CN105708563A - Navigation positioning marker, verification method, positioning method and electronic tag reading and writing device - Google Patents
Navigation positioning marker, verification method, positioning method and electronic tag reading and writing device Download PDFInfo
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- CN105708563A CN105708563A CN201610029910.1A CN201610029910A CN105708563A CN 105708563 A CN105708563 A CN 105708563A CN 201610029910 A CN201610029910 A CN 201610029910A CN 105708563 A CN105708563 A CN 105708563A
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Abstract
The embodiment of the invention provides a navigation positioning marker, a verification method, a positioning method and an electronic tag reading and writing device. The navigation positioning marker comprises a positioning pattern and an electronic tag, wherein the positioning pattern is subjected to visual recognition, so that the navigation positioning marker is positioned; and the electronic tag is used for storing encrypted authentication information which is read in a production process, so as to conduct validity authentication, and the electronic tag is used for storing written encrypted operation information after passing the validity authentication, so that the navigation positioning marker is not recognized once again. Since the encrypted authentication information which is read in the production process is stored in the electronic tag, the validity authentication can be implemented on the marker; and since the written encrypted operation information is stored, the navigation positioning marker is not recognized once again after passing the validity authentication.
Description
Technical field
The present embodiments relate to medical robot technical field, particularly relate to a kind of navigator fix label and checking, localization method, electronic tag reading and writing device.
Background technology
The automation equipments such as robot are applied widely at industrial circle, show clear superiority in operating flexibility, stability and accuracy.The problems such as the precision in order to solve surgical operation existence is not enough, irradiated many, otch relatively big, operation fatigue, people start to inquire into how to introduce robotic method in surgical operation, unique advantage by the new and high technology such as robot, sensor, brand-new Therapeutic Method and system are provided for surgeon, solve the problems referred to above, improve surgical effect, namely realize surgical operation by medical robot, including nerve, head etc..
Navigator fix technology is a key link in medical robot work process, the structure realizing relying on of navigator fix technology includes a label, this label is the vision module with specific pattern, by specific pattern in recognition visible sensation module, it is automatically positioned label, so that it is determined that the position of patient opposed robots, robot system completes surgical navigational location according to the operation plan that doctor plans.
Label body machining accuracy, identification icon machining accuracy, assembly precision etc. all directly affect operation positioning precision, and this label is the important accessory of whole robotic surgery.
But, in prior art, for some reason such as cost consideration, maloperation, it will usually recycling etc. after the imitation of label or deformation occurring, thus adversely affecting to the precision of location of operation, patient being caused direct injury.
Summary of the invention
The purpose of the embodiment of the present invention is in that to provide a kind of navigator fix label and checking, localization method, electronic tag reading and writing device, in order to alleviate or to solve above-mentioned technical problem of the prior art, overcome copying or negative effect that recycling after deformation causes of label to the precision of location of operation, it is to avoid the injury to patient.
The technical scheme that the embodiment of the present invention adopts is as follows:
The embodiment of the present invention provides a kind of navigator fix label, comprising:
Registration pattern, described registration pattern is used for by visual identity to position described navigator fix label；
Electronic tag, described electronic tag is for storing the encrypted authentication information write in process of production, to carry out effectiveness certification；And after effectiveness certification is passed through, the encryption operation information of storage write, so that described navigator fix label is not again identified.
Preferably, in the arbitrary navigator fix label embodiment of the present invention, also including panel, described registration pattern is arranged on the panel.
Preferably, in the arbitrary navigator fix label embodiment of the present invention, described electronic tag is arranged between described registration pattern and described panel.
Preferably, in the arbitrary navigator fix label embodiment of the present invention, described electronic tag includes a storage chip, described storage chip is for storing the encrypted authentication information write in process of production, and is stored in described navigator fix label and is positioned the encryption operation information of write when being successfully first used afterwards.
Preferably, in the arbitrary navigator fix label embodiment of the present invention, described encrypted authentication information includes additional information, described additional information includes the production information of described navigator fix label after encryption, Sales Channel information, checking information, and any one or the multiple combination in registration pattern geometry information.
