CN107802347B - Calibration device - Google Patents
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- CN107802347B CN107802347B CN201711113015.9A CN201711113015A CN107802347B CN 107802347 B CN107802347 B CN 107802347B CN 201711113015 A CN201711113015 A CN 201711113015A CN 107802347 B CN107802347 B CN 107802347B
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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
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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
- 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
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Abstract
The present disclosure provides a calibration device comprising a body, a positioning marker disposed on the body, and an instrument calibration zone disposed on the body. The instrument calibration zone comprises at least two of the following calibration zones: the device comprises a hole calibration area, a cone hole calibration area, a sphere calibration area, a probe calibration area and a positioning robot tail end assembly calibration area.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a calibration device for an optical positioning and tracking system.
Background
Image-guided surgery navigation treatment systems generally include medical imaging devices (e.g., computed Tomography (CT), C-arm, or Magnetic Resonance (MRI)), positioning devices (e.g., positioning cameras, electromagnetic positioners, or optical positioning tracking systems), and surgical instruments. In the operation process, a doctor accurately conveys the operation instrument tracked and positioned by the positioning equipment to a specified position in the human body under the guidance of the positioning equipment to treat the focus.
However, in the navigation operation, the positioning mark is often jogged or the surgical instrument is slightly deformed, so that the surgical instrument cannot be identified or the precision of the surgical instrument is deviated, and in addition, whether the dimensional data of the surgical instrument is accurate or not is uncertain. Thus, how to precisely position a surgical instrument, especially its tip, is a critical issue of surgical navigation systems.
Disclosure of Invention
In order to solve the above technical problems, embodiments of the present disclosure provide a calibration device for precisely calibrating a surgical instrument.
According to one aspect of the present disclosure, there is provided a calibration device comprising:
a main body;
a positioning mark provided on the main body; and
an instrument calibration area disposed on the body,
the instrument calibration zone comprises at least two of the following calibration zones:
the hole calibration area comprises a cylindrical hole;
the cone hole calibration area comprises a cone hole with a preset cone angle and a preset depth;
the sphere calibration area comprises a sphere mounted on the main body;
a probe calibration zone comprising a through hole penetrating at least one face of the body; and
and the positioning robot tail end assembly calibration area is in butt joint with the tail end assembly of the positioning robot.
According to some embodiments, the bore calibration zone comprises at least two cylindrical bores having different diameters.
According to some embodiments, the hole calibration zone comprises three or more cylindrical holes, which are arranged in a circular shape in order of diameter.
According to some embodiments, the cylindrical bore is a cylindrical through bore through at least one face of the body.
According to some embodiments, the tapered hole is sized to match the prescribed size of the probe.
According to some embodiments, the sphere has a diameter in the range of 1mm-100 mm.
According to some embodiments, the positioning robot end assembly calibration zone includes a base having dimensions that match the dimensions of the positioning robot end assembly.
According to some embodiments, the calibration device further comprises a quick-connect base disposed on the body.
According to some embodiments, the quick connect base is disposed on a first face of the body, the hole calibration zone, the cone hole calibration zone, the sphere calibration zone, and the probe calibration zone are disposed on a second face of the body, the first face and the second face being different surfaces of the body.
According to some embodiments, the positioning robot end assembly calibration zone is disposed on a third face of the body, the third face being a different surface of the body than the first face and the second face.
According to some embodiments, the first face and the second face are opposing surfaces of the body.
According to some embodiments, the quick-connect base comprises a triangular boss comprising opposing upper and lower surfaces and three sides connecting the upper and lower surfaces, the upper surface being closer to the body than the lower surface, the upper and lower surfaces each being triangular in shape, and the upper surface being larger in area than the lower surface.
According to some embodiments, the positioning marker comprises at least three marker balls, the position of the marker balls being fixed relative to the body.
According to some embodiments, the calibration device further comprises a viewing window formed on a side of the body.
The embodiment of the invention provides a universal calibration device which can quickly calibrate surgical instruments with different specifications.
Drawings
Other objects and advantages of the present disclosure will become apparent from the following description of the present disclosure with reference to the accompanying drawings, and may assist in a comprehensive understanding of the present disclosure.
