CN109919983A - A kind of Kalman filter towards the tracking of Kinect doctor visual angle - Google Patents
A kind of Kalman filter towards the tracking of Kinect doctor visual angle Download PDFInfo
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Abstract
A kind of Kalman filter towards the tracking of Kinect doctor visual angle of the present invention belongs to the technical fields such as medicine, three-dimensional imaging, Digital Image Processing；The Kalman filter defines its kalman filter state vector sum observation vector, Kalman's system equation arranged side by side in a frame Kinect data；This technology is applied to the virtual transparent observing endolumenal approach of body surface projection in the Minimally Invasive Surgery that applicant proposes, core as doctor visual angle method for tracing in this method, it will be to obtain more true virtual abdominal cavity transparent effect, it realizes under the premise of not influencing doctor and surgical environments, meets the internal chamber auxiliary observation demand of doctor in common Minimally Invasive Surgery and establish solid theoretical basis.
Description
Technical field
The present invention it is a kind of towards Kinect doctor visual angle tracking Kalman filter belong to medicine, three-dimensional imaging,
The technical fields such as Digital Image Processing.
Background technique
Relative to traditional open procedures, Minimally Invasive Surgery has the advantages such as wound is small, pain is light, healing is fast, has catered to the modern times
The aesthetic standards of people, therefore be increasingly subject to will be widely welcomed, it applies in part abdominal cavity and cranial cavity operation.Minimally Invasive Surgery is main at present
View mode be endoscope.Endoscope is by means of the inner cavity figure after multiple pinhole cameras, xenon source shooting inflation
Picture is presented and is observed over the display for doctor.Current state-of-the-art endoscope can get the inner cavity image of very high quality, Jin Eryou
Inner cavity image derives surgical apparatus location technology, and accuracy is up to 1mm.But endoscope does not meet the observation need of doctor
It asks, 1. inner cavity image is presented over the display as shown in Figure 1:, and doctor needs constantly to move between operative site and display
Sight, therefore the continuity of surgical operation is influenced, and be easy fatigue.2. single intra-cavity sem observation part, if doctor needs
A wide range of observation, then multiple endoscopes intervene human body simultaneously, this burden for both having increased patient also increases endoscope cable, hair
Penetrate/receiver, intervention casing etc. complexity and heavy degree；3. matching sometimes for the hand-held and mobile multiple endoscopes of assistant's auxiliary
Doctor's observation is closed, is made troubles to the surgical procedure of doctor.
In view of the above deficiencies, some researchers are based on augmented reality and propose patient body-surface sciagraphy, that is, utilize throwing
The image that endoscope is shot is incident upon patient body-surface by shadow machine, and to assist doctor to judge when needed, it is saturating to form virtual epidermis
Obvious results fruit, as shown in Figures 2 and 3.These solutions are not satisfied with simple projection, but further explore and chased after using orientation
Track device positions doctor's head position, adjusts projector accordingly at the position of patient body-surface projection image.
Above-mentioned solution is still in the trial stage, and there are still can improve place: 1. currently used orientation tracer technique
Doctor's burden need to be increased in doctor's head-mount emitter or marker；2. inner cavity image is two dimensional image, do not reflect
The multi-view angle three-dimensional pattern of inner cavity；3. patient body-surface is simultaneously non-planar, it is imaged in its surface projection and generates distortion, therefore need to be according to trouble
The three-dimensional appearance correction projection image of person's body surface, to observe the inner cavity image not distorted in patient body-surface.
Summary of the invention
Place is improved for above-mentioned, applicant devises the virtual transparent observing inner cavity of body surface projection in a kind of Minimally Invasive Surgery
Method, including doctor visual angle method for tracing, inner cavity three-dimensional modeling method and patient body-surface projection image sequence generation method tripartite
Face content.The virtual transparent observing endolumenal approach of body surface projection of the present invention is applied to the virtual transparent observing of body surface projection of Minimally Invasive Surgery
In the system of inner cavity, intend being directed to non-quadric patient body-surface, in conjunction with doctor visual angle and inner cavity threedimensional model, generates body surface projection
Inner cavity image, to obtain more true virtual abdominal cavity transparent effect；It is final to realize in the premise for not influencing doctor and surgical environments
Under, meet the needs of internal chamber auxiliary observation of doctor in common Minimally Invasive Surgery.In this application, specifically disclose it is a kind of towards
The Kalman filter of Kinect doctor visual angle tracking, the technical solution will be used for body surface in Minimally Invasive Surgery as core technology and throw
The virtual transparent observing endolumenal approach of shadow.
The object of the present invention is achieved like this:
A kind of Kalman filter towards the tracking of Kinect doctor visual angle, in one frame Kinect data of t moment, definition
Its kalman filter state vector XtWith observation vector ZtAre as follows:
Xt=(x (t), y (t), z (t), vx(t),vy(t),vz(t))
Zt=(x (t), y (t), z (t))
Wherein, x (t), y (t) and z (t) are nose central three-dimensional coordinate, vx(t), vy(t) and vzIt (t) is nose center speed
Degree；
Accordingly, Kalman's system equation is arranged are as follows:
Xt+1=AXt+BUt+GWt
Zt+1=HXt+Vt
Wherein, A is state matrix, and B is control matrix, be approximately 0, G when facial movement does not have control amount is driving square
Battle array, H is observation matrix, UtIt is dominant vector, WtIt is XtKinect measurement error and noise, VtIt is the error of observation and noise.
Above-mentioned a kind of Kalman filter towards the tracking of Kinect doctor visual angle, which is characterized in that be used for Kinect
The tracking of doctor visual angle.
The Kinect doctor visual angle tracking is for the virtual transparent observing inner cavity of body surface projection in Minimally Invasive Surgery.
The utility model has the advantages that
Microsoft has issued head/face orientation tracking (Kinect-based head/face tracker) in the recent period
SDK, which can track face and be no less than 80 Important Characteristic Points, including eye, nose, mouth, ear, forehead；The present invention is exactly
Using the SDK, the three-dimensional feature point of nose is selected, and then by tracking face based on built-in mask Dynamic Recognition algorithm
The variation of portion's position and direction six-freedom degree, calculates and track frequency can achieve 30Hz, it is sufficient to which this field real-time is wanted
It asks；This technology is applied to the virtual transparent observing endolumenal approach of body surface projection in the Minimally Invasive Surgery that applicant proposes, as the party
The core of doctor visual angle method for tracing in method will be to obtain more true virtual abdominal cavity transparent effect, and realization is not influencing
Under the premise of doctor and surgical environments, meets the internal chamber auxiliary observation demand of doctor in common Minimally Invasive Surgery and establish solid theory
Basis.
Figure of description
Fig. 1 is the raw observation demand schematic diagram of the less than podiatrist of endoscope.
Fig. 2 is the bright drop shadow effect's schematic diagram of Virtual table transdermally.
Fig. 3 is that the bright drop shadow effect of Virtual table transdermally really schemes.
Fig. 4 body surface projection system schematic.
Fig. 5 is the virtual transparent observing endolumenal approach Technology Roadmap of body surface projection in Minimally Invasive Surgery.
Fig. 6 is Kinect doctor visual angle method for tracing schematic diagram.
Fig. 7 is the inner cavity PTAM three-dimensional modeling method schematic diagram.
Fig. 8 is the inner cavity image for both having included areas of specular reflection and blood vessel.
Fig. 9 is to generate patient body-surface projection image sequence method schematic diagram.
Figure 10 is to calculate and project inner cavity image schematic diagram.
Figure 11 is a kind of overall structure diagram of adjustment device for Minimally Invasive Surgery body surface projection.
Figure 12 is the detailed structure schematic diagram of Figure 11.
