attitude and the device to be positioned detected between the first moment and the second moment
Acceleration, determines device to be positioned in the second space position at the second moment and the second attitude, wherein, the first moment is earlier than second
Moment.
Alternatively, the first moment be optical tracking positioner be initially located in positioning failure state before detect for the last time
To the first locus and the moment of the first attitude, the second moment was that optical tracking positioner is initially located in positioning failure state
When or the moment afterwards, wherein, in optical tracking positioner before positioning failure state, fusion positioner is by first
The locus and attitude of locus and the first attitude as device to be positioned.
Alternatively, space of the positioner according to the device to be positioned detected between the first moment and the second moment is merged
The spatial position change of linear acceleration and Space Angle acceleration calculation device to be positioned between the first moment and the second moment
And attitudes vibration, and the first locus and first attitude of the device to be positioned detected according to the first moment, and
Spatial position change and attitudes vibration between one moment and the second moment determines that device to be positioned is second empty at the second moment
Between position and the second attitude.
Alternatively, space of the positioner according to the device to be positioned detected between the i-th moment and the i-th -1 moment is merged
The spatial position change of linear acceleration and Space Angle acceleration calculation device to be positioned between the i-th -1 moment and the i-th moment
And attitudes vibration, and the second space position according to the device to be positioned at the calculated i-th -1 moment and the second attitude, and
Spatial position change and attitudes vibration between the i-th -1 moment and the i-th moment determines device to be positioned the second of the i-th moment
Locus and the second attitude, wherein, i is the integer more than or equal to 3, and the i-th -1 moment is earlier than the i-th moment.
Alternatively, when optical tracking positioner is in positioning normal condition, positioner is merged by the first space bit
Put the locus with the first attitude as device to be positioned and attitude.
Alternatively, optical tracking positioner includes alignment sensor and witness marker lattice array, wherein, work as orientation sensing
Device can't detect witness marker lattice array, or alignment sensor detect witness marker lattice array in particular pose when, melt
Closing positioner determines optical tracking positioner in positioning failure state；When alignment sensor detects witness marker dot matrix
Row and when detecting witness marker lattice array and being not on particular pose, fusion positioner is determined at optical tracking positioner
In positioning normal condition.
Alternatively, acceleration tracing positioning apparatus include space three-dimensional gyroscope, space three-dimensional acceleration transducer, wireless
Communicator and power supply, wherein, the device to be positioned that radio communication device will be detected including space three-dimensional acceleration transducer
Spatial linear acceleration, the space angular acceleration of device to be positioned that detects of space three-dimensional gyroscope and acceleration with
The information of the identification information of track positioner is sent to fusion positioner.
Alternatively, the equipment also includes：Warning device, when optical tracking positioner exceedes in positioning failure state
During predetermined amount of time, operator's optical tracking positioner is pointed out to exceed predetermined amount of time in positioning failure state.
Alternatively, the predetermined amount of time is determined by following manner：From a moment, the first of positioner is treated
Locus and the first attitude, second space position and the second attitude are continuously detected, volumetric position error are more than for the first time
Volumetric position error threshold value or attitude error are for the first time more than the time difference between the moment and a moment of attitude error threshold value
As predetermined amount of time, wherein, volumetric position error is the first locus of the device to be positioned detected in synchronization
With the error between second space position, attitude error is first attitude and the of the device to be positioned detected in synchronization
Error between two attitudes.
Alternatively, optical tracking positioner detect with the position of alignment sensor as reference point the first locus and
First attitude, wherein, alignment sensor is fixed in the precalculated position of operating room.
Alternatively, acceleration tracing positioning apparatus are fixed on device to be positioned or are fixed on the machine that clamps device to be positioned
On tool arm end.
Alternatively, device to be positioned includes at least one of operating theater instruments and surgical imaging device.
According to a further aspect in the invention, there is provided a kind of operating robot, including：For clamping the machinery of device to be positioned
Arm, and the equipment for surgical navigational.