Preferably, in the arbitrary navigator fix label embodiment of the present invention, any one in information for hospital, enforcement Surgery Surgery doctor or multiple combination are implemented in described encryption operation information patient information, operating time information, operation.
Preferably, in the arbitrary navigator fix label embodiment of the present invention, described encrypted authentication information includes encryption association authentication information, with to described navigator fix label the being associated property certification placed on different directions in operation.
The embodiment of the present invention also provides for the verification method of a kind of navigator fix label, comprising:
In deciphering production process, the encrypted authentication information of write, generates decrypted authentication information；
Judge that whether described navigator fix label is effective according to decrypted authentication information, if effectively, allow operation to carry out, and write encryption operation information, so that described navigator fix label is not again identified；Otherwise perform the operation stopping.
Preferably, in the verification method of the arbitrary navigator fix label of the present invention, described encrypted authentication information includes additional information, described additional information includes the production information of described navigator fix label after encryption, Sales Channel information, checking information, and any one or the multiple combination in registration pattern geometry information.
Preferably, in the verification method of the arbitrary navigator fix label of the present invention, any one in information for hospital, enforcement Surgery Surgery doctor or multiple combination are implemented in described encryption operation information patient information, operating time information, operation.
Preferably, in the verification method of the arbitrary navigator fix label of the present invention, described encrypted authentication information includes encryption association authentication information, with to described navigator fix label the being associated property certification placed on different directions in operation.
The embodiment of the present invention also provides for a kind of electronic tag reading and writing device, it includes trusted authentication chip and read-write cell, in the production process of navigator fix label, described trusted authentication chip is for being encrypted generation encrypted authentication information to the authentication information of navigator fix label, and described read-write cell for writing the electronic tag of described navigator fix label by described encrypted authentication information；In operation process, described read-write cell reads described encrypted authentication information from described electronic tag, described navigator fix label is carried out effectiveness certification according to described encryption and decryption authentication information by described trusted authentication chip, after effectiveness certification is passed through, operation information is encrypted generation encryption operation information, described encryption operation information is write described electronic tag by described read-write cell, so that described navigator fix label is not again identified.
Preferably, in the arbitrary electronic tag reading and writing device of the present invention, described encrypted authentication information includes additional information, described additional information includes the production information of described navigator fix label after encryption, Sales Channel information, checking information, and any one or the multiple combination in registration pattern geometry information.
Preferably, in the arbitrary electronic tag reading and writing device of the present invention, described encryption operation information patient information operating time information, operation implement any one in information for hospital, enforcement Surgery Surgery doctor or multiple combination.
Preferably, in the arbitrary electronic tag reading and writing device of the present invention, described encrypted authentication information includes encryption association authentication information, with to described navigator fix label the being associated property certification placed on different directions in operation.
The embodiment of the present invention also provides for the localization method of a kind of navigator fix label, and it includes the method described in any of the above-described item, also includes the geological information extracting registration pattern afterwards, to start location of operation.
The technical scheme of the embodiment of the present invention has the advantage that owing to storing the encrypted authentication information write in process of production in electronic tag, it is possible to the effectiveness of label is authenticated；And after effectiveness certification is passed through, store the encryption operation information of write, it is possible to achieve make described navigator fix label not be again identified.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of the embodiment of the present invention one navigator fix label；
Fig. 2 is that the embodiment of the present invention two includes the schematic diagram of three labels at a navigation positioning system；
Fig. 3 is the verification method schematic flow sheet of the embodiment of the present invention three navigator fix label；
Fig. 4 is the verification method schematic flow sheet of the embodiment of the present invention four navigator fix label；
Fig. 5 is the schematic flow sheet of the embodiment of the present invention five production phase write information；
Fig. 6 is the schematic flow sheet of the embodiment of the present invention six operational phase write information；
Fig. 7 is the embodiment of the present invention seven electronic tag reading and writing device structural representation.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Fig. 1 is the structural representation of the embodiment of the present invention one navigator fix label；As it is shown in figure 1, comprising: registration pattern 101 and electronic tag 102.