Figure 13 is the structural schematic diagram of foot's backing plate in Figure 12.
Figure 14 is the structural schematic diagram of the fixed pad in Figure 12.
Figure 15 is the structural schematic diagram of the axial adjustment part towards Minimally Invasive Surgery body surface projection adjustment device.
Figure 16 is the structural schematic diagram of the shaft driver in Figure 15.
Figure 17 is the structural schematic diagram of the second fixing piece in Figure 15.
Figure 18 is the schematic diagram for sampling section in embodiment 24 and obtaining.
Figure 19 is angle schematic diagram of setting a table in embodiment 24.
Figure 20 is the structure simplification figure in embodiment 24.
Figure 21 is Figure 20 structure simplification figure adjusted.
Specific embodiment
Specific embodiment one
The present embodiment is the virtual transparent observing endolumenal approach embodiment of body surface projection in Minimally Invasive Surgery.
The virtual transparent observing endolumenal approach of body surface projection in the Minimally Invasive Surgery of the present embodiment, corresponding body surface projection system
As shown in Fig. 4, the Technology Roadmap of this method is as shown in Figure 5, comprising the following steps:
Step a, Kinect doctor visual angle is tracked, for determining doctor current head position and visual angle；
Step b, the inner cavity PTAM three-dimensional modeling, PTAM is Parallel Tracking and Mapping, for generating energy
Enough inner cavity threedimensional models rotated with doctor visual angle described in step a；
Step c, patient body-surface projection image sequence is generated to generate step b based on doctor visual angle described in step a
Inner cavity threedimensional model projects to patient body-surface.
Specific embodiment two
The present embodiment is Kinect doctor visual angle method for tracing embodiment.
The Kinect doctor visual angle method for tracing of the present embodiment, not only can be with individualism, but also can be to specific embodiment one
It is further qualified；The Kinect doctor visual angle method for tracing, as shown in Figure 6, comprising the following steps:
Step a1, it selects the depth data of pupil, nose as key point, establishes doctor visual angle mathematical model；
Step a2, with Kalman filter prediction doctor visual angle and tracking data are corrected；
Step a3, Kinect and doctor head, patient body-surface, patient bore, the position relation between projector are analyzed simultaneously
Unified coordinate system designs patient body-surface optical projection system parameter.
Specific embodiment three
The present embodiment is Kalman filter embodiment.
The Kalman filter of the present embodiment, not only can be with individualism, but also can further limit specific embodiment two
It is fixed；The Kalman filter specifically:
In one frame Kinect data of t moment, its kalman filter state vector X is definedtWith observation vector ZtAre as follows:
Xt=(x (t), y (t), z (t), vx(t),vy(t),vz(t))
Zt=(x (t), y (t), z (t))
Wherein, x (t), y (t) and z (t) are nose central three-dimensional coordinate, vx(t), vy(t) and vzIt (t) is nose center speed
Degree；
Accordingly, Kalman's system equation is arranged are as follows:
Xt+1=AXt+BUt+GWt
Zt+1=HXt+Vt
Wherein, A is state matrix, and B is control matrix, be approximately 0, G when facial movement does not have control amount is driving square
Battle array, H is observation matrix, UtIt is dominant vector, WtIt is XtKinect measurement error and noise, VtIt is the error of observation and noise.
Specific embodiment four
The present embodiment is the inner cavity PTAM three-dimensional modeling method embodiment.
The inner cavity the PTAM three-dimensional modeling method of the present embodiment, not only can be with individualism, but also can make to specific embodiment one
It further limits；The inner cavity the PTAM three-dimensional modeling method, as shown in fig. 7, comprises following steps:
Step b1, inner cavity characteristic quantity constructs: including:
Step b11, the inner cavity image preprocessing of areas of specular reflection and blood vessel is distinguished；
Step b12, single pixel blood vessel is detected；
Step b13, branch point and son field are determined.
Step b2, Stanford PLY stored in file format inner cavity three-dimensional data and texture maps inner cavity three-dimensional modeling: are used
Picture provides three-dimensional nodes data and texture information using the multiple image of PTAM simultaneously, then utilize OpenGL combination doctor
Visual angle generates the rotation inner cavity threedimensional model for capableing of multi-angle observation.
Specific embodiment five
The present embodiment is to discriminate between the inner cavity image pre-processing method embodiment of areas of specular reflection and blood vessel.
The differentiation areas of specular reflection of the present embodiment and the inner cavity image pre-processing method of blood vessel, both can with individualism,
Specific embodiment four can be further qualified again；The inner cavity image preprocessing side of the differentiation areas of specular reflection and blood vessel
Method, comprising the following steps:
It step b111, had both included the inner cavity image of areas of specular reflection and blood vessel as shown in figure 8, just being selected in this kind of image
Green component in RGB image；
Step b112, the scale space L of green component image is calculated, as follows:
L (x, y, σ)=G (x, y, σ) * I (x, y)
Wherein, G (x, y, σ) indicates that standard deviation is the Gaussian function of σ, and I (x, y) is green component image；
Step b113, L is calculated pixel-by-pixel using Hessian matrix H, calculated result as subsequent characteristics detect according to
According to；The Hessian matrix are as follows:
Step b114, two orthogonal eigenvalues that Hessian matrix H is calculated are λ1And λ2, feature vector V1With
V2；Characteristic value negative value be bright, positive value be it is dark, for the inner cavity PTAM image, blood vessel be dark, background be it is bright, have 0 < λ1<λ2；
Step b115, in conjunction with reference to the λ generallyd use at present1、λ1λ2With 1-exp (- 2 (λ1/λ2)2) criterion, consider image
Feature distinguishes ambient noise, capilary, branch point or tiny characteristic, drop of blood or mirror surface according to following relationship to noise susceptibility
Echo area；
Relationship one, λ1Close to 0, λ2It is ambient noise close to 0；
Relationship two, λ1Close to 0, λ2It is capilary close to 1；
Relationship three, λ1Close to 0.5, λ2It is branch point and tiny characteristic close to 1；
Relationship four, λ1Close to 1, λ2It is drop of blood and mirror-reflection area close to 1.
Specific embodiment six
The present embodiment is detection single pixel blood vessel embodiment of the method.
The detection single pixel blood vessel method of the present embodiment, not only can with individualism, but also specific embodiment four can be made into
One step limits；The detection single pixel blood vessel method, comprising the following steps:
Step b121, Frangi blood vessel feature F characteristic parameter is calculated, as follows:
Wherein, β and c is the threshold value of setting；
Step b122, Frangi blood vessel characteristic quantity F is substituted using blood vessel feature middle line, the blood vessel feature middle line is pixel
Gray scale is in V2The location of pixels of direction first-order difference sign modification；
Step b123, to overcome capilary or ambient noise to will lead to a large amount of erroneous judgement, weighted calculation middle line R is as follows:
Wherein, (u2, v2)T=V2, ε is pixel wide.
Specific embodiment seven
The present embodiment is determining branch point and son field embodiment of the method.
The determination branch point and branch's phase method of the present embodiment, not only can be with individualism, but also can be to specific embodiment four
It is further qualified；The determination branch point and branch's phase method, comprising the following steps:
It step b131, is the characteristic of three or four blood vessel binding sites according to branch point, with each single pixel blood vessel characteristic point
Ri is that the circle that radius is d is done in the center of circle, wherein d is set according to resolution of video camera and video camera with target range；
Step b132, judge circumference point set CiWhether following two condition is met simultaneously:
Condition one, CiMiddle gray scale is close to RiPoint (| I (Ci)-I(Ri)|<ti) it is intersection point, quantity is 3 or 4, wherein tiRoot
According to RiGray scale setting；
Point gray scale between condition two, intersection point | I (Ci)-I(Ri)|>ti；
If:
It is RiSubject to branch point, enter step b133；
It is no, RiIt is not quasi- branch point；
Step b133, several adjacent RiQuasi- branch's vertex neighborhood is constituted, using its sub-pix center as branch point；
It step b134, is starting point along adjacent pixel detection branches section using branch's vertex neighborhood, if meeting after determining branch's vertex neighborhood
Then it is complete son field to another branch's vertex neighborhood, is otherwise half son field.