FIG. 1 is a perspective view of a calibration device according to an exemplary embodiment of the present disclosure;
FIG. 2 is a top view of a calibration device according to an exemplary embodiment of the present disclosure;
FIG. 3 is a side view of a calibration device according to an exemplary embodiment of the present disclosure;
FIG. 4 is a perspective view of another view of a calibration device according to an exemplary embodiment of the present disclosure;
FIG. 5 is a bottom view of a calibration device according to an exemplary embodiment of the present disclosure;
FIG. 6 is a front view of a calibration device according to an exemplary embodiment of the present disclosure; and
FIG. 7 is a cross-sectional view of a calibration device according to an exemplary embodiment of the present disclosure.
It should be noted that the drawings are not necessarily to scale, but are merely shown in a schematic manner that does not affect the reader's understanding.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without the need for inventive faculty, are within the scope of the present disclosure, based on the described embodiments of the present disclosure.
Unless explicitly stated otherwise, the dimensions and proportions of the various features in the drawings of the embodiments of the present disclosure do not represent actual dimensions and proportions.
Unless defined otherwise, technical or scientific terms used in this disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs.
It should be noted that although the terms "first," "second," etc. may be used herein to describe various elements, components, elements, regions, layers and/or sections, these elements, components, elements, regions, layers and/or sections should not be limited by these terms. Rather, these terms are used to distinguish one component, member, element, region, layer and/or section from another. Thus, for example, a first component, a first member, a first element, a first region, a first layer, and/or a first portion discussed below may be referred to as a second component, a second member, a second element, a second region, a second layer, and/or a second portion without departing from the teachings of the present disclosure.
In addition, the word "comprising" or "comprises", and the like, means that elements or components preceding the word are included in the elements or components listed after the word and equivalents thereof, without excluding other elements or components. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
In the present disclosure, directional terms such as "upper", "lower", "left", "right", "first direction", "second direction", "third direction", etc. are used for convenience of description, and it should be understood that the directional terms are merely used to indicate a relative positional relationship, and that the relative positional relationship may be changed accordingly when the absolute position of the object to be described is changed. For example, in describing the locking device of the bone fixation needle according to the embodiment of the present disclosure, reference may be made to an actual use orientation of the locking device, with a direction parallel to an insertion direction of the bone fixation needle being denoted by a "first direction", a direction perpendicular to the insertion direction of the bone fixation needle being denoted by a "second direction", and a direction perpendicular to the first direction and the second direction being denoted by a "third direction".
It should be appreciated that the surgical navigation system is widely used in a variety of surgical procedures, such as orthopaedics, neurosurgery, spinal neurosurgery, etc., as well as minimally invasive procedures such as thoracoabdominal, biopsy, puncture, etc. The surgical navigation system can register the three-dimensional image data acquired by the imaging device with the position of the patient in the actual space through the positioning system, and can acquire the real-time three-dimensional display of the surgical instrument in the image space through the real-time tracking of the marking point of the surgical instrument in the actual space, thereby assisting a doctor in performing accurate surgical operation. The surgical navigation system may employ an optical-based surgical navigation technique. In order to more specifically illustrate the technical concept of the present invention, embodiments of the present invention are described herein by taking an optical-based surgical navigation technique as an example, however, it should be understood by those skilled in the art that the technical concept of the present invention can be applied to other types of surgical navigation techniques as well.
The term "locating marks" may be used herein, unless otherwise indicated, as active locating marks as well as passive locating marks. For example, the active locating marks may include a mark ball with a light emitting diode mounted thereon, the light emitted by the infrared light emitting diode being able to be captured by an optical device such as a camera; the passive locating marks may include a plurality of mark pellets that reflect light from other devices, the reflected light being collected by optical devices such as cameras.
According to an exemplary embodiment of the present invention, as shown in connection with fig. 1-3, a calibration device 1 for surgical navigation may comprise a body 2, a positioning marker 4 provided on the body 2, and an instrument calibration area provided on the body 2.