Equipment and operating robot for surgical navigational according to an exemplary embodiment of the present invention, can realize to operation
In device to be positioned carry out continuous, accurate space orientation, and low cost, operand are little.
To partly illustrate the other aspect of present general inventive concept and/or advantage in following description, also one
Divide and be will be apparent by description, or can learn through the enforcement of present general inventive concept.
Description of the drawings
Fig. 1 illustrates the example of existing operating robot according to an exemplary embodiment of the present invention；
Fig. 2 illustrates the structured flowchart of the equipment for surgical navigational according to an exemplary embodiment of the present invention.
Specific embodiment
Embodiments of the invention are reference will now be made in detail, the example of the embodiment is shown in the drawings, wherein, identical mark
Number identical part is referred to all the time.The embodiment below will be illustrated by referring to accompanying drawing, to explain the present invention.
Fig. 2 illustrates the structured flowchart of the equipment for surgical navigational according to an exemplary embodiment of the present invention.Such as Fig. 2 institutes
Show, the equipment for surgical navigational according to an exemplary embodiment of the present invention includes：Optical tracking positioner 10, acceleration with
Track positioner 20 and fusion positioner 30.These devices can be logical by digital signal processor, field programmable gate array etc.
Realized with hardware processor, also can be realized by dedicated hardware processors such as special chips, can also completely pass through computer
Program is come with software mode realization.
Particularly, optical tracking positioner 10 is used to detect the first locus and first appearance of device to be positioned
State.
Here, the first locus is the position of the device to be positioned detected by optical tracking positioner 10, phase
Ying Di, the first attitude is the attitude of the device to be positioned detected by optical tracking positioner 10.
Optical tracking positioner 10 can be realized by existing optical tracking alignment system, for example, it may include positioning
Sensor (for example, binocular thermal camera etc.) and witness marker lattice array (for example, infrared reflecting mark ball, passive rigid body
Deng).Each position mark point of witness marker lattice array can be in the same plane and with specific configuration (for example, each witness marker
The attitude of point is different) it is fixedly connected together, can be fixed on device to be positioned or be fixed on clamping device to be positioned
Mechanical arm tail end on (that is, with device to be positioned keep geo-stationary), structure of the alignment sensor based on witness marker lattice array
Type, by detect witness marker lattice array locus and attitude determining locus and the attitude of device to be positioned.
Device to be positioned can be surgical imaging device (for example, ultrasonic probe etc.), operating theater instruments etc. operation in need into
The device of row positioning, is not restricted to this.
Acceleration tracing positioning apparatus 20 are used to detect the spatial linear acceleration and space angular acceleration of device to be positioned.
Particularly, acceleration tracing positioning apparatus 20 detect device to be positioned respectively along three mutually orthogonal direction (for example, optics
The direction of three reference axis of the world coordinate system (that is, reference frame) that tracing positioning apparatus 10 are based on) linear acceleration
Degree, and three angular acceleration (that is, the acceleration of the angle of pitch, roll angle and yaw angle) of device to be positioned.
Can be fixed on device to be positioned or be fixed on the mechanical arm tail end for clamping device to be positioned (that is, with it is undetermined
Position device keeps geo-stationary).
Acceleration tracing positioning apparatus 20 can pass through the various dresses that can detect spatial linear acceleration and space angular speed
Put to realize.As an example, acceleration tracing positioning apparatus 20 may include：Space three-dimensional gyroscope (not shown), space three-dimensional
Acceleration transducer (not shown), radio communication device (not shown) and power supply (not shown), wherein, radio communication device will be wrapped
Include the spatial linear acceleration of the device to be positioned that space three-dimensional acceleration transducer is detected, space three-dimensional gyroscope to detect
The information of identification information of space angular acceleration and acceleration tracing positioning apparatus 20 of device to be positioned be sent to fusion
Positioner 30.