Specific embodiment eight
The present embodiment is to generate patient body-surface projection image sequence embodiment of the method.
The generation patient body-surface projection image sequence method of the present embodiment, not only can be with individualism, but also can be to specific reality
Example one is applied to be further qualified；The generation patient body-surface projection image sequence method, as shown in Figure 9, comprising the following steps:
Step c1, doctor's expectation is calculated using typical cameras imaging model according to doctor visual angle and inner cavity threedimensional model
The inner cavity image seen；
Step c2, according to inner cavity image, patient body-surface three-dimensional appearance, doctor visual angle, projector orientation, body surface projection is calculated
Image sequence.
Specific embodiment nine
The present embodiment is to generate patient body-surface projection image sequence embodiment of the method.
The generation patient body-surface projection image sequence method of the present embodiment, not only can be with individualism, but also can be to specific reality
Example eight is applied to be further qualified；The generation patient body-surface projection image sequence method, as shown in Figure 10, abdominal cavity of patients outer surface is close
It is similar to quadratic surface, based on classical view transformation principle, projector's coordinate system and doctor head coordinate system are relative to abdominal cavity appearance
The transformational relation T of face QpcAvailable functions Ψ indicates that Ψ is 4 × 4 symmetrical matrix；Q is fitted to obtain according to Kinect point cloud data X, i.e.,
XTQX=0；For the point x on Q, projector coordinate xpWith doctor's eyes coordinates xcRelationship it is as follows:
Wherein, B, e TpcRotational translation matrix, by calibration obtain；Q33With q according to
It obtains；
Image coordinate system is the special case of world coordinate system, therefore function Ψ is considered as projected image and observes the pass between image
System, thus calculates projected image.
Specific embodiment ten
The present embodiment is to generate patient body-surface projection image sequence embodiment of the method.
The generation patient body-surface projection image sequence method of the present embodiment, not only can be with individualism, but also can be to specific reality
Example eight is applied to be further qualified；The generation patient body-surface projection image sequence method observes model as shown in Figure 10 to increase doctor
It encloses, is projected using multi-projector；By taking body surface point p as an example, typical cameras/projector's model, spatial coordinate transformation square are utilized
Battle array, is mapped to projector coordinate x from point pp1、xp2With doctor's eyes coordinates xc, thus calculate projector image 1 and throw
Shadow machine projects image 2；Due to utilizing point corresponding rather than a surface fitting, doctor's visual field and projector's visual field on patient body-surface are overlapped
Overlay area can accurately calculate projected image, and unrelated with the complexity of patient body-surface.
Above embodiments are core of the invention, the virtual transparent observing inner cavity system of the body surface projection applied to Minimally Invasive Surgery
In, intend being directed to non-quadric patient body-surface, in conjunction with doctor visual angle and inner cavity threedimensional model, generates body surface projection inner cavity figure
Picture, it is final to realize under the premise of not influencing doctor and surgical environments to obtain more true virtual abdominal cavity transparent effect, meet
The demand of the internal chamber auxiliary observation of doctor in common Minimally Invasive Surgery.This technology wishes utmostly to allow doctor can be by visual angle collection
In with patient, however, if not mentioned in the embodiment above when doctor needs a wide range of observation or carries out part observation
For the technological means of the very good solution problem.For this purpose, embodiment 11 is scheduled to embodiment 27, i.e., it will be a kind of
Adjustment device for Minimally Invasive Surgery body surface projection for doctor for providing a kind of for Minimally Invasive Surgery body in body surface projection system
The adjustment device of table projection, can liberate doctor visual angle and both hands, the adjustment of image is realized with lower limb.
Specific embodiment 11
A kind of adjustment device for Minimally Invasive Surgery body surface projection disclosed in the present embodiment, in conjunction with shown in Figure 11, comprising: big
Leg backing plate 1, shank backing plate 2, foot's backing plate 3, pedestal 4, first angle sensor 5 and second angle sensor 6, the pedestal 4
Upper end be provided with support construction, support construction is rod piece, is used to support, and support construction is connect with thigh backing plate 1, thigh backing plate
For providing support for doctor's huckle, thigh backing plate 1 is horizontally disposed, and shank backing plate 2 is vertically arranged, one end of thigh backing plate 1
Hinged with the upper end of the shank backing plate 2, hinged rotatable face is to include 2 length direction of thigh backing plate 1 and shank backing plate
First plane of rotation, after huckle is placed on thigh backing plate by doctor, shank can drive shank backing plate 3 Xiang before or after doctor face
Portion is swung, and the lower end of the shank backing plate 2 and foot's backing plate 3 are rotatablely connected, and the plane of rotation of rotation connection is perpendicular to institute
Second plane of rotation of plane where stating shank backing plate 2 length direction, and foot's backing plate 3 is vertically arranged with shank backing plate 2, described the
The hinged place of thigh backing plate 1 Yu shank backing plate 2 is arranged in one angular transducer 5, for detecting the shank backing plate 2 first
The angle rotated in plane of rotation relative to thigh backing plate 1, the setting of second angle sensor 6 are padded in shank backing plate 2 and foot
At the rotation connection of plate 3, for detecting angle of the foot's backing plate 3 in the second plane of rotation relative to the rotation of shank backing plate 2；
It carries out that patient body internal image is projected in patient's body by body surface projection in minimal invasive surgical procedures in doctor
Table, the operation of doctor's both hands is performed the operation, and when needing to operate the image of projection, drives shank backing plate 3 to exist by shank
First rotation rotation in surface, obtains the first rotational angle information by first angle sensor 5, is rotated by foot and drive foot
Backing plate 3 rotates rotation in surface second, the second rotational angle information is obtained by second angle sensor 6, by by first jiao
The angle value of information and second angle information is spent as coordinate value, is placed in coordinate system, it can be using angle information as position
Information, the location information can be used as represent doctor intention instruction projected image is adjusted, adjustment include dragging, put
Greatly, it reduces, brightness adjustment, in the course of surgery, doctor can not need assistant's auxiliary and hold and adjust, and only need to during adjustment
Mobile shank and foot, thigh is fixed on thigh backing plate 1, will not have an impact to doctor's operation by human hand, and it is coherent to influence operation
Property, avoid the process of Image Adjusting from having an impact operation,
It specifically, further include axial adjustment part 7, when the axial adjustment part 7 is swung according to shank backing plate 2 along upper end articulated shaft,
The variation adjustment thigh backing plate 1 of the surface angle of human foot bottom surface and foot's backing plate 3 and the articulated shaft of shank backing plate 2 are first
Position on plane of rotation, the virtual axis for rotating the axis of articulated shaft with human thigh and shank are overlapped；
Due to different doctor legs length and thickness difference, after leg is fixed with device, thigh rotates virtual with shank
Axis and thigh backing plate 1 and the articulated shaft of shank backing plate 2 be not coaxial, and when imaginary axis and articulated shaft are not overlapped, shank is with leg mat
In 2 rotation process of plate, shank can generate the movement tendency along lower-leg length direction upward or downward relative to foot's backing plate 3, will
The tiptoe of foot is in foot's backing plate 3 and fixes, and foot plate surface has gap apart from foot's backing plate 3, during shank swing
Foot bottom surface can change relative to the upper surface angle of foot's backing plate 3, judge imaginary axis and hinge according to angle change rule
The deviation situation of spindle, is adjusted during the swing by axial adjustment part 7；
The upper surface of the thigh backing plate 1 is provided with fixed pad 8, and fixed pad 8 can adapt to thigh shape and human body is big
One end that leg is connect with shank is fixed, and fixed-direction is the rectilinear direction perpendicular to first plane of rotation；
Existing elastic cushion, by flexible deformation adapt to body shape, but flexible deformation it is big region supports power it is also big, by
Existing elastic cushion is caused not have fixed function in the characteristic of flexible deformation, using fixed pad 8 by shape after adapting to human deformation
It is fixed, while there is certain elasticity after fixing, while meeting comfortable, there is fixed function to huckle, avoid for adjusting
Whole leg exercise is transferred to physical hand, influences the operation of doctor in Minimally Invasive Surgery.