As shown in fig. 1 and 2, the instrument calibration zone may include at least two of the following calibration zones: a hole calibration zone, which may comprise a cylindrical hole 6; a cone calibration zone, which may comprise a cone hole 7 having a predetermined cone angle and a predetermined depth; a sphere calibration zone, which may comprise a sphere 8 mounted on the body 2; a probe calibration zone, which may include a through hole 9 penetrating at least one face of the body; and a positioning robot end assembly calibration zone 10 that interfaces the end assemblies of the positioning robot for surgical navigation.
According to an exemplary embodiment, the hole calibration zone may comprise at least two cylindrical holes 6 having different diameters. According to another exemplary embodiment, the hole calibration area may include three or more cylindrical holes 6, and the three or more cylindrical holes 6 are annularly arranged in order of diameter. As shown in fig. 2, the hole calibration area may include a plurality of cylindrical holes 6, the diameters of the plurality of cylindrical holes 6 are different, the plurality of cylindrical holes 6 may be arranged in a circular shape according to the order of the diameters, and a cylindrical hole 6 is further formed in the center of the circular shape. The diameter of the centrally located cylindrical bore 6 may be different from the diameter of the other cylindrical bores 6 surrounding it. Through the arrangement mode, a plurality of holes with different diameter specifications can be formed by fully utilizing the space, so that various cylindrical surgical instruments (such as intramedullary nails and the like) with different dimension specifications (such as front end diameters) can be calibrated.
Fig. 7 shows a cross-sectional view of a calibration device according to an embodiment of the invention, as shown in fig. 7, said cylindrical hole 6 may be a cylindrical through hole through at least one face of said body. In the embodiment shown in fig. 7, the at least one face comprises an upper surface of the body 2.
As shown in fig. 7, the tapered hole 7 may have a predetermined taper angle and a predetermined depth. In an exemplary embodiment, the tapered bore 7 may be used to index a surgical instrument having a pointed tip. For example, the tapered hole calibration zone may be used to calibrate a sharp-ended instrument of suitable diameter that is not found in the hole calibration zone. Specifically, after the surgical instrument having the pointed tip is mounted with the positioning mark, the pointed tip is placed in the tapered hole 7 and then calibrated after being rotated or tilted about the apex angle of the tapered hole 7 by at least 3 positions, the specific calibration process will be described in more detail below.
Referring back to fig. 1 and 2, the tapered hole 7 may be disposed on the upper surface of the body 2. I.e. the conical hole 7 is arranged on the same surface of the body 2 as the cylindrical hole 6.
According to an exemplary embodiment of the present invention, the tapered bore 7 may be sized to match the prescribed size of a surgical instrument (e.g., a probe).
Referring to fig. 1, the sphere calibration zone may comprise a sphere 8 mounted on the body 2, and may calibrate a hollow instrument having a spherical end, in particular, a locating mark may be mounted on the hollow instrument, and then the hollow end of the instrument may be snapped onto the sphere, and calibrated after rotating or tilting at least 3 positions about the sphere 8, a particular calibration process will be described in more detail below.
According to an exemplary embodiment of the present invention, the diameter of the sphere 8 may be in the range of 1mm-100mm, and in particular, the diameter of the sphere 8 may be in the range of 5mm-10 mm.
In the illustrated embodiment, the ball 8 may be arranged on the upper surface of the body 2. I.e. the sphere 8 is arranged on the same surface of the body 2 as the conical hole 7 and the cylindrical hole 6. For example, the ball 8 may be mounted on the upper surface of the body 2 by a cylindrical base.
According to an exemplary embodiment of the present invention, the probe calibration area may include a through hole 9 penetrating at least one face of the main body 2. Referring to fig. 7, the through hole 9 penetrates the upper surface of the main body 2 and extends into a portion of the lower surface of the main body 2. The probe calibration zone may be used to calibrate the probe. The probe generally has a long length, and after the probe is inserted into the through hole 9, positional information of the tip of the probe with respect to a positioning mark on the probe can be calibrated by means of the calibration device.