Here, the identification information of acceleration tracing positioning apparatus 20 is the information for indicating the acceleration tracing positioning apparatus 20
(for example, ID of the acceleration tracing positioning apparatus 20 etc.).Radio communication device is with communication (for example, bluetooth, WIFI
Etc. mode) above- mentioned information is sent to into fusion positioner 30.Power supply is space three-dimensional gyroscope, space three-dimensional acceleration sensing
Device and radio communication device are powered.
Fusion positioner 30 is used for according to the first locus and the first attitude and device to be positioned for detecting
Spatial linear acceleration and space angular acceleration determine the second space position of device to be positioned and the second attitude as to be positioned
The locus of device and attitude.
Here, second space position is the first locus detected according to optical tracking positioner 10, Yi Jijia
The space of device to be positioned determined by the spatial linear acceleration of the device to be positioned that speed tracing positioner 20 is detected
Position.Correspondingly, the second attitude is the first attitude detected according to optical tracking positioner 10, and acceleration tracking is calmly
The attitude of device to be positioned determined by the space angular acceleration of the device to be positioned that position device 20 is detected.
As an example, merging positioner 30 can be according to the first space bit of the device to be positioned detected at the first moment
Put and the first attitude and the device to be positioned detected between the first moment and the second moment spatial linear acceleration and
Space angular acceleration, determines device to be positioned in the second space position at the second moment and the second attitude, wherein, the first morning at moment
In the second moment.
For example, merging positioner 30 can be according to the sky of the device to be positioned detected between the first moment and the second moment
Between locus between the first moment and the second moment of linear acceleration and Space Angle acceleration calculation device to be positioned become
Change and attitudes vibration, and the first locus and first attitude of the device to be positioned detected according to the first moment, Yi Ji
Spatial position change and attitudes vibration between first moment and the second moment determines device to be positioned the second of the second moment
Locus and the second attitude.
Particularly, merging positioner 30 can be by the dress to be positioned to detecting between the first moment and the second moment
It is relative compared to the first moment at the second moment to obtain device to be positioned that the spatial linear acceleration put carries out quadratic integral
Determine device to be positioned in spatial position change, the first locus of the device to be positioned detected then in conjunction with the first moment
In the second space position at the second moment；Correspondingly, merging positioner 30 can be by between the first moment and the second moment
The space angular acceleration of the device to be positioned for detecting carry out quadratic integral obtain device to be positioned the second moment compared to
The relative attitude change at the first moment, the first attitude of the device to be positioned detected then in conjunction with the first moment is determined undetermined
Second attitude of the position device at the second moment.
As an example, the first moment can be that optical tracking positioner 10 is initially located in before positioning failure state finally
To the first locus and the moment of the first attitude, the second moment can be the beginning of optical tracking positioner 10 to one-time detection
Moment when failure state is positioned or afterwards, wherein, in optical tracking positioner 10 before positioning failure state, melt
Close locus and attitude of the positioner 30 using the first locus and the first attitude as device to be positioned.
In other words, filled all the time by optical tracking positioning before positioning failure state in optical tracking positioner 10
Put 10 to determine locus and the attitude of device to be positioned, once optical tracking positioner 10 is in positioning failure state,
Fusion positioner 30 will for the last time be detected before positioning failure state based on optical tracking positioner 10 the
One locus and the first attitude as initial space position and attitude, with reference to acceleration tracing positioning apparatus 20 at the first moment
Second space of the device to be positioned determined compared to the spatial position change and attitudes vibration at the second moment at the second moment
Position and the second attitude, as device to be positioned in the locus at the second moment and the second attitude.
Here, optical tracking positioner 10 is that optical tracking positioner 10 can not be accurate in positioning failure state
Detect locus and the attitude of device to be positioned.For example, when alignment sensor can't detect witness marker lattice array, Huo Zheding
Level sensor detects witness marker lattice array, and in particular pose, (for example, alignment sensor detects witness marker lattice array
Attitude in straight line etc.) when, fusion positioner 30 can determine that optical tracking positioner in positioning failure state.