Specific embodiment 12
The present embodiment is on the basis of specific embodiment 11, and specifically, in conjunction with Figure 12, the thigh backing plate 1 includes:
The supporting surface of buttocks supporting section 1-1, thigh support section 1-2 and the first push rod 1-3, the buttocks supporting section 1-1 are horizontally disposed, institute
The supporting surface for stating thigh support section 1-2 is obliquely installed, and the lower end of buttocks supporting section 1-1 and the support construction are articulated and connected,
The plane of rotation of articulated connection is parallel with first plane of rotation, and one end of the first push rod 1-3 and support construction are articulated and connected,
The lower surface of the other end of first push rod 1-3 and the thigh support section 1-2 are articulated and connected；
Buttocks supporting section 1-1 is supported doctor's buttocks, the one end of thigh support section 1-2 far from buttocks supporting section 1-1
Setting is tilted down, when in use, thigh support section 1-2 is pushed by the first push rod 1-3, makes buttocks supporting section 1-1 and thigh
Supporting section 1-2 is rotated along the articulated shaft of the lower end buttocks supporting section 1-1, adjusts sitting posture.
Specific embodiment 13
The present embodiment be on the basis of specific embodiment 11, specifically, in conjunction with shown in Figure 12, the shank backing plate 2
It include: upper linkage section 2-1, lower linkage section 2-2 and the second push rod 2-3, the lower end of the upper linkage section 2-1 passes through along upper linkage section
The slide construction of 2-1 length direction setting is connect with lower linkage section 2-2, and the lower end of lower linkage section 2-2 is provided with and upper linkage section
The vertical horizontal segment of 2-1 length direction, horizontal segment upper surface and foot's backing plate 3 are rotatablely connected, the second push rod 2-3's
One end is connect with upper linkage section 2-1, and the other end of the second push rod 2-3 is connect with lower linkage section 2-2；
Upper linkage section 2-1 and lower linkage section 2-2 enables shank backing plate 2 to adjust length by slide construction, adapts to different
The lower-leg length of doctor guarantees that foot bottom surface is contacted with foot backing plate 3.
Specific embodiment 14
The present embodiment be on the basis of specific embodiment 11, specifically, in conjunction with shown in Figure 13, foot's backing plate 3
It include: turntable 3-1, tiptoe clamping plate 3-2, heel clamping plate 3-3 and third push rod 3-4, the turntable 3-1 and the shank backing plate 2
Rotation connection, the both ends of turntable 3-1 are opposite to be respectively arranged with tiptoe clamping plate 3-2 and heel clamping plate 3-3, the tiptoe clamping plate 3-2
It is connect by slide construction with turntable 3-1, the heel clamping plate 3-3 is fixedly connected with turntable 3-1, the third push rod 3-4's
One end is connect with tiptoe clamping plate 3-2, and the other end of third push rod 3-4 is connect with turntable 3-1；It steps in doctor foot in foot's backing plate
After on 3, third push rod 3-4 is shunk, and foot is fixedly clamped by tiptoe clamping plate 3-2 and heel clamping plate 3-3 along its length, makes foot
When portion rotates, foot's backing plate 3 can be rotated with foot；
Specifically, the first cambered surface 3-5, the folder of the heel clamping plate 3-3 are provided on the clamping face of the tiptoe clamping plate 3-2
The center of circle that the second cambered surface 3-6, the first cambered surface 3-5 and the second cambered surface 3-6 is provided on tight face is overlapped, and the center of circle is located at human foot
Relative to shank on the axis of the first rotation rotation in surface；It can be set along longitudinal direction on first cambered surface 3-5 and the second cambered surface 3-6
Raised item, on the one hand increase the frictional force that foot and cambered surface rotate on the second plane of rotation, on the one hand reduce foot and cambered surface
Frictional force on the first plane of rotation；
Specifically, foot's backing plate 3 further include: the first key 3-7 and the second key 3-8, the first key 3-7 are set
It sets in the upper surface turntable 3-1 close to one end of the tiptoe clamping plate 3-2, the second key 3-8 is arranged on tiptoe clamping plate 3-2
Hold the fixed block lower surface extended to the direction turntable 3-1；Making foot not only can drive foot's backing plate 3 to export amount of spin, may be used also
To slide tiptoe upward or downward, the first key 3-7 or the second key 3-8 is touched, the first key 3-7 and the second key 3- are passed through
The different operation of 8 output doctors is intended to, and is adjusted to projected image.
Specific embodiment 15
The present embodiment is on the basis of specific embodiment 11, and specifically, in conjunction with shown in Figure 12, the pedestal 4 includes:
Upper end and the support construction company of movable plate 4-1, fixed plate 4-2, pedestal spring 4-3 and ball wheel 4-4, the fixed plate 4-2
It connects, the lower end of fixed plate 4-2 is provided with the mobile chute for accommodating movable plate 4-1 along the vertical direction, and the lower surface of fixed plate 4-2 is moved
Annular surface on the outside of dynamic sliding slot is the fixed pan being used to support, and the pedestal spring 4-3 is arranged in movable plate 4-1 and fixed plate
Between 4-2, the lower surface of the movable plate 4-1 is provided with several balls wheel 4-4, the sliding contact that several ball wheel 4-4 are formed
Face is formed for mobile sliding surface；When doctor needs shift position, bottom surface is supported by the leg not lifted, reduces body pair
The top of the pressure of device, device is lifted under the support of pedestal spring 4-3, and lower edge and the ground of fixed plate 4-2 disengages,
The supporting leg and ground supports of doctor, the ball wheel 4-4 rotation of the bottom movable plate 4-1, the device place sliding mobile to needs,
After movement, the leg of doctor reduces the support to body, and body moves fixed plate 4-2 to the ground the pressure increase of device,
The lower surface of fixed plate 4-2 and ground face contact, device are fixed.
Specific embodiment 16
The disclosed fixed pad towards Minimally Invasive Surgery body surface projection adjustment device of the present embodiment, the fixed pad are applied one
Adjustment device of the kind for Minimally Invasive Surgery body surface projection, one for adapting to thigh shape and connecting human thigh with shank
End is fixed, and fixed-direction is the rectilinear direction perpendicular to first plane of rotation；
Specifically, in conjunction with shown in Figure 14, comprising: deformation tube 8-1, balance pipe 8-2, cut-off part 8-3 and balance bag 8-4, if
A dry deformation tube 8-1 is arcuately arranged, forms arc-shaped contact surface, and water, and each deformation tube are filled with inside deformation tube 8-1
8-1 passes through a balance pipe 8-2 and connect with balance bag 8-4, and several balance pipe 8-2 both pass through cut-off part 8-3, ends part 8-
3 have moveable seal face, for compressing balance pipe 8-2；
After huckle is placed on fixed pad, leg squeezes deformation tube 8-1, and the water in deformation tube 8-1 passes through balance pipe
8-2 is squeezed to balance bag 8-4, and after several deformation tube 8-1 deformations, the arc-shaped contact surface of composition adapts to human leg's shape
After shape, several balance pipes are compressed simultaneously by cut-off part 8-3, cut off the connection of deformation tube 8-1 and balance bag 8-4, circular arc
The contact surface shape of shape is fixed, since deformation tube 8-1 has elasticity and adapts to the shape of leg, relative to ordinary elasticity material
Material, can fix leg while comfortable, have and preferably adapt to shape ability.