Described registration pattern 101 is used for by visual identity to position described navigator fix label, and registration pattern 101 can be specially a spread geometry straggly and the black and white block varied in size.
Described electronic tag 102 is for storing the encrypted authentication information write in process of production, to carry out effectiveness certification.Specifically, described electronic tag 102 can specifically include a storage chip, described storage chip is for storing the encrypted authentication information write in process of production, and is stored in described navigator fix label and is positioned the encryption operation information of write when being successfully first used afterwards.
Preferably, in this navigator fix label embodiment, described encrypted authentication information includes additional information, described additional information includes the production information of described navigator fix label after encryption, Sales Channel information, checking information, and any one or the multiple combination in registration pattern 101 geometry information.
In the present embodiment, production information can include production firm, date of manufacture, and Sales Channel information includes having the sale information for hospital selling qualification, including the information for hospital of legal use label；Checking information includes label stated accuracy grade, sells information for hospital and can include selling the regional information such as postcode described in hospital.These inhomogeneity additional informations ensure that label quality, takes precautions against label simultaneously and is copied.
In the present embodiment, described encryption operation information can patient information (name, age, disease type), operating time information, operation any one or the multiple combination implementing information for hospital, implement in Surgery Surgery doctor.
Described electronic tag 102 is additionally operable to the encryption operation information of storage write after effectiveness certification is passed through, so that described navigator fix label is not again identified.Namely in use, by writing the operation information of personalization, label is locked so that the storage chip content of label can not be rewritten forever, it is to avoid reusing of label.
In the present embodiment, navigator fix label also includes panel 100, and described registration pattern 101 is arranged on described panel 100.Panel 100 is arranged on a base (not marking in Fig. 1).
Further, described electronic tag 102 is arranged between described registration pattern 101 and described panel 100.Specifically, in the present embodiment, it is possible to cook up a rectangular area on panel, pasting electronic label in this rectangular area.
In general operation, it usually needs include multiple label, be separately positioned on the position of patient's different directions, namely operation process uses a set of label.Fig. 2 is that the embodiment of the present invention two includes the schematic diagram of three labels at a navigation positioning system；It is arranged on the left side of patient's surgery location, centre, right side as in figure 2 it is shown, be respectively provided with, in order to distinguish three labels 200, gives to each label and carry identification code such as C1, C2, C3, and the Matching Relationship C1C2C3 of three's time.Therefore, in an other embodiment, on the basis of Fig. 1 embodiment, described encrypted authentication information can also include encryption association authentication information, with to described navigator fix label the being associated property certification placed on different directions in operation, distinguish and support the use relation between different labels and these labels, thus avoiding the label with illegal Matching Relationship to mix use.Do not repeat them here.
Fig. 3 is the verification method schematic flow sheet of the embodiment of the present invention three navigator fix label；As it is shown on figure 3, comprising:
The additional information of write in S301, deciphering production process, described encrypted authentication information includes additional information, generates decrypted authentication information；
Preferably, in the verification method of the arbitrary navigator fix label of the present invention, described encrypted authentication information includes additional information, described additional information includes the production information of described navigator fix label after encryption, Sales Channel information, checking information, and any one or the multiple combination in registration pattern geometry information.In the present embodiment, production information can include production firm, date of manufacture, and Sales Channel information includes having the sale information for hospital selling qualification, and checking information includes label stated accuracy grade.
S302, judge that according to decrypted authentication information described navigator fix label is whether effective, if effectively, perform step S303；Otherwise perform the operation stopping.
In the present embodiment, judge whether navigation markup thing effectively specifically can include multiple judge process according to decrypted authentication information, such as judge that whether the manufacturer in accessory information, sale hospital be corresponding with the hospital of currently used label；Judge in checking information, whether label stated accuracy grade meets the needs of operation；Judge additional information being sold, whether hospital has sale qualification, or whether the attributed region of sale hospital is in the region with sale qualification.Only these all of judged results are and are, then marker for determination thing is effective；Otherwise invalid, prompting operation stops, and does not carry out the follow-up any substantive process relevant with operation.In the present embodiment, when operation stops, it is possible to carrying out alarm sounds, such as sound broadcasting or display lamp brightness or color change simultaneously.