Referring to fig. 1 and 3, the positioning robot tip assembly calibration zone 10 may include a base 12, the base 12 interfacing with a positioning robot tip assembly for surgical navigation, the base 12 sized to match the positioning robot tip assembly size. The end component of the positioning robot is arranged on the base 12 of the calibration area of the end actuator of the positioning robot, so that the position relation of the end component of the positioning robot relative to the base 12 can be calibrated, and the relative position of the end component of the positioning robot after being arranged on the arm of the positioning robot can be known through certain conversion. In the illustrated embodiment, the positioning robot end assembly calibration zone 10 is provided on one side of the body 2.
In the illustrated embodiment, while the hole calibration zone, the cone calibration zone, the sphere calibration zone, the probe calibration zone, and the positioning robot end assembly calibration zone are shown simultaneously, it should be understood that in other embodiments of the invention, the calibration device may comprise at least two of the hole calibration zone, the cone calibration zone, the sphere calibration zone, the probe calibration zone, and the positioning robot end assembly calibration zone, i.e., the calibration device may comprise any combination of at least two of the hole calibration zone, the cone calibration zone, the sphere calibration zone, the probe calibration zone, and the positioning robot end assembly calibration zone, e.g., the calibration device may comprise the hole calibration zone and the cone calibration zone, or may comprise the sphere calibration zone and the probe calibration zone, or may comprise the hole calibration zone and the positioning robot end assembly calibration zone.
Aiming at the problems that the current surgical instruments are various in variety and have different specifications due to different surgical purposes, the specifications of the surgical instruments produced by different manufacturers are inconsistent, the difference is mainly represented by the length and the diameter of a needle body, the shape of a needle point has two forms of oblique cutting and axisymmetry, and the like, the embodiment of the invention provides a universal calibration device which can rapidly calibrate the surgical instruments with different specifications. In the calibrating device according to the embodiment of the invention, by arranging at least two different calibrating areas, multiple instruments can be calibrated at the same time, so that the problem that a plurality of calibrating devices are required to be equipped when one operation is performed is avoided, various algorithms required to be performed when various instruments are calibrated are simplified, and precious operation time is obtained for doctors.
As shown in fig. 4, according to an exemplary embodiment of the present invention, the calibration device 1 may further include a quick-connect base 3 provided on the main body 2. In the illustrated embodiment, the quick-connect base 3 is provided on the lower surface of the main body 2.
According to an exemplary embodiment, the quick-connect base 3 may include a triangular boss 32, the triangular boss 32 includes opposite upper and lower surfaces 321 and 322 and three sides 324 connecting the upper and lower surfaces, the upper surface 321 is closer to the body 2 than the lower surface 322, the upper and lower surfaces 321 and 322 are each in a triangular shape, and an area of the upper surface 321 is larger than an area of the lower surface 322. As shown in fig. 5, the projection of the lower surface 322 onto the main body 2 falls completely into the upper surface 321.
For example, when the calibration device 1 is used in an orthopedic operation, the calibration device 1 needs to be mounted on a reset robot, and a triangular groove with a large upper part and a small lower part, which is matched with the triangular boss 32, is arranged on a platform of the reset robot, and the lower surface 322 of the triangular boss 32 is magnetically fixed with the triangular groove. Through the matching mode, the calibration device and the reset robot can be quickly docked, so that precious operation time is further strived for a doctor.
As an example, the positioning index 4 of the calibration device 1 may comprise at least three index beads 42, as shown in fig. 4, said index beads 42 being fixed in position with respect to said body 2. In the illustrated embodiment, the calibration device 1 is provided with 6 marking beads 42, of which 3 marking beads 42 are provided on one side and the other 3 marking beads are provided on the other side, as shown in fig. 1 and 3. The 3 marker balls disposed on the same side are not collinear, so that one plane can be determined. In the calibration process, the position of the calibration device in the coordinate system of the positioning robot can be determined by calculating the position of the marking ball relative to the positioning robot.
According to an exemplary embodiment, the logo ball 42 may be mounted to the body 2 by a mount 41, as shown in fig. 1.
As shown in fig. 6, the calibration device 1 may further include a viewing window 5, and the viewing window 5 may be formed on a side surface of the main body 2. Through the observation window, an operator can see whether the tail end of the instrument inserted in the hole calibration area and the probe calibration area reaches the bottommost end, so that the accuracy of calibration can be ensured.
