CN107802347A - Caliberating device - Google Patents
Caliberating device Download PDFInfo
- Publication number
- CN107802347A CN107802347A CN201711113015.9A CN201711113015A CN107802347A CN 107802347 A CN107802347 A CN 107802347A CN 201711113015 A CN201711113015 A CN 201711113015A CN 107802347 A CN107802347 A CN 107802347A
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- China
- Prior art keywords
- area
- caliberating device
- demarcation
- main body
- face
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Classifications
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- 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
-
- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
Abstract
Present disclose provides a kind of caliberating device, and it includes main body, sets the apparatus of witness marker and setting on the body on the body to demarcate area.The apparatus demarcation area includes at least two in following demarcation area：Hole demarcation area, cone hole demarcation area, spheroid demarcation area, probe demarcation area and positioning robot's connector assembly demarcation area.
Description
Technical field
The present invention relates to technical field of medical instruments, especially, is related to a kind of demarcation for optical alignment tracking system
Device.
Background technology
Surgical navigational treatment system based on image guiding generally comprises medical imaging devices, and (such as computed tomography is set
Standby CT, C-arm or magnetic resonance imaging device MRI), location equipment (such as positioning camera, electromagnetic location instrument or optical alignment tracking
System) and the therapeutic equipment such as operating theater instruments.In surgical procedure, doctor under the guiding of location equipment, will by location equipment with
The operating theater instruments of track positioning is sent to inside of human body specified location exactly, and focus is treated.
However, in navigating surgery, it will usually because fine motion or operating theater instruments generation slight deformation occur for witness marker, lead
There is operating theater instruments None- identified either operating theater instruments precision and the situation of deviation occurs in cause, in addition, also uncertain in the presence of some
The whether accurate situation of the sized data of operating theater instruments.Therefore, how to be accurately positioned to operating theater instruments especially its tip is hand
One key issue of art navigation system.
The content of the invention
In order to solve the above-mentioned technical problem, embodiment of the disclosure provides a kind of caliberating device, is performed the operation to Accurate Calibration
Apparatus.
According to an aspect of this disclosure, there is provided a kind of caliberating device, including：
Main body；
Witness marker on the body is set；And
Apparatus demarcation area on the body is set,
The apparatus demarcation area includes at least two in following demarcation area：
Hole demarcates area, and described hole demarcation area includes cylindrical cavity；
Hole demarcation area is bored, the cone hole demarcation area includes the taper hole with predetermined cone angle and desired depth；
Spheroid demarcates area, and the spheroid demarcation area includes the spheroid of installation on the body；
Probe demarcates area, and the probe demarcation area includes the through hole through at least one face of the main body；With
Positioning robot's connector assembly demarcates area, positioning robot's connector assembly demarcation butt junction location robot of area
Connector assembly.
According to some embodiments, described hole demarcation area includes at least two cylindrical cavities with different-diameter.
According to some embodiments, described hole demarcation area includes the cylindrical cavity of more than three, described more than three
Cylindrical cavity is arranged in a ring according to the order of diameter.
According to some embodiments, the cylindrical cavity is the cylinder insertion through at least one face of the main body
Hole.
According to some embodiments, the size of the taper hole and the given size of probe match.
According to some embodiments, the diameter of the spheroid is located in the range of 1mm-100mm.
According to some embodiments, positioning robot's connector assembly demarcation area includes a base, the size of the base
Match with the size of the connector assembly of the positioning robot.
According to some embodiments, the caliberating device also include set on the body connect base soon.
According to some embodiments, the base that connects soon is arranged on the first face of the main body, described hole demarcation area, institute
State cone hole demarcation area, spheroid demarcation area and probe demarcation area to be arranged on the second face of the main body, described first
Face and second face are the different surface of the main body.
According to some embodiments, positioning robot's connector assembly demarcation area is arranged on the 3rd face of the main body,
3rd face is the main body different from first face and the surface in second face.
According to some embodiments, first face and the relative surface that second face is the main body.
According to some embodiments, the base that connects soon includes triangle boss, and the triangle boss includes relative upper
Surface and lower surface and the connection upper surface and three sides of the lower surface, the upper surface is than the lower surface more
Close to the main body, the upper surface and the lower surface shape triangular in shape, and the area of the upper surface is more than institute
State the area of lower surface.
According to some embodiments, the witness marker includes at least three mark beads, and the mark bead is relative to institute
The position for stating main body is fixed.
According to some embodiments, the caliberating device also includes observation window, and the observation window is formed in the side of the main body
On face.