In the present embodiment, if to use multiple label, then each label is carried out above-mentioned effectiveness certification；If only using one, then only a label is carried out effectiveness certification.
S303, permission operation carry out, and write encryption operation information, so that described navigator fix label is not again identified；
In the present embodiment, can writing encryption operation information in the operational phase of label, any one in information for hospital, enforcement Surgery Surgery doctor or multiple combination are implemented in described encryption operation information patient information (name, age, disease type), operating time information, operation.By writing the operation information of personalization, label is locked so that the storage chip content of label can not be rewritten forever, it is to avoid reusing of label.
In the present embodiment, when allowing operation to carry out, it is also possible to the location of the line flag thing that is identified registration pattern going forward side by side, formally to start operation.
Fig. 4 is the verification method schematic flow sheet of the embodiment of the present invention four navigator fix label；As shown in Figure 4, comprising:
The encryption association authentication information of write in S401, deciphering production process, described encrypted authentication information includes additional information and encryption association authentication information, generates deciphering association authentication information；
In the present embodiment, write additional information and encryption association authentication information in the production phase of label.
In the present embodiment, described encrypted authentication information includes encryption association authentication information, with to described navigator fix label the being associated property certification placed on different directions in operation.
For operation needs to use multiple label, it is separately positioned on the position of patient's different directions, namely operation process uses a set of label.In order to distinguish three labels, give to each label and carry identification code such as C1, C2, C3, and the Matching Relationship C1C2C3 of three's time, described encryption association authentication information, according to encryption association authentication information to described navigator fix label the being associated property certification of placement on different directions in operation, distinguish and support the use relation between different labels and these labels, thus avoiding the label with illegal Matching Relationship to mix use.
S402, judge that deciphering association authentication information is whether effective, if it is valid, perform step S403, otherwise terminate.
In the present embodiment, when deciphering association authentication information, first deciphering association authentication information, according to the effectiveness certification to association authentication information, then determine whether deciphering additional information.
If association authentication information has the title etc. of label, then judge in association authentication information, whether the name of label meets naming rule.
In S403, deciphering production process, the encryption additional information of write, generates deciphering additional information；
S404, judge that described deciphering additional information is whether effective, if effectively, perform step S405；Otherwise perform the operation stopping.
In the present embodiment, judge whether navigation markup thing effectively specifically can include multiple judge process, only all of additional information and association authentication information and all be verified, and just thinks that label is effective according to deciphering additional information；Such as judge that whether the manufacturer in accessory information, sale hospital be corresponding with the hospital of currently used label；Judge in checking information, whether label stated accuracy grade meets the needs of operation；Judge additional information being sold, whether hospital has sale qualification, or whether the attributed region of sale hospital is in the region with sale qualification.
Only these all of judged results are and are, then marker for determination thing is effective；Otherwise invalid, pointing out performs the operation stops, and in the present embodiment, when operation stops, it is possible to carrying out alarm sounds, such as sound broadcasting or display lamp brightness or color change simultaneously.
In this enforcement, according to step S402 and S404 final marker for determination thing effective time, it is possible to the identification code of all labels is uploaded in surgical data storehouse.
S405, permission operation carry out, and write encryption operation information, so that described navigator fix label is not again identified；
In the present embodiment, when allowing operation to carry out, it is also possible to the location of the line flag thing that is identified registration pattern going forward side by side, formally to start operation.
Preferably, in the verification method of the arbitrary navigator fix label of the present invention, any one in information for hospital, enforcement Surgery Surgery doctor or multiple combination are implemented in described encryption operation information patient information (name, age, disease type), operating time information, operation.Any one in information for hospital, enforcement Surgery Surgery doctor or multiple combination are implemented in described encryption operation information patient information (name, age, disease type), operating time information, operation.By writing the operation information of personalization, label is locked so that the storage chip content of label can not be rewritten forever, it is to avoid reusing of label.