In the following, the operation of calibrating various instruments using the calibration device will be described in conjunction with the structure of the calibration device.
First, the index ball 42 is mounted on the main body 2, and then the calibration device 1 is mounted on the reset robot, for example, on a reset platform of the reset robot, through the quick-connect base 3. The optical pointing device is capable of detecting the marker ball 42 in real time to determine the three-dimensional coordinates of the marker ball 42 relative to the pointing device (e.g., a pointing robot) to enable mapping of the real robot position to the navigation virtual space robot position.
The calibration device 1 can then be used for calibrating various instruments. In the calibration, various conversions between coordinate systems are involved, and the conversion process involves the operation of a matrix, where the matrix used is typically a 4×4 matrix unless otherwise specified.
For example, a cylindrical surgical instrument, such as an intramedullary nail, is calibrated using the hole calibration area of the calibration device 1. The aim of calibrating a cylindrical surgical instrument, such as an intramedullary nail, is to determine the position of the front end of the cylindrical surgical instrument relative to the end of the cylindrical surgical instrument, and in the actual surgical procedure, a marking ball is generally installed at the end of the instrument, that is to say, the aim of calibrating is to determine the coordinate matrix of the front end of the cylindrical surgical instrument in the navigation space, so as to realize the mapping of the real space and the navigation space of the cylindrical surgical instrument. A marker ball is installed at the end of the intramedullary nail and then a hole of the same diameter as the diameter of the leading end of the intramedullary nail is selected and the intramedullary nail is inserted into the hole. The positioning device can obtain the coordinates of the calibration tool in the coordinate system of the positioning device by the optical positioning tracking system of the positioning device, namely by collecting the light or the reflected light emitted by the marking balls of the calibration device, and the coordinates are marked as a matrix B. After the front end of the intramedullary nail is inserted into the corresponding hole, the positioning device can obtain the coordinate of the front end of the intramedullary nail under the coordinate system of the positioning device, and the coordinate is marked as a matrix T. The position of the cylindrical hole 6 of the hole calibration area in the coordinate system of the calibration tool is fixed once determined, i.e. the coordinates thereof can be marked as a matrix PB.
According to the above relation, the coordinate PT of the front end of the intramedullary nail under its own coordinate system can be converted, specifically:
PT＝B*T -1 *PB，
wherein B is T -1 A transformation matrix of the calibration tool coordinate system to the surgical instrument coordinate system may be represented.
It should be noted that, the calibration process of the probe calibration area for calibrating the surgical instruments such as the probe is similar to the calibration process, and will not be described herein.
For another example, the pointing robot is calibrated using a pointing robot end assembly calibration area. The aim of the positioning robot calibration is to determine the coordinate matrix of the end component of the positioning robot under the robot's own calibration system. Since the calibration tool 1 is docked with the end assembly of the robot during calibration, i.e. the end assembly of the known robot is in the calibration tool coordinate systemThe matrix of (a) is a. From the optical positioning and tracking system, a matrix F of the calibration tool 1 under the optical positioning and tracking system and a matrix C of the marking beads on the positioning robot (i.e. the positioning robot itself) under the optical positioning and tracking system can be obtained. According to the relation, the matrix D of the tail end assembly of the robot under the self coordinate system of the robot can be converted into: d=a×f×c -1 。
For another example, a tapered hole calibration zone is used to calibrate a sharp-tipped instrument. After the surgical instrument having a pointed front end (simply referred to as "tip") is fitted with the positioning mark, the tip is placed in the tapered hole 7, and then the tip is immobilized at a fixed point, and the surgical instrument is calibrated after being rotated or tilted about the apex angle of the tapered hole 7 by at least 3 positions.