The embodiment provides a kind of general caliberating device, the operating theater instruments of different size can be carried out fast
Demarcate fastly.
Brief description of the drawings
The description made by below with reference to accompanying drawing to the disclosure, the other objects and advantages of the disclosure will be aobvious and easy
See, and can help to be fully understood by the disclosure.
Fig. 1 is the perspective view according to the caliberating device of the exemplary embodiment of the disclosure；
Fig. 2 is the top view according to the caliberating device of the exemplary embodiment of the disclosure；
Fig. 3 is the side view according to the caliberating device of the exemplary embodiment of the disclosure；
Fig. 4 is the perspective view according to another visual angle of the caliberating device of the exemplary embodiment of the disclosure；
Fig. 5 is the upward view according to the caliberating device of the exemplary embodiment of the disclosure；
Fig. 6 is the front view according to the caliberating device of the exemplary embodiment of the disclosure；And
Fig. 7 is the sectional view according to the caliberating device of the exemplary embodiment of the disclosure.
It should be noted that each accompanying drawing is not necessarily to scale to draw, but only not influence the signal of reader's understanding
Property mode is shown.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present disclosure clearer, below in conjunction with the embodiment of the present disclosure
Accompanying drawing, the technical scheme of the embodiment of the present disclosure is clearly and completely described.Obviously, described embodiment is this public affairs
The part of the embodiment opened, rather than whole embodiments.Based on described embodiment of the disclosure, ordinary skill
The every other embodiment that personnel are obtained on the premise of without creative work, belong to the scope of disclosure protection.
Unless expressly stated otherwise, in the accompanying drawing of the embodiment of the present disclosure size of each structure and ratio do not represent it is actual
Size and ratio.
Unless otherwise defined, the technical term or scientific terminology that the disclosure uses, which are should be in disclosure art, to be had
The ordinary meaning that the personage for having general technical ability is understood.
It should be noted that, although term " first ", " second " etc. can be used herein to describe various parts, component, member
Part, region, layer and/or part, but these parts, component, element, region, layer and/or part should not be restricted by these terms limit
System.But these terms are used to another mutually distinguish a part, component, element, region, layer and/or part.Thus,
For example, first component discussed below, first component, the first element, first area, first layer and/or Part I can be by
Referred to as second component, second component, the second element, second area, the second layer and/or Part II, without departing from the disclosure
Teaching.
In addition, either the similar word such as "comprising" means to occur element before the word to " comprising " or part is covered
The element or part of the present word presented hereinafter and its equivalent, and it is not excluded for other elements or part." connection " or " phase
The similar words such as company " are not limited to physics or mechanical connection, but can include electrical connection, either directly
It is connecing or indirect.
In the disclosure, for convenience, directional terminology " on ", " under ", "left", "right", " first party have been used
To ", " second direction ", " third direction " etc., it should be understood that the directional terminology is only used for representing relative position relation,
After the absolute position for being described object changes, then the relative position relation may also correspondingly change.For example, in description basis
During the locking device of the bone fixation pin of the embodiment of the present disclosure, the actual use orientation of the locking device is referred to, with " first
Direction " represents the direction of the direction of insertion parallel to the bone fixation pin, is represented with " second direction " perpendicular to the bone fixation
The direction of the direction of insertion of pin, represented with " third direction " perpendicular to the first direction and the direction of the second direction.
It should be understood that operation guiding system is widely used in various surgical operations, such as orthopaedics, nerve are outer
Section, spinal nerve surgery etc., while it is also used for the Minimally Invasive Surgeries such as thorax abdomen, tissue Biopsy.Operation guiding system can lead to
The patient location for crossing 3 d image data that alignment system acquires imaging device and real space is registered, by right
The real-time tracking of operating theater instruments mark point in real space, obtain operating theater instruments and shown in the real-time three-dimensional of image space, aided in
Doctor carries out accurately operation technique.Operation guiding system can use and be based on optical Technology of surgery navigation.In order to more specific
Ground illustrates the technical concept of the present invention, herein, the implementation of the present invention is described exemplified by based on optical Technology of surgery navigation
Example, however, it will be understood by those skilled in the art that the present invention technical concept can be used for it is other types of operation lead
In boat technology.
Unless otherwise indicated, herein, term " witness marker " can be active witness marker or passive
Formula witness marker.For example, active witness marker can include the mark bead for being provided with light emitting diode, the infraluminescence two
The light that pole pipe is sent can be gathered by Optical devices such as video cameras；Passive type witness marker can include multiple mark beads, should
Multiple mark beads reflect the light that other devices are sent, and the light of the reflection can be gathered by Optical devices such as video cameras.