When alignment sensor detects witness marker lattice array and detects witness marker lattice array and be not on particular pose, fusion
Positioner 30 can determine that optical tracking positioner in positioning normal condition.
For example, if witness marker lattice array exceeds valid analysing range, alignment sensor and the positioning of alignment sensor
Optical path between mark lattice array is blocked, then alignment sensor can't detect witness marker lattice array.
Additionally, fusion positioner 30 can also be according to the device to be positioned detected between the i-th moment and the i-th -1 moment
The locus of spatial linear acceleration and Space Angle acceleration calculation device to be positioned between the i-th -1 moment and the i-th moment
Change and attitudes vibration, and the second space position according to the device to be positioned at the calculated i-th -1 moment and the second attitude,
And the spatial position change and attitudes vibration between the i-th -1 moment and the i-th moment determines device to be positioned at the i-th moment
Second space position and the second attitude, wherein, i is the integer more than or equal to 3, and the i-th -1 moment is earlier than the i-th moment.
That is, the moment after the second moment, can be with the second space position at a calculated upper moment and the second appearance
State as initial space position and attitude, with reference to current time relative to the device to be positioned at a upper moment spatial position change
Second space position and second attitude of the device to be positioned at current time are determined with attitudes vibration.By the way, may be used
Reduce operand, improve arithmetic speed.
Additionally, fusion positioner 30 is also dependent on the device to be positioned detected between the i-th moment and the first moment
The locus of spatial linear acceleration and Space Angle acceleration calculation device to be positioned between the first moment and the i-th moment becomes
Change and attitudes vibration, and the first locus according to the device to be positioned at the first moment and the first attitude, and at first
Carve and spatial position change and attitudes vibration between the i-th moment determine device to be positioned in the second space position at the i-th moment
With the second attitude.
Additionally, as an example, when optical tracking positioner 10 is in positioning normal condition, fusion positioner 30 can
The locus as device to be positioned and attitude using the first locus and the first attitude.That is, as long as optical tracking positioning dress
10 are put in positioning normal condition, locus and the appearance of device to be positioned are just determined by optical tracking positioner 10
State, as long as optical tracking positioner 10 just positions fusion positioner 30 according to optical tracking in positioning failure state
Device 10 is in the first locus and the first attitude that detect for the last time before positioning failure state as initial space
Position and attitude, the spatial linear acceleration and Space Angle of the device to be positioned detected with reference to acceleration tracing positioning apparatus 20
Locus and attitude of the second space position and the second attitude that acceleration calculation is obtained as device to be positioned.
Can realize by the way efficiently and accurately detecting undetermined in traditional optical tracking positioner 10
In the case of the locus of position device and attitude, it still is able to accurately and efficiently detect locus and the appearance of device to be positioned
State, so as to realize the consecutive tracking of surgical procedure, will not make surgical procedure fail due to the positioning of optical tracking positioner 10
And be affected.Also, cost is relatively low, operand is less, is easy to practical application and popularization.
In addition, it is contemplated that acceleration tracing positioning apparatus 20 increase over time accuracy of detection can reduce, detection is certain
Will be unable to meet required precision after time period, can optical tracking positioner 10 in positioning normal condition when, by optics with
Locus and attitude of the data that track positioner 10 is detected as device to be positioned, had both ensured the positioning in surgical procedure
Continuity, also ensures the Position location accuracy in surgical procedure.
Additionally, the equipment for surgical navigational according to an exemplary embodiment of the present invention may also include：Warning device (does not show
Go out).
Warning device is used for when optical tracking positioner 10 exceedes predetermined amount of time in positioning failure state, points out
Operator's optical tracking positioner 10 has exceeded predetermined amount of time in positioning failure state.So as to operator can carry out phase
The process answered enters positioning normal condition to ensure optical tracking positioner 10, so as to the accuracy for ensureing to position.