Specific embodiment 17
The disclosed axial adjustment part towards Minimally Invasive Surgery body surface projection adjustment device of the present embodiment, the adjustment part are applied
A kind of adjustment device for Minimally Invasive Surgery body surface projection, when for being swung according to shank backing plate 2 along upper end articulated shaft, human body
The variation adjustment thigh backing plate 1 of the surface angle of foot bottom surface and foot's backing plate 3 and the articulated shaft of shank backing plate 2 are in the first rotation
Position on face, the virtual axis for rotating the axis of articulated shaft with human thigh and shank are overlapped；
Specifically, in conjunction with shown in Figure 15, comprising: shaft driver 7-1, the first kidney-shaped 7-2, the first fixing piece 7-3, second
Kidney-shaped 7-4, set a table 7-5 and the second fixing piece 7-6, and the shaft driver 7-1 is arranged on thigh backing plate 1, big for adjusting
Position of the articulated shaft of leg backing plate 1 and shank backing plate 2 on the first plane of rotation, the first kidney-shaped 7-2 are fixed on tiptoe folder
On plate 3-2, the second kidney-shaped 7-4 is fixed on heel clamping plate 3-3, and on the outside of the first kidney-shaped 7-2 and the second kidney-shaped 7-4
It is socketed with sliding sleeve, the spring structure resetted for sliding sleeve is provided on sliding sleeve, the side of the first kidney-shaped article 7-2 is provided with the
One fixing piece 7-3, the first fixing piece 7-3 has moveable fixing head, and fixing head can compress the sliding sleeve on the first kidney-shaped item
The position of sliding sleeve is fixed, the 7-5 that sets a table is hinged on the upper surface of foot's backing plate 3, and to be located at human foot opposite for articulated shaft
In shank below the axis of the first rotation rotation in surface, upper surface and the human foot bottom surface of the 7-5 that sets a table is kept in contact, pendulum
Platform 7-5 can be swung towards tiptoe clamping plate 3-2 or heel clamping plate 3-3, and sensor 7-5-1 use of setting a table is provided on the 7-5 that sets a table
In detecting amplitude of fluctuation of the 7-5 towards tiptoe clamping plate 3-2 or heel clamping plate 3-3 of setting a table, the second fixing piece 7-6 is arranged in foot
On portion's backing plate 3, the second fixing piece 7-6 has the fixed pan being located at below the 7-5 that sets a table, and fixed pan is in the 7- that sets a table
Have below 5 two swinging ends apart from the identical stationary plane of 3 upper level of foot's backing plate, and fixed pan can along perpendicular to
The direction on 3 surface of foot's backing plate is mobile；It will be set a table and be ajusted by the second fixing piece 7-6, and make to fall in the foot bottom surface set a table on 7-5
It is parallel with foot 3 upper surfaces of backing plate, as initial position, by the first fixing piece 7-3 by the sliding sleeve on the first surface kidney-shaped 7-2
It is fixed, fix tiptoe and the position of tiptoe clamping plate 3-2, when shank drives 2 swing of shank backing plate, tiptoe position is consolidated
Fixed, the imaginary axis being connect with shank due to human thigh and the articulated shaft of thigh backing plate 1 and shank backing plate 2 be not coaxial, in front and back
When swing, human leg can have movement tendency along lower-leg length direction relative to foot's backing plate 3, release in the second fixing piece 7-6
It puts after setting a table 7-5, when swing, movement due to shank with respect to foot's backing plate 3 makes heel portion in the second kidney-shaped bar 7-4 table
Face sliding, and then 7-5 swing of setting a table is driven, if imaginary axis is coaxial with articulated shaft, the 7-5 that sets a table will not be swung, it is possible thereby to judge,
Whether imaginary axis is coaxial with articulated shaft, and the position of adjustment articulated shaft and imaginary axis are coaxial on this basis；
Specifically, in conjunction with shown in Figure 16, the shaft driver 7-1 includes: axis fixation fork 7-1-1, first axle driving push rod
On the fork of upper end two of 7-1-2 and the second axis driving push rod 7-1-3, the axis fixation fork 7-1-1 with hinged ear
Upper end is hinged, and the lower end of two hinged ears is each attached on shank backing plate 2, the lower end of the axis fixation fork 7-1-1 and first axle
One end of driving push rod 7-1-2 is fixedly connected, the other end of first axle driving push rod 7-1-2 and the second axis driving push rod 7-1-3
One end be fixedly connected, the other end of the second axis driving push rod 7-1-3 is fixed on thigh backing plate 1, and first axle driving push rod
7-1-2 and the second axis driving push rod 7-1-3 are vertically arranged；When adjusting hinged shaft position, by adjusting first axle driving push rod
The extension elongation of 7-1-2 and the second axis driving push rod 7-1-3 adjust the position of axis fixation fork 7-1-1, drive articulated shaft mobile；
Specifically, in conjunction with shown in Figure 17, the second fixing piece 7-6 includes: fixed cylinder 7-6-1, fixed cylinder sliding slot 7-6-2
With fixed cylinder push rod 7-6-3, the axis of the fixed cylinder 7-6-1 is arranged in perpendicular to the upper surface of foot's backing plate 3 sets a table 7-5's
Lower section, fixed cylinder sliding slot 7-6-2, which is arranged on foot's backing plate 3, slides fixed cylinder 7-6-1 along the direction perpendicular to foot's backing plate 3
It is oriented to, the side of fixed cylinder 7-6-1 is connect with one end of fixed cylinder push rod 7-6-3, the other end of fixed cylinder push rod 7-6-3
It is fixed on foot's backing plate 3；When fixed to the 7-5 that sets a table, fixed cylinder push rod 7-6-3 pulls fixed cylinder 7-6-1 sliding along fixed cylinder
Slot 7-6-2 upward sliding is to the lower surface 7-5 of setting a table, and with the lower surface 7-5 of setting a table there are gap, foot will set a table 7-5 pushing,
The 7-5 that sets a table passes through along the vertical direction slideway slide downward perpendicular to 3 surface of foot's backing plate, the elastic component quilt for the lower end 7-5 of setting a table
Compression, while the lower surface for the 7-5 that sets a table is moved to the upper surface contact of fixed cylinder 7-6-1, completion foot plate surface and foot's backing plate 3 are flat
Capable positioning, set a table the lower end 7-5 using elastic component support, can keep foot bottom during the swing with the upper surface 7-5 of setting a table
Always it contacts；
Specifically, it is described set a table sensor 7-5-1 be third angle sensor, one end of third angle sensor with set a table
7-5 connection, the other end of third angle sensor are fixed on foot's backing plate 3；Hinge of setting a table is detected by third angle sensor
Rotation amplitude of the spindle relative to 3 surface of foot's backing plate, the amplitude of fluctuation as the 7-5 that sets a table；
Specifically, the sensor 7-5-1 that sets a table includes two range sensors, and two range sensors are separately positioned on
Set a table the lower sections of two swinging ends of 7-5, by two range sensors directly detect two swinging ends of the 7-5 that sets a table relative to
The distance value of the plane of one fixing end for being parallel to 3 upper surface of foot's backing plate, the amplitude of fluctuation as the 7-5 that sets a table.