According to one exemplary embodiment of the present invention, with reference to shown in Fig. 1-3, a kind of caliberating device for surgical navigational
1 can include main body 2, the witness marker 4 being arranged in the main body 2 and the apparatus demarcation area being arranged in the main body 2.
As depicted in figs. 1 and 2, the apparatus demarcation area can include at least two in following demarcation area：Hole is demarcated
Area, described hole demarcation area can include cylindrical cavity 6；Hole demarcation area is bored, the cone hole demarcation area can include having in advance
Determine cone angle and the taper hole 7 of desired depth；Spheroid demarcates area, and the spheroid demarcation area can include being arranged on the main body 2
On spheroid 8；Probe demarcates area, and the probe demarcation area can include the through hole 9 through at least one face of the main body；
Area 10 is demarcated with positioning robot's connector assembly, positioning robot's connector assembly demarcation area is docked to be determined for surgical navigational
The connector assembly of position robot.
According to an exemplary embodiment, described hole demarcation area can include at least two cylinders with different-diameter
Shape hole 6.According to another exemplary embodiment, described hole demarcation area can include the cylindrical cavity 6 of more than three,
The cylindrical cavity 6 of described more than three is arranged in a ring according to the order of diameter.As shown in Fig. 2 described hole is demarcated
Area can include multiple cylindrical cavities 6, and the diameter of multiple cylindrical cavities 6 differs, and multiple cylindrical cavities 6 can be by
It is arranged in a ring according to the order of diameter, at the annular center, it is also formed with a cylindrical cavity 6.Center should be located at
The diameter of cylindrical cavity 6 can be be differed around the diameters of its other cylindrical cavities 6.Pass through such arrangement
Mode, it can make full use of space that multiple holes with different diameter specifications are set, so as to which there are different chis to a variety of
The cylindrical operating theater instruments (such as intramedullary nail etc.) of very little specification (such as point diameter) is demarcated.
Fig. 7 shows the sectional view of caliberating device according to embodiments of the present invention, as shown in fig. 7, the cylindrical cavity 6
It can be the cylindrical through hole through at least one face of the main body.In the embodiment shown in fig. 7, at least one face
Include the upper surface of main body 2.
As shown in fig. 7, taper hole 7 can have predetermined cone angle and predetermined depth.In the exemplary embodiment,
Taper hole 7 can be used for demarcating the operating theater instruments for having slightly pointed end.For example, the cone hole demarcation area can be used for demarcating
Hole demarcation area can not find suitable diameter, end is sharp apparatus.Specifically, it is fixed the operating theater instruments for having slightly pointed end to be installed
After bit flag, the end of point is placed in taper hole 7, then the drift angle rotation around taper hole 7 or inclination at least three position
Postpone and demarcated, specific calibration process will be described in more detail below.
Referring back to Fig. 1 and Fig. 2, the taper hole 7 can be arranged on the upper surface of main body 2.That is, taper hole 7
It is arranged in cylindrical cavity 6 on the same surface of main body 2.
According to the exemplary embodiment of the present invention, the size of the taper hole 7 can be with operating theater instruments (such as probe)
Given size match.
Reference picture 1, the spheroid demarcation area can include the spheroid 8 being arranged in the main body 2, and the spheroid demarcates area
It is spherical hollow apparatus that end, which can be demarcated, specifically, witness marker can be arranged on hollow apparatus, then by apparatus
Hollow end be stuck on spheroid, around spheroid 8 rotate or tilt at least three position after demarcated, specific calibration process
It will be described in more detail below.
According to the exemplary embodiment of the present invention, the diameter of the spheroid 8 can be located in the range of 1mm-100mm, special
Not, the diameter of the spheroid 8 can be located in the range of 5mm-10mm.
In the illustrated embodiment, the spheroid 8 can be arranged on the upper surface of main body 2.That is, spheroid 8 and bellmouth
Hole 7 and cylindrical cavity 6 are arranged on the same surface of main body 2.For example, spheroid 8 can be arranged on master by cylindrical base
On the upper surface of body 2.
According to the exemplary embodiment of the present invention, the probe demarcation area can include at least one through the main body 2
The through hole 9 in individual face.Reference picture 7, through hole 9 run through the upper surface of main body 2, and extend to one of the lower surface of main body 2
In point.The probe demarcation area can be used for demarcating probe.Probe typically has longer length, inserts a probe into through hole 9
Afterwards, by the caliberating device, the end of probe can be calibrated relative to the positional information of the witness marker on probe.