The predetermined amount of time and acceleration tracing positioning apparatus 20 (for example, space three-dimensional gyroscope, the space three selected
To acceleration transducer) it is relevant, as an example, the predetermined amount of time can be determined by following manner：It is right from a moment
First locus and the first attitude of device to be positioned, second space position and the second attitude are continuously detected, by space
Site error Error_distance is more than for the first time appearance more than volumetric position error threshold value or attitude error Error_angle for the first time
Time difference between the moment of state error threshold and a moment as predetermined amount of time, wherein, volumetric position error
Error_distance is between first locus and second space position of the device to be positioned that synchronization is detected
Error, attitude error Error_angle is the first attitude and second attitude of the device to be positioned detected in synchronization
Between error, for example, can be calculated by following formula：
Wherein, x0,y0,z0Indicate the first locus of the device to be positioned that a certain moment detects, x1,y1,z1Indicate
The second space position of the device to be positioned that a certain moment detects, Tx0,Ty0,Tz0Indicate that what a certain moment detected treats
First attitude of positioner, Tx1,Ty1,Tz1Indicate the second attitude of the device to be positioned that a certain moment detects.
It should be understood that the moment can be any time, or particular moment.The a certain moment is described
Moment after one moment.Volumetric position error threshold value and attitude error threshold value can be set according to concrete actual conditions etc.
It is fixed.
Additionally, typically can position and pass using the position of alignment sensor as the reference point of world coordinate system in prior art
Sensor is usually placed on operating table A-frame closer to the distance, to ensure that witness marker lattice array is passed in positioning as far as possible
In the detection range of sensor, however, alignment sensor is easily occurred in surgical procedure by the situation of accidental movement, and this will lead
The change of world coordinate system is caused, and then affects the accuracy of positioning.
As an example, optical tracking positioner 10 can detect the first space as reference point with the position of alignment sensor
Position and the first attitude, wherein, alignment sensor is fixed in the precalculated position of operating room.
Because the equipment for surgical navigational according to an exemplary embodiment of the present invention ensure that：Even if position mark point
Array is once in a while beyond the detection range of alignment sensor, it is also possible to positioned using acceleration tracing positioning apparatus 20.Therefore,
The requirement of the placement location to alignment sensor can suitably be reduced, it is contemplated that alignment sensor is fixed on into operation interior away from operation
Platform distance slightly remote, remoter precalculated position, to substantially reduce by mobile possibility, so as to ensure whole position fixing process in
World coordinate system (that is, reference frame) stability, improve positioning accuracy.
Additionally, the equipment for surgical navigational according to an exemplary embodiment of the present invention can be included in operating robot
In, operating robot may also include：For clamping the mechanical arm of device to be positioned.
It should be understood that operating robot except with equipment for surgical navigational according to an exemplary embodiment of the present invention,
For outside the mechanical arm for clamping device to be positioned, can also have it that other devices of its own function are performed as operating robot
Part, is not restricted to this.
Equipment and operating robot for surgical navigational according to an exemplary embodiment of the present invention, can realize to operation
In device to be positioned carry out continuous, accurate space orientation, and low cost, operand are little.
Although having show and described some exemplary embodiments of the present invention, it will be understood by those skilled in the art that
In the case of without departing from the principle of the invention that its scope is limited by claim and its equivalent and spirit, can be to these
Embodiment is modified.
Claims (9)
1. a kind of equipment for surgical navigational, it is characterised in that include：
Optical tracking positioner, for detecting the first locus and first attitude of device to be positioned；
Acceleration tracing positioning apparatus, for detecting the spatial linear acceleration and space angular acceleration of device to be positioned；
Fusion positioner, for according to the space line of the first locus and the first attitude and device to be positioned for detecting
Property acceleration and space angular acceleration determine the second space position of device to be positioned and the second attitude as device to be positioned
Locus and attitude；
Fusion positioner according to the first locus of the device to be positioned detected at the first moment and the first attitude and
The spatial linear acceleration and space angular acceleration of the device to be positioned detected between the first moment and the second moment, it is determined that
Device to be positioned in the second space position at the second moment and the second attitude, wherein, the first moment is earlier than the second moment；
First moment be optical tracking positioner be initially located in positioning failure state before detect the first space for the last time
Position and the moment of the first attitude, the second moment be optical tracking positioner be initially located in positioning failure state when or afterwards
Moment,
Wherein, in optical tracking positioner before positioning failure state, fusion positioner by the first locus and
Locus and attitude of first attitude as device to be positioned.