Specific embodiment 18
Shaft driver towards Minimally Invasive Surgery body surface projection axial adjustment part disclosed in the present embodiment, the shaft driver are used
In on the axial adjustment part towards Minimally Invasive Surgery body surface projection adjustment device, for adjusting the hinged of thigh backing plate 1 and shank backing plate 2
Position of the axis on the first plane of rotation, the virtual axis for rotating the axis of articulated shaft with human thigh and shank are overlapped；
The shaft driver 7-1 includes: axis fixation fork 7-1-1, first axle driving push rod 7-1-2 and the second axis driving push rod
It is hinged with the upper end of a hinged ear on the fork of upper end two of 7-1-3, the axis fixation fork 7-1-1, two hinged ears
Lower end is each attached on shank backing plate 2, and the lower end of the axis fixation fork 7-1-1 and one end of first axle driving push rod 7-1-2 are solid
Fixed connection, the other end of first axle driving push rod 7-1-2 are fixedly connected with one end of the second axis driving push rod 7-1-3, the second axis
The other end of driving push rod 7-1-3 is fixed on thigh backing plate 1, and first axle driving push rod 7-1-2 and the second axis driving push rod
7-1-3 is vertically arranged, when adjusting hinged shaft position, by adjusting first axle driving push rod 7-1-2 and the second axis driving push rod
The extension elongation of 7-1-3 adjusts the position of axis fixation fork 7-1-1, drives articulated shaft mobile.
Specific embodiment 19
The second fixing piece towards Minimally Invasive Surgery body surface projection axial adjustment part disclosed in the present embodiment, described second is fixed
Part is used for the axial adjustment part towards Minimally Invasive Surgery body surface projection adjustment device, the positioning for 7-5 initial position of setting a table；
It is characterized in that, the second fixing piece 7-6 includes: fixed cylinder 7-6-1, fixed cylinder sliding slot 7-6-2 and fixed cylinder
The lower section for the 7-5 that sets a table is arranged in perpendicular to the upper surface of foot's backing plate 3 for the axis of push rod 7-6-3, the fixed cylinder 7-6-1, Gu
Safety barrel sliding slot 7-6-2, which is arranged on foot's backing plate 3, leads fixed cylinder 7-6-1 along the direction sliding perpendicular to foot's backing plate 3
To the side of fixed cylinder 7-6-1 is connect with one end of fixed cylinder push rod 7-6-3, and the other end of fixed cylinder push rod 7-6-3 is fixed on
On foot's backing plate 3；When fixed to the 7-5 that sets a table, fixed cylinder push rod 7-6-3 pulls fixed cylinder 7-6-1 along fixed cylinder sliding slot 7-6-2
Upward sliding is to the lower surface 7-5 of setting a table, and with the lower surface 7-5 of setting a table there are gap, foot will set a table 7-5 pushing, and the 7-5 that sets a table is logical
It crosses along the vertical direction slideway slide downward perpendicular to 3 surface of foot's backing plate, the elastic component for the lower end 7-5 of setting a table is compressed, simultaneously
The set a table lower surface of 7-5 is moved to the upper surface contact of fixed cylinder 7-6-1, completes the foot plate surface positioning parallel with foot's backing plate 3,
The lower end 7-5 set a table using elastic component support, foot bottom can be kept to contact always with the upper surface 7-5 of setting a table during the swing；
Specific embodiment 20
A kind of method of adjustment for Minimally Invasive Surgery body surface projection disclosed in the present embodiment, the method are applied specific real
It applies one disclosed in example 11, specific embodiment 12, specific embodiment 13, specific embodiment 14 or specific embodiment 15
Kind be used for Minimally Invasive Surgery body surface projection adjustment device, for doctor in the case where not interrupting operation, to body surface projection into
Row adjustment, is observed convenient for doctor；
Specifically, comprising the following steps:
Step a, thigh is fixed: the stance that operating doctor is lifted with one leg, and buttocks is sitting in buttocks supporting section 1-1
On, the leg thigh lifted is placed on thigh support section 1-2 along thigh support section 1-2 length direction, makes the thigh of doctor
It is fixed with the position of thigh backing plate 1；To which shank to be isolated with the movement of foot with upper body part, shadow during the adjustment is avoided
Ring the surgical procedure of doctor；
Step b, lower-leg length positions: the shank for that leg that doctor lifts naturally droops, and the second push rod 2-3 is shunk, small
The lower linkage section 2-2 of leg backing plate 2 connects up a section 2-1 movement, so that the length of shank backing plate 2 is shortened and drives foot's backing plate 3 upward
It is mobile, until foot plate surface is contacted with foot backing plate 3, make shank backing plate 3 according to the positioning of doctor's lower-leg length；
Step c, foot positions: third push rod 3-4 pulls tiptoe clamping plate 3-2 mobile to tiptoe, tiptoe clamping plate 3-2 and heel
Clamping plate 3-3 clamps foot in the longitudinal direction；Keep foot and foot's backing plate 3 fixed；
Step d, ordinate amount obtains: small by swinging shank forward or backward when doctor needs to input ordinate amount
Leg drives shank backing plate 2 to swing in the first plane of rotation using the articulated shaft of shank backing plate 2 and thigh backing plate 1 as axis, passes through first
Angular transducer 5 obtains the amplitude that shank backing plate 2 is swung, and obtains the amplitude of fluctuation of shank backing plate 2 as ordinate amount；
Step e, abscissa amount obtains: when doctor needs to input abscissa amount, by twisting foot, foot to the left or to the right
Portion drives foot's backing plate 3 to swing in the second plane of rotation using the shaft that foot's backing plate 3 and shank backing plate 2 are rotatablely connected as axis, leads to
Cross second angle sensor 6 obtain foot's backing plate 3 swing amplitude, using the amplitude of fluctuation of foot's backing plate 3 as abscissa amount into
Row obtains；
Step f, operation is intended to obtain: when doctor needs to operate the specified region of body surface projection, by upward
Or tiptoe is moved down, tiptoe is slided along the first cambered surface 3-5, so that tiptoe is touched the first key 3-7 or the second key 3-8, is passed through
The operation that first key 3-7 or the second key 3-8 obtains doctor is intended to；
The abscissa and ordinate value being intended to by obtaining doctor input horizontal to correspond to the position of body surface projection in doctor
After ordinate value, the region for projecting and needing to amplify can be selected, is observed convenient for doctor, assistant's auxiliary is not needed and holds, influence hand
Art continuity；
Specifically, further include hinged shaft position set-up procedure, after foot's positioning, adjust thigh backing plate 1 and shank backing plate 2
Position of the articulated shaft in the first plane of rotation, the virtual overlapping of axles for rotating articulated shaft and doctor's thigh and shank.
Specifically, carried out in the step a thigh it is fixed when, thigh shape is adapted to by fixed pad 8 and by doctor's thigh
The one end connecting with shank is fixed, and fixed-direction is the rectilinear direction perpendicular to the first plane of rotation.
Specific embodiment 21
Ordinate amount output method towards Minimally Invasive Surgery body surface projection method of adjustment disclosed in the present embodiment, the method
It applies in a kind of method of adjustment for Minimally Invasive Surgery body surface projection, the ordinate value for that will represent doctor's intention carries out defeated
Out；
Specifically, the length direction of a shank backing plate 2 and the angle of vertical direction are set as ordinate zero point, setting the
One angular transducer 5 output valve when shank backing plate 2 is in ordinate dead-center position set is needed to input and be indulged as zero in doctor
When coordinate amount, by swinging shank forward or backward, shank drives shank backing plate 2 with the hinged of shank backing plate 2 and thigh backing plate 1
Axis is that axis is swung in the first plane of rotation, obtains the amplitude that shank backing plate 2 is swung by first angle sensor 5, and by shank
The corresponding numerical value of the amplitude of fluctuation of backing plate 2 is exported as ordinate amount.