Reference picture 1 and Fig. 3, positioning robot's connector assembly demarcation area 10 can include a base 12, the base
12 dock the connector assembly of the positioning robot for surgical navigational, the size of the base 12 and the end group of positioning robot
The size of part matches.The connector assembly of positioning robot is installed on to the base 12 in positioning robot's end effector demarcation area
On, you can the connector assembly of positioning robot is calibrated relative to the position relationship of base 12, then can by certain conversion
To know relative position of the connector assembly of positioning robot after positioning robot's arm.In the illustrated embodiment,
Positioning robot's connector assembly demarcation area 10 is arranged on a side of main body 2.
In the illustrated embodiment, although also show hole demarcation area, cone hole demarcation area, spheroid demarcation area, probe
Area and positioning robot's connector assembly demarcation area are demarcated, it should be understood, however, that in other embodiments of the invention, mark
Hole demarcation area, cone hole demarcation area, spheroid demarcation area, probe demarcation area and positioning robot's connector assembly can be included by determining device
At least two demarcated in area, i.e. caliberating device can include hole demarcation area, cone hole demarcation area, spheroid demarcation area, probe mark
Any combination at least two demarcation areas in area and positioning robot's connector assembly demarcation area are determined, for example, caliberating device can be with
Including hole demarcation area and cone hole demarcation area, or spheroid demarcation area and probe demarcation area can be included, or hole mark can be included
Determine area and positioning robot's connector assembly demarcation area.
It is various for the species of current operating theater instruments, there is different specifications because surgical application is different, different manufacturers production
Operating theater instruments specification it is also inconsistent, difference is mainly reflected in the length of needle body, diameter, and the shape of needle point has beveling and axle
The problems such as symmetrical two kinds of forms, can be to the hand of different size the embodiment provides a kind of general caliberating device
Art apparatus is rapidly demarcated.In caliberating device according to embodiments of the present invention, by setting at least two different marks
Determine area, a variety of apparatuses can be demarcated simultaneously, avoid needs to be equipped with multiple caliberating devices when operating an operation
Problem, and the various algorithms that carry out are needed when also simplify the various apparatuses of various demarcation, so as to win preciousness for doctor
Operating time.
As shown in figure 4, according to the exemplary embodiment of the present invention, the caliberating device 1 can also be described including being arranged on
Base 3 is connect soon in main body 2.In the illustrated embodiment, the base 3 that connects soon is arranged on the lower surface of the main body 2.
According to an exemplary embodiment, the base 3 that connects soon can include triangle boss 32, and the triangle is convex
Platform 32 includes three sides of relative upper surface 321 and lower surface 322 and the connection upper surface and the lower surface
324, the upper surface 321 is than the lower surface 322 closer to the main body 2, the upper surface 321 and the lower surface 322
Shape triangular in shape, and the area of the upper surface 321 is more than the area of the lower surface 322.It is as shown in figure 5, described
Projection of the lower surface 322 in the main body 2 is fallen completely within the upper surface 321.
For example, robot is resetted, it is necessary to which caliberating device 1 is arranged on when caliberating device 1 is used for into bone surgery, it is multiple
The up big and down small triangular groove to match with the triangle boss 32 is provided with the platform of position robot, triangle is convex
The lower surface 322 of platform 32 is fixed with triangular groove by magnetic.Pass through such fit system, it is possible to achieve caliberating device with
The rapid abutting joint of robot is resetted, so as to further win the operating time of preciousness for doctor.
As an example, the witness marker 4 of caliberating device 1 can include at least three mark beads 42, such as Fig. 4 institutes
Show, the mark bead 42 is fixed relative to the position of the main body 2.In the illustrated embodiment, it is provided with caliberating device 1
6 mark beads 42, wherein 3 mark beads 42 are set on a side, 3 mark beads are arranged on another side in addition
On face, as shown in figs. 1 and 3.Set 3 mark beads on the same side not conllinear, may thereby determine that a plane.
In calibration process, the position by calculation flag bead relative to positioning robot, it is possible to determine that caliberating device is positioning
Position in robot coordinate system.
According to an exemplary embodiment, mark bead 42 can be installed in main body 2 by base 41, such as Fig. 1 institutes
Show.