Fig. 5 is the schematic flow sheet of the embodiment of the present invention five production phase write information；The present embodiment includes said additional information simultaneously and illustrates with associating authentication information for authentication information.As it is shown in figure 5, it may include that
Step S501, passing marker thing package exterior 2 D code information；
In the present embodiment, this 2 D code information includes association authentication information, including the Matching Relationship information between label product identification and multiple label.
Step S502, by additional information and association authentication information write electronic tag, and change electronic tag password；
In the present embodiment, it is provided with a tag pin to electronic tag, after writing additional information and associating authentication information, changes tag pin.
S503, to additional information and association authentication information be encrypted, generate encrypted authentication information.
S504, by electronic tag reading and writing device utilize change after tag pin the encrypted authentication information in electronic tag is locked.
In the present embodiment, it is not when having correct electronic tag password, and in electronic tag, data such as encrypted authentication information can not be rewritten.
Fig. 6 is the schematic flow sheet of the embodiment of the present invention six operational phase write information；The present embodiment includes said additional information simultaneously and illustrates with associating authentication information for authentication information.As shown in Figure 6, it may include that
Step S601, judge mark thing effectiveness conscientiously whether pass through；If passed through, then perform step S602；Otherwise, warn and make operation not proceed.
S602, the identification code of label is stored in surgical data storehouse, it is allowed to operation proceeds；
S603, extract registration pattern physical dimension parameter label is positioned；
S604, operation terminate in, utilize read-write equipment write operation information is write electronic tag；
S605, permanent locking chip.
In the present embodiment, permanent locking chip can encrypt realization locking by the tag pin after above-mentioned change, makes the data in label forever can not be rewritten, and is likely to again identify that, it is to avoid reuses.
Fig. 7 is the embodiment of the present invention seven electronic tag reading and writing device structural representation；As shown in Figure 7, it includes trusted authentication chip 701 and read-write cell 702, in the production process of navigator fix label, described trusted authentication chip 701 is for being encrypted generation encrypted authentication information to the authentication information of navigator fix label, described read-write cell 702 for writing the electronic tag of described navigator fix label by described encrypted authentication information, and read-write cell is specifically as follows an antenna；In operation process, described read-write cell 702 reads described encrypted authentication information from described electronic tag, described navigator fix label is carried out effectiveness certification according to described encryption and decryption authentication information by described trusted authentication chip 701, after effectiveness certification is passed through, operation information is encrypted generation encryption operation information, described encryption operation information is write described electronic tag by described read-write cell 702, so that described navigator fix label is not again identified.
Preferably, in this electronic tag reading and writing device embodiment, described encrypted authentication information includes additional information, described additional information includes the production information of described navigator fix label after encryption, Sales Channel information, checking information, and any one or the multiple combination in registration pattern geometry information.
Preferably, in the arbitrary electronic tag reading and writing device of the present invention, any one in information for hospital, enforcement Surgery Surgery doctor or multiple combination are implemented in described encryption operation information patient information (name, age, disease type), operating time information, operation.
Alternatively, in this electronic tag reading and writing device embodiment, described encrypted authentication information includes encryption association authentication information, with to described navigator fix label the being associated property certification placed on different directions in operation.
Device embodiment described above is merely schematic, the wherein said unit illustrated as separating component can be or may not be physically separate, the parts shown as unit can be or may not be physical location, namely may be located at a place, or can also be distributed on multiple NE.Some or all of module therein can be selected according to the actual needs to realize the purpose of the present embodiment scheme.Those of ordinary skill in the art, when not paying performing creative labour, are namely appreciated that and implement.
Through the above description of the embodiments, those skilled in the art is it can be understood that can add the mode of required general hardware platform by software to each embodiment and realize, naturally it is also possible to pass through hardware.Based on such understanding, the part that prior art is contributed by technique scheme substantially in other words can embody with the form of software product, this computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD etc., including some instructions with so that a computer equipment (can be personal computer, server, or the network equipment etc.) perform the method described in some part of each embodiment or embodiment.