Specific embodiment 22
Abscissa amount output method towards Minimally Invasive Surgery body surface projection method of adjustment disclosed in the present embodiment, the method
It applies in a kind of method of adjustment for Minimally Invasive Surgery body surface projection, the abscissa value for that will represent doctor's intention carries out defeated
Out；
Set the tiptoe clamping plate 3-2 and heel clamping plate 3-3 of foot's backing plate 3 line and the first plane of rotation angle as
Abscissa zero point, set second angle sensor 6 foot's backing plate 3 be in set abscissa dead-center position when output valve as
Zero, when doctor needs to input abscissa amount, by twisting foot to the left or to the right, foot drives foot's backing plate 3 to pad with foot
The shaft that plate 3 and shank backing plate 2 are rotatablely connected is that axis is swung in the second plane of rotation, obtains foot by second angle sensor 6
The amplitude that portion's backing plate 3 is swung, and exported using the corresponding numerical value of the amplitude of fluctuation of foot's backing plate 3 as abscissa amount.
Specific embodiment 23
The disclosed operation towards Minimally Invasive Surgery body surface projection method of adjustment of the present embodiment is intended to output method, the method
Apply in a kind of method of adjustment for Minimally Invasive Surgery body surface projection, for by doctor to the operation of body surface projection be intended into
Row output；
When doctor's tiptoe is upturned or tramples downwards, tiptoe is along the position that the first cambered surface 3-5 sliding path can touch
Distribution setting the first key 3-7 and the second key 3-8 is set, the first key 3-7 is set separately and the second key 3-8 corresponds to a kind of doctor
The raw intention for needing to operate the specified region of body surface projection, doctor is by moving up or down tiptoe, and tiptoe is along the
One cambered surface 3-5 sliding, makes tiptoe touch the first key 3-7 or the second key 3-8, passes through the first key 3-7 or the second key 3-
The operation of 8 output doctors is intended to.
Specific embodiment 24
Axial adjustment method towards Minimally Invasive Surgery body surface projection method of adjustment disclosed in the present embodiment, the method are applied
A kind of method of adjustment for Minimally Invasive Surgery body surface projection disclosed in specific embodiment 20, for for according to shank backing plate
2 along upper end articulated shaft when swinging, and the variation of the surface angle of human foot bottom surface and foot backing plate 3 adjusts thigh backing plate 1 and small
Position of the articulated shaft of leg backing plate 2 on the first plane of rotation rotates the axis of articulated shaft with human thigh and shank virtual
Axis is overlapped；
Specifically, comprising the following steps:
Step a, foot plate surface positions: in foot's positioning, the second fixing piece 7-6 will be arranged in below the 7-5 that sets a table
Fixed pan rises, fixed pan and the following table face contact of 7-5 of setting a table, the upper surface for the 7-5 that makes to set a table and the upper table of foot's backing plate 3
Face is parallel, and foot plate surface is positioned, and keeps foot plate surface parallel with the upper surface of foot backing plate 3；
Step b, tiptoe is fixed: in foot's positioning, tiptoe clamping plate 3-2 and heel clamping plate 3-3 are by foot in length direction
After upper clamping, the fixing head of the first fixing piece 7-3 is mobile to the first kidney-shaped 7-2, and fixing head compresses the cunning on the first kidney-shaped 7-2
Set fixes the position of sliding sleeve, and sliding sleeve is fixed position of doctor's tiptoe on the first kidney-shaped 7-2 sliding surface by frictional force；
Step c, foot plate surface angle change is obtained；In conjunction with shown in Figure 18, doctor's shank drives shank backing plate 2 along leg mat
The articulated shaft of plate 2 and thigh backing plate 1 reciprocally swinging in the first plane of rotation, reads the reading of first angle sensor 5, definition
Adjacent maximum chooses a cycle, reads and be somebody's turn to do to being a cycle between minimum value in the reading of first angle sensor 5
Maximum value a and minimum value b in period compares the size of a and-b, if a >-b, chooses in the period and is used as sampling section for-b to b sections,
If a <-b, chooses in the period and be used as sampling section for a to-a sections, read the reading for the sensor 7-5-1 that sets a table, and the sensing that will set a table
Temporally axis is corresponding with the reading of first angle sensor 5 for the reading of device 7-5-1, and set a table sensor 7-5-1 in interception sampling section
Reading, thus obtain sampling section in changing value of the foot plate surface relative to 3 angle of foot's backing plate；
Step d, offset direction judges: the reading c and d of the corresponding sensor 7-5-1 that sets a table of two endpoints of interception section are read,
The sign of c and d is read, and horizontal direction is trunnion axis, vertical direction is vertical axes in the first plane of rotation of definition, set a table 7-5
Upper surface it is parallel with foot 3 upper surfaces of backing plate when the set a table reading of sensor 7-5-1 be zero, the 7-5 that sets a table is in the first plane of rotation
Interior edge set a table when rotating clockwise sensor 7-5-1 output negative value, the pendulum when 7-5 that sets a table is rotated counterclockwise in the first plane of rotation
Platform sensor 7-5-1 exports negative value, and the imaginary axis that human thigh and shank rotate is located at the intersection point of trunnion axis and vertical axes, if c
It is that negative then thinks that imaginary axis is located on the right side of articulated shaft for positive number, d, thinks that imaginary axis is located at hinge if c is negative, d is positive number
On the left of spindle, think that imaginary axis is located at below articulated shaft if c is positive number, d is positive number, if c is negative, d is that negative is assert
Imaginary axis is located above articulated shaft；In conjunction with shown in Figure 18 and Figure 19, when the imaginary axis of human leg is located on the left of articulated shaft, to
When preceding swing leg, first angle sensor 5 exports positive value, and since imaginary axis is not coaxial with articulated shaft, human calf has edge
The downward movement tendency in lower-leg length direction, since tiptoe is fixed, foot plate surface drive is set a table relative to 3 upper surface of foot's backing plate
It deflects along clockwise direction, sensor of setting a table at this time exports negative value, and when human leg swings backward, first angle sensor is defeated
Negative value out, human calf has the movement tendency upward along lower-leg length direction, and since tiptoe is fixed, foot plate surface drive is set a table
It is deflected in the counterclockwise direction relative to 3 upper surface of foot's backing plate, sensor of setting a table at this time exports positive value；
Step e, hinged axial adjustment: one Length Quantity m of setting moves articulated shaft along trunnion axis if c with d symbol is different
One m length moves articulated shaft if c is positive number, d is negative to the right, if c is negative, d is that positive number is left by articulated shaft
Side is mobile, repeats step d, if the non-reversion of c and d, continues to move to a length m, until reversion occurs for c and d, if c and d become
Number, articulated shaft is moved a m length along vertical axes, if c is positive number, d is until c with d symbol is identical by mobile 0.5m length
Positive number then moves downwards articulated shaft, is moved upward articulated shaft if c is negative, d is negative, repeats step d until c
It is different with d symbol, stop movement；
If c with d symbol is identical, articulated shaft is moved into a m length along vertical axes, it will hinge if c is positive number, d is positive number
Spindle moves downwards, is moved upward articulated shaft if c is negative, d is negative, repeat step d until c and d symbol not
Together, stop movement, articulated shaft is moved into a m length along trunnion axis, by articulated shaft sidesway to the right if c is positive number, d is negative
It is dynamic, will be mobile on the left of articulated shaft if c is negative, d is positive number, step d is repeated, if the non-reversion of c and d, continues to move to one
Length m, until reversion occurs for c and d, if the equal reversion of c and d, mobile 0.5m length stops movement until c with d symbol is identical；
In conjunction with shown in Figure 20 and Figure 21, ignore foot length, shank is reduced to line segment e, shank backing plate is reduced to line segment f,
It is located on the outside of backing plate line f when the track of shank line segment e is on the left of vertical line, makes the track of c negative, shank line segment e vertical
It is located on the outside of backing plate line f when on the right side of line, makes d positive number, is judged as that imaginary axis is located on the left of articulated shaft, articulated shaft is moved to the left
One m value, at this time in one cycle, c is negative, d is positive number, is judged as that imaginary axis is still located on the left of articulated shaft, continues
Articulated shaft is moved to the left a m value, until, c becomes positive number, d becomes to assist, it is judged as that imaginary axis is located at hinged right side, this
When imaginary axis and less than one m value of the distance value of articulated shaft in the horizontal direction, m value is reduced to 0.5m value when secondary, continues to move
It is dynamic, continued to move to if the non-reversion of c, d, if c, d reversion continue to reduce amount of movement, until c, d jack per line, at this time to imaginary axis and
Articulated shaft carries out the adjustment of short transverse, and on the outside of backing plate line f, making c, d is positive number for the track of shank line segment e at this time, judgement
Imaginary axis is located above articulated shaft, and articulated shaft is moved up a m value, increases the length of shank backing plate by a m value, if c,
D still jack per line, continuation is moved in the vertical direction, if c, d contrary sign, is transferred to horizontal direction adjustment, is set a threshold value n, by m
When value decreases below n, it is believed that imaginary axis and the error of articulated shaft within the allowable range, stop adjustment；
Specifically, in the step d, by being detected in setting third angle sensor on 7-5 of setting a table, third is set
Angular transducer output valve when the upper surface 7-5 of setting a table is parallel with foot 3 upper surfaces of backing plate is zero, and the 7-5 that sets a table is in the first rotation
Along sensor 7-5-1 output negative value of setting a table when rotating clockwise in face, when the 7-5 that sets a table is rotated counterclockwise in the first plane of rotation
The sensor 7-5-1 that sets a table exports negative value.