2. equipment according to claim 1, it is characterised in that fusion positioner according to the first moment and the second moment it
Between the spatial linear acceleration of device to be positioned that detects and Space Angle acceleration calculation device to be positioned the first moment with
Spatial position change and attitudes vibration between second moment, and the device to be positioned detected according to the first moment is first empty
Between position and the first attitude, and the spatial position change and attitudes vibration between the first moment and the second moment determine it is undetermined
Position device is in the second space position at the second moment and the second attitude.
3. equipment according to claim 2, it is characterised in that fusion positioner according to the i-th moment and the i-th -1 moment it
Between the spatial linear acceleration of device to be positioned that detects and Space Angle acceleration calculation device to be positioned the i-th -1 moment with
Spatial position change and attitudes vibration between i-th moment, and of the device to be positioned according to the calculated i-th -1 moment
Two locus and the second attitude, and the spatial position change between the i-th -1 moment and the i-th moment and attitudes vibration determination
Device to be positioned in the second space position at the i-th moment and the second attitude,
Wherein, i is the integer more than or equal to 3, and the i-th -1 moment is earlier than the i-th moment.
4. equipment according to claim 1, it is characterised in that in optical tracking positioner in positioning normal condition
When, merge locus and attitude of the positioner using the first locus and the first attitude as device to be positioned.
5. equipment according to claim 4, it is characterised in that optical tracking positioner includes alignment sensor and positioning
Mark lattice array,
Wherein, when alignment sensor can't detect witness marker lattice array, or alignment sensor detects witness marker dot matrix
When row are in particular pose, fusion positioner determines optical tracking positioner in positioning failure state；
When alignment sensor detects witness marker lattice array and detects witness marker lattice array and be not on particular pose,
Fusion positioner determines optical tracking positioner in positioning normal condition.
6. equipment according to claim 4, it is characterised in that also include：
Warning device, when optical tracking positioner exceedes predetermined amount of time in positioning failure state, points out operator's light
Learn tracing positioning apparatus and exceed predetermined amount of time in positioning failure state.
7. equipment according to claim 6, it is characterised in that the predetermined amount of time is determined by following manner：
From a moment, the first locus and the first attitude, the second space position and the second attitude of positioner are treated
Continuously detected, volumetric position error is more than into for the first time attitude error more than volumetric position error threshold value or attitude error for the first time
Time difference between the moment of threshold value and a moment as predetermined amount of time,
Wherein, volumetric position error is first locus and second space position of the device to be positioned detected in synchronization
Error between putting, attitude error is between first attitude and the second attitude of the device to be positioned that synchronization is detected
Error.
8. equipment according to claim 5, it is characterised in that optical tracking positioner is with the position of alignment sensor
Reference point detecting the first locus and the first attitude, wherein, alignment sensor is fixed in the precalculated position of operating room.
9. a kind of operating robot, it is characterised in that include：
For clamping the mechanical arm of device to be positioned, and
The equipment for surgical navigational in claim 1 to 8 described in any claim.
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| CN201510227049.5A CN104758066B (en) | 2015-05-06 | 2015-05-06 | Equipment for surgical navigation and surgical robot |
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| US11020016B2 (en) | 2013-05-30 | 2021-06-01 | Auris Health, Inc. | System and method for displaying anatomy and devices on a movable display |
| CN104966394A (en) * | 2015-07-10 | 2015-10-07 | 新博医疗技术有限公司 | Wireless communication system for coordinate measurement |
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