Last it is noted that above example is only in order to illustrate technical scheme, it is not intended to limit；Although the present invention being described in detail with reference to previous embodiment, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or wherein portion of techniques feature is carried out equivalent replacement；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a navigator fix label, it is characterised in that including:
Registration pattern, described registration pattern is used for by visual identity to position described navigator fix label；
Electronic tag, described electronic tag is for storing the encrypted authentication information write in process of production, to carry out effectiveness certification；And after effectiveness certification is passed through, the encryption operation information of storage write, so that described navigator fix label is not again identified.
2. navigator fix label according to claim 1, it is characterised in that also include panel, described registration pattern is arranged on the panel.
3. navigator fix label according to claim 2, it is characterised in that described electronic tag is arranged between described registration pattern and described panel.
4. navigator fix label according to claim 1, it is characterized in that, described electronic tag includes a storage chip, described storage chip is for storing the encrypted authentication information write in process of production, and is stored in described navigator fix label and is positioned the encryption operation information of write when being successfully first used afterwards.
5. the verification method of a navigator fix label, it is characterised in that including:
In deciphering production process, the encrypted authentication information of write, generates decrypted authentication information；
Judge that whether described navigator fix label is effective according to decrypted authentication information, if effectively, allow operation to carry out, and write encryption operation information, so that described navigator fix label is not again identified；Otherwise perform the operation stopping.
6. an electronic tag reading and writing device, it is characterized in that, including: trusted authentication chip and read-write cell, in the production process of navigator fix label, described trusted authentication chip is for being encrypted generation encrypted authentication information to the authentication information of navigator fix label, and described read-write cell for writing the electronic tag of described navigator fix label by described encrypted authentication information；In operation process, described read-write cell reads described encrypted authentication information from described electronic tag, described navigator fix label is carried out effectiveness certification according to described encryption and decryption authentication information by described trusted authentication chip, after effectiveness certification is passed through, operation information is encrypted generation encryption operation information, described encryption operation information is write described electronic tag by described read-write cell, so that described navigator fix label is not again identified.
7. the device described in method or 6 described in navigator fix label according to claim 1 or 5, it is characterized in that, described encrypted authentication information includes additional information, described additional information includes the production information of described navigator fix label after encryption, Sales Channel information, checking information, and any one or the multiple combination in registration pattern geometry information.
8. the method described in navigator fix label according to claim 1 or 5, or the device described in 6, it is characterized in that, any one in information for hospital, enforcement Surgery Surgery doctor or multiple combination are implemented in described encryption operation information patient information, operating time information, operation.
9. the device described in method or 6 described in navigator fix label according to claim 1 or 5, it is characterized in that, described encrypted authentication information includes encryption association authentication information, with to described navigator fix label the being associated property certification placed on different directions in operation.
10. the localization method of a navigator fix label, it is characterised in that include the method described in any one of the claims 1-9, also includes the geological information extracting registration pattern, afterwards to start location of operation.
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| CN201610029910.1A CN105708563A (en) | 2016-01-18 | 2016-01-18 | Navigation positioning marker, verification method, positioning method and electronic tag reading and writing device |
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| CN201610029910.1A CN105708563A (en) | 2016-01-18 | 2016-01-18 | Navigation positioning marker, verification method, positioning method and electronic tag reading and writing device |
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| CN109199602A (en) * | 2017-07-05 | 2019-01-15 | 北京柏惠维康科技有限公司 | medical positioning device |
| CN109199607A (en) * | 2017-07-05 | 2019-01-15 | 北京柏惠维康科技有限公司 | Connecting device for medical purposes and plug |
| CN113995511A (en) * | 2021-12-31 | 2022-02-01 | 中南大学 | Actual measurement positioning operation navigation system and positioning operation navigation method |
| RU210665U1 (en) * | 2021-06-01 | 2022-04-25 | Владимир Михайлович Иванов | Marker holder for performing surgery on the patient's head using mixed reality |
| CN116459005A (en) * | 2022-01-11 | 2023-07-21 | 北京和华瑞博医疗科技有限公司 | Tracer, surgical tool and surgical system |
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