Specific embodiment 25
Foot plate surface angle acquisition methods towards Minimally Invasive Surgery body surface projection axial adjustment disclosed in the present embodiment, the method
It applies in the axial adjustment method towards Minimally Invasive Surgery body surface projection method of adjustment disclosed in specific embodiment 24；
Specifically, doctor's shank drives shank backing plate 2 along the articulated shaft of shank backing plate 2 and thigh backing plate 1 at first turn
Reciprocally swinging in dynamic face reads the reading of first angle sensor 5, define in the reading of first angle sensor 5 it is adjacent most
It is big to choose a cycle to being a cycle between minimum value, read maximum value a and minimum value b in the period, comparison a and-
The size of b is chosen in the period if a >-b and is used as sampling section for-b to b sections, if a <-b, chooses a to-a sections works in the period
To sample section, the reading of sensor 7-5-1 of setting a table is read, and by the reading for the sensor 7-5-1 that sets a table and first angle sensor 5
Reading temporally axis is corresponding, the reading for the sensor 7-5-1 that sets a table in interception sampling section, to obtain foot plate surface phase in sampling section
For the changing value of 3 angle of foot's backing plate.
Specific embodiment 26
Offset direction judgment method towards Minimally Invasive Surgery body surface projection axial adjustment disclosed in the present embodiment, the method are answered
With in the axial adjustment method towards Minimally Invasive Surgery body surface projection method of adjustment disclosed in specific embodiment 24；
Specifically, the reading c and d for reading the corresponding sensor 7-5-1 that sets a table of two endpoints of interception section, are reading c and d just
Negative sign, and horizontal direction is trunnion axis, vertical direction is vertical axes, the upper surface for the 7-5 that sets a table and foot in the first plane of rotation of definition
The set a table when parallel reading of sensor 7-5-1 of 3 upper surface of portion's backing plate is zero, set a table 7-5 in the first plane of rotation along turning clockwise
The sensor 7-5-1 that sets a table when dynamic exports negative value, and the 7-5 that sets a table sets a table sensor 7-5- when rotating counterclockwise in the first plane of rotation
The imaginary axis of 1 output negative value, human thigh and shank rotation is located at the intersection point of trunnion axis and vertical axes, if c is positive number, d is negative
It is several, think that imaginary axis is located on the right side of articulated shaft, thinks that imaginary axis is located on the left of articulated shaft if c is negative, d is positive number, if c
It is that positive number then thinks that imaginary axis is located at below articulated shaft for positive number, d, assert that imaginary axis is located at hinge if c is negative, d is negative
Above spindle；
Specific embodiment 27
Articulated shaft method of adjustment towards Minimally Invasive Surgery body surface projection axial adjustment disclosed in the present embodiment, the method application
In the axial adjustment method towards Minimally Invasive Surgery body surface projection method of adjustment disclosed in specific embodiment 24；
Specifically, step e, hinged axial adjustment: one Length Quantity m of setting, if c with d symbol is different, by articulated shaft along horizontal
Axis moves a m length, moves articulated shaft to the right if c is positive number, d is negative, if c is negative, d is that positive number will be cut with scissors
It is mobile on the left of spindle, step d is repeated, if the non-reversion of c and d, continues to move to a length m, until reversion occurs for c and d, if c
With the equal reversion of d, articulated shaft is moved a m length along vertical axes, if c is positive until c with d symbol is identical by mobile 0.5m length
Number, d are that positive number then moves downwards articulated shaft, are moved upward articulated shaft if c is negative, d is negative, repeat step
D until c with d symbol is different, move by stopping；
If c with d symbol is identical, articulated shaft is moved into a m length along vertical axes, it will hinge if c is positive number, d is positive number
Spindle moves downwards, is moved upward articulated shaft if c is negative, d is negative, repeat step d until c and d symbol not
Together, stop movement, articulated shaft is moved into a m length along trunnion axis, by articulated shaft sidesway to the right if c is positive number, d is negative
It is dynamic, will be mobile on the left of articulated shaft if c is negative, d is positive number, step d is repeated, if the non-reversion of c and d, continues to move to one
Length m, until reversion occurs for c and d, if the equal reversion of c and d, mobile 0.5m length stops movement until c with d symbol is identical.
Claims (3)
1. a kind of Kalman filter towards the tracking of Kinect doctor visual angle, which is characterized in that in one frame Kinect number of t moment
In, its kalman filter state vector X is definedtWith observation vector ZtAre as follows:
Xt=(x (t), y (t), z (t), vx(t),vy(t),vz(t))
Zt=(x (t), y (t), z (t))
Wherein, x (t), y (t) and z (t) are nose central three-dimensional coordinate, vx(t), vy(t) and vzIt (t) is nose central speed；
Accordingly, Kalman's system equation is arranged are as follows:
Xt+1=AXt+BUt+GWt
Zt+1=HXt+Vt
Wherein, A is state matrix, and B is control matrix, be approximately 0, G when facial movement does not have control amount is driving matrix, H
It is observation matrix, UtIt is dominant vector, WtIt is XtKinect measurement error and noise, VtIt is the error of observation and noise.
2. a kind of Kalman filter towards the tracking of Kinect doctor visual angle according to claim 1, which is characterized in that
It is tracked for Kinect doctor visual angle.
3. a kind of Kalman filter towards the tracking of Kinect doctor visual angle according to claim 2, which is characterized in that
The Kinect doctor visual angle tracking is for the virtual transparent observing inner cavity of body surface projection in Minimally Invasive Surgery.
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