As shown in fig. 6, caliberating device 1 can also include observation window 5, the observation window 5 can be formed in the main body 2
On side.By observation window, operator can see insert in hole demarcation area and probe demarcation area instrument end either with or without to
Up to lowermost end, so as to ensure the accuracy of demarcation.
Below, the course of work of various apparatuses is demarcated using the caliberating device with reference to the structure of above-mentioned caliberating device, description.
First, mark bead 42 is installed on the body 2, then resetted caliberating device 1 by connecing base 3 soon and being arranged on
In robot, such as in the reduction platform for resetting robot.Optical positioning device can real-time detection mark bead 42,
To determine three-dimensional coordinate of the mark bead 42 relative to location equipment (such as positioning robot), so as to realize reality robotic position
Put the mapping with navigation Virtual Space robot location.
It is then possible to the demarcation of various apparatuses is carried out using caliberating device 1.When being demarcated, be related to coordinate system it
Between various conversions, conversion process is related to the computing of matrix, unless otherwise instructed, wherein the matrix used is typically 4 × 4
Matrix.
For example, the cylindrical operating theater instruments of such as intramedullary nail is demarcated using the hole demarcation area of caliberating device 1.It is right
Such as the target of the cylindrical operating theater instruments demarcation of intramedullary nail is to determine the front end of cylindrical operating theater instruments relative to cylindrical hand
The position of the end of art apparatus, typically can be in the end Installation Mark bead of apparatus during actual operation, that is to say, that mark
Fixed target is to determine coordinates matrix of the front end of cylindrical operating theater instruments under navigation space, realizes its realistic space and navigation
The mapping in space.In the end Installation Mark bead of intramedullary nail, the point diameter identical diameter with the intramedullary nail is then selected
Hole, intramedullary nail is inserted in the hole.Pass through the optical alignment tracking system of location equipment, i.e. by gathering demarcation dress
The light or the light of reflection that the mark bead put is sent, location equipment can obtain seat of the calibration tool under location equipment coordinate system
Mark, is designated as matrix B.After hole corresponding to the front end insertion of intramedullary nail, the front end that location equipment can obtain intramedullary nail is positioning
Coordinate under device coordinate system, it is designated as matrix T.And position of the cylindrical cavity 6 in hole demarcation area under calibration tool coordinate system
Put once it is determined that, be exactly changeless, i.e., its coordinate can be designated as matrix PB.
According to above-mentioned relation, coordinate PT of the front end of intramedullary nail under its own coordinate system can be conversed, is specially：
PT=B*T-1* PB,
Wherein, B*T-1Calibration tool coordinate system can be represented to the transition matrix of operating theater instruments coordinate system.
It should be noted that the calibration process that the probe demarcation area is used for demarcating the operating theater instruments such as probe is similar,
It will not be repeated here.
For another example positioning robot is demarcated using positioning robot's connector assembly demarcation area.Positioning robot marks
Fixed target is to determine coordinates matrix of the connector assembly of positioning robot under mark system of robot itself.During due to demarcation, mark
Determine instrument 1 to dock with the connector assembly of robot, i.e. matrix of the connector assembly of known machine people under calibration tool coordinate system
For A.According to optical alignment tracking system, matrix F of the calibration tool 1 under optical alignment tracking system, localization machine can be obtained
Matrix C of the mark bead (i.e. positioning robot in itself) under optical alignment tracking system on device people., can according to above-mentioned relation
Using converse matrix D of the connector assembly of robot under robot local Coordinate System as：D=A*F*C-1。
For another example apparatus of the front end for point is demarcated using cone hole demarcation area.To have slightly pointed front end (referred to as
" tip ") operating theater instruments installation witness marker after, tip is placed in taper hole 7, then tip it is motionless in a fixing point,
Operating theater instruments is demarcated after the drift angle rotation of taper hole 7 or inclination at least three position.
Tip is against to motionless on a fixing point, rotary operation apparatus.In rotary course, the space of witness marker is gathered
Parameter matrix Mj, j=1,2,3 ... n, n are times of collection.Assuming that space ginseng of the fixing point of tip conflict under location equipment
Matrix number is M, and tip is M relative to the position of witness markertip, can then be derived as follows：
Then：RjTtip+Tj=Rj+1Ttip+Tj+1, so as to obtain：
(Rj-Rj+1)*Ttip=(Tj+1-Tj)。
Wherein, RjAnd Rj+1Characterize spatial parameter matrix MjAnd Mj+1In rotational component, TjAnd Tj+1Characterization parameter matrix Mj
And Mj+1In translational component, TtipIt is unknown sophisticated space vector to be asked, TtipIn include needle point coordinate information.Pass through
Gather n spatial parameter matrix Mj, an equation group for including 3* (n-1) individual equation can be established, utilizes least square method
It is final to determine Ttip, so that it is determined that going out coordinate of the tip of operating theater instruments in its own coordinate system.