The tip is held against a fixed point and the surgical instrument is rotated. During rotation, a spatial parameter matrix M of the positioning mark is acquired j J=1, 2,3 … … n, n being the number of acquisitions. Assuming that the spatial parameter matrix of the point of fixation of the tip conflict under the positioning device is M, the position of the tip relative to the positioning mark is M tip The following can then be deduced:
then: r is R j T tip +T j ＝R j+1 T tip +T j+1 Thereby obtaining:
(R j -R j+1 )*T tip ＝(T j+1 -T j )。
wherein R is j And R is j+1 Characterizing a spatial parameter matrix M j And M j+1 Rotational component of (a)，T j And T j+1 Characterization parameter matrix M j And M j+1 The translation component, T tip Is the space vector of the unknown tip to be solved, T tip Including tip coordinate information. By collecting n-th space parameter matrix M j A system of equations including 3 x (n-1) equations can be established, and T can be finally determined by using the least squares method tip Thereby determining the coordinates of the tip of the surgical instrument in its own coordinate system.
It should be noted that, the calibration process of the sphere calibration area for calibrating the surgical instrument is similar to the calibration process of the cone hole calibration area, and will not be described herein.
It should also be noted that, in the embodiments of the present disclosure, the features of the embodiments and the embodiments of the present disclosure may be combined with each other to obtain new embodiments without conflict.
The above is merely a specific embodiment of the disclosure, but the protection scope of the disclosure should not be limited thereto, and the protection scope of the disclosure should be subject to the claims.
Claims (12)
1. A calibration device, comprising:
a main body;
a positioning mark provided on the main body; and
an instrument calibration area disposed on the body,
wherein the instrument calibration zone comprises at least two of the following calibration zones:
the hole calibration area comprises a cylindrical hole;
the cone hole calibration area comprises a cone hole with a preset cone angle and a preset depth;
the sphere calibration area comprises a sphere mounted on the main body;
the positioning robot tail end component calibration area is in butt joint with the tail end component of the positioning robot;
the quick-connection base is arranged on the first surface of the main body, the hole calibration area, the cone hole calibration area and the sphere calibration area are arranged on the second surface of the main body, and the first surface and the second surface are different surfaces of the main body;
when the calibration device is used for orthopedic surgery, the quick-connection base is fixed on the platform of the reset robot through magnetism.
2. The calibration device of claim 1, wherein the bore calibration zone comprises at least two cylindrical bores having different diameters.
3. The calibration device of claim 1, wherein the hole calibration zone comprises three or more cylindrical holes, the three or more cylindrical holes being arranged in a circular order of diameter.
4. The calibration device of claim 1, wherein the cylindrical bore is a cylindrical through bore extending through at least one face of the body.
5. The calibration device of claim 1, wherein the tapered hole is sized to match a prescribed size of the probe.
6. Calibration device according to claim 1, wherein the diameter of the sphere is in the range of 1mm-100 mm.
7. The calibration device of claim 1, wherein the positioning robot end assembly calibration zone comprises a base sized to match a size of the positioning robot end assembly.
8. The calibration device of claim 1, wherein the positioning robot tip assembly calibration zone is disposed on a third face of the body, the third face being a different surface of the body than the first face and the second face.
9. The calibration device of claim 1, wherein the first face and the second face are opposing surfaces of the body.
10. The calibration device of claim 1, wherein the quick-connect base comprises a triangular boss comprising opposing upper and lower surfaces and three sides connecting the upper and lower surfaces, the upper surface being closer to the body than the lower surface, the upper and lower surfaces each being triangular in shape, and the upper surface being larger in area than the lower surface.
11. The calibration device of claim 1, wherein the positioning index comprises at least three index beads, the index beads being fixed in position relative to the body.
12. The calibration device of claim 1, further comprising a viewing window formed on a side of the body.
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| WO2019090703A1 (en) * | 2017-11-10 | 2019-05-16 | 唐佩福 | Calibration device |
| CN111759462A (en) * | 2020-07-31 | 2020-10-13 | 北京柏惠维康科技有限公司 | Calibration apparatus, system, method and storage medium |
| 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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| CN107240352A (en) * | 2017-07-11 | 2017-10-10 | 辽宁五八内燃机配件有限公司 | A kind of crankshaft forging identity device |
| CN209107577U (en) * | 2017-11-10 | 2019-07-16 | 唐佩福 | Caliberating device |
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