It should be noted that the spheroid demarcation area is used for demarcating the calibration process and the mark in cone hole demarcation area of operating theater instruments
It is similar to determine process, will not be repeated here.
For embodiment of the disclosure, it is also necessary to explanation, in the case where not conflicting, embodiment of the disclosure and reality
Applying the feature in example can be mutually combined to obtain new embodiment.
More than, the only embodiment of the disclosure, but the protection domain of the disclosure is not limited thereto, the disclosure
Protection domain should be defined by scope of the claims.
Claims (14)
1. a kind of caliberating device, including：
Main body；
Witness marker on the body is set；And
Apparatus demarcation area on the body is set,
Characterized in that, the apparatus demarcation area includes at least two in following demarcation area：
Hole demarcates area, and described hole demarcation area includes cylindrical cavity；
Hole demarcation area is bored, the cone hole demarcation area includes the taper hole with predetermined cone angle and desired depth；
Spheroid demarcates area, and the spheroid demarcation area includes the spheroid of installation on the body；
Probe demarcates area, and the probe demarcation area includes the through hole through at least one face of the main body；With
Positioning robot's connector assembly demarcates area, the end of positioning robot's connector assembly demarcation butt junction location robot of area
Component.
2. caliberating device according to claim 1, it is characterised in that described hole demarcation area, which includes at least two, to be had not
With the cylindrical cavity of diameter.
3. caliberating device according to claim 1 or 2, it is characterised in that described hole demarcation area includes more than three
Cylindrical cavity, the cylindrical cavity of described more than three are arranged in a ring according to the order of diameter.
4. according to the caliberating device any one of claim 1-3, it is characterised in that the cylindrical cavity is through institute
State the cylindrical through hole at least one face of main body.
5. according to the caliberating device any one of claim 1-4, it is characterised in that the size of the taper hole and spy
The given size of pin matches.
6. according to the caliberating device any one of claim 1-5, it is characterised in that the diameter of the spheroid is located at 1mm-
In the range of 100mm.
7. according to the caliberating device any one of claim 1-6, it is characterised in that positioning robot's connector assembly
Demarcation area includes a base, and the size of the base and the size of the connector assembly of the positioning robot match.
8. according to the caliberating device any one of claim 1-7, it is characterised in that the caliberating device also includes setting
On the body connect base soon.
9. caliberating device according to claim 8, it is characterised in that it is described connect base soon and be arranged on the main body first
On face, described hole demarcation area, the cone hole demarcation area, spheroid demarcation area and probe demarcation area are arranged on the master
On second face of body, first face and second face are the different surface of the main body.
10. caliberating device according to claim 9, it is characterised in that positioning robot's connector assembly demarcation area is set
Put on the 3rd face of the main body, the 3rd face is the table for being different from first face and second face of the main body
Face.
11. the caliberating device according to claim 9 or 10, it is characterised in that first face and second face are institute
State the relative surface of main body.
12. according to the caliberating device any one of claim 8-11, it is characterised in that the base that connects soon includes triangle
Shape boss, the triangle boss include relative upper and lower surface and the connection upper surface and the lower surface
Three sides, than the lower surface closer to the main body, the upper surface and the lower surface are in triangle for the upper surface
Shape shape, and the area of the upper surface is more than the area of the lower surface.
13. according to the caliberating device any one of claim 1-12, it is characterised in that the witness marker is included at least
Three mark beads, the mark bead are fixed relative to the position of the main body.
14. according to the caliberating device any one of claim 1-13, it is characterised in that the caliberating device also includes seeing
Window is examined, the observation window is formed on the side of the main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711113015.9A CN107802347B (en) | 2017-11-10 | 2017-11-10 | Calibration device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711113015.9A CN107802347B (en) | 2017-11-10 | 2017-11-10 | Calibration device |
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| CN107802347A true CN107802347A (en) | 2018-03-16 |
| CN107802347B CN107802347B (en) | 2023-09-26 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019090703A1 (en) * | 2017-11-10 | 2019-05-16 | 唐佩福 | Calibration device |
| CN113509268A (en) * | 2021-05-12 | 2021-10-19 | 上海交通大学 | Calibration device and calibration method of mixed reality surgical navigation system |
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