CN112908455A - Surgical instrument precision verification method - Google Patents
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- CN112908455A CN112908455A CN202110238063.0A CN202110238063A CN112908455A CN 112908455 A CN112908455 A CN 112908455A CN 202110238063 A CN202110238063 A CN 202110238063A CN 112908455 A CN112908455 A CN 112908455A
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Abstract
The invention relates to a surgical instrument precision verification method, which sequentially comprises the following steps: calibrating and registering surgical instruments, wherein the surgical instruments comprise a metering device, an original point and a plurality of metering pits are arranged on the metering device, and detection results of the original point and the metering pits are arranged on the metering device; collecting and recording position information of at least two times of origin points and at least two times of measuring pits; calculating the actual measurement distance, the standard distance and the distance error of the measuring pit according to a first group of function formulas; calculating the vector of the origin, the vector of the measuring pit and the angle error according to a second group of function formulas; the distance verification error and the angle verification error of the surgical instrument can be calculated conveniently and rapidly through the acquired position information of the origin and the measuring pit, the first group of function formulas and the second group of function formulas, the calculation process is simple and transparent, high in acceptability and free of operation of professionals, and the calculation process can be repeated, so that the repeatability and the operability of the surgical instrument precision verification method are good.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical instrument precision verification method.
Background
In recent years, with the rapid development of neurosmagraphy, display technology, computers and other science, the dental implant technology has matured day by day, and surgical instruments in the dental implant process are used as direct tools for dentists to implement oral implant surgery, and the accuracy of real-time tracking and positioning are the key points for realizing successful surgical navigation. In order to achieve the purpose of accurately tracking surgical instruments in the surgical process, the surgical instruments need to be subjected to precision verification before surgery, and further correction and promotion are performed on the basis.
At present, a method specially used for performing precision verification on a surgical instrument is not available in the dental implantation process, the precision error of the surgical instrument cannot be accurately determined, and the judgment is performed only by the experience of a dentist, so that the dental implantation effect is excessively dependent on the dentist, and the further popularization of the dental implantation technology is limited. In order to solve the problem, some professional software is available on the market for performing precision verification on surgical instruments, but the professional software needs professional training for a dentist for a period of time or needs to be equipped with professional personnel for special operation, so that the labor cost is high, the use is troublesome, and the professional software is not suitable for being equipped in small clinics with insufficient financial resources and manpower.
Disclosure of Invention
In view of the above, it is necessary to provide a method for verifying the accuracy of a surgical instrument, which is directed to the problem that the accuracy verification of the surgical instrument is troublesome and difficult to operate.
A surgical instrument precision verification method sequentially comprises the following steps:
step S101, calibrating and registering surgical instruments, wherein the surgical instruments comprise a metering device, an origin and a plurality of metering pits are arranged on the metering device, and detection results of the origin and the metering pits are arranged on the metering device;
step S102, collecting and recording position information of the original point and the measuring pit at least twice;
step S103, calculating the actual measurement distance, the standard distance and the distance error of the measuring pit according to a first group of function formulas;
and step S104, calculating the vector of the origin, the vector of the measuring pit and the angle error according to a second group of function formulas.
In one embodiment, the calculating the measured distance, the standard distance, and the distance error of the measurement pit according to the first set of function formulas specifically includes:
calculating the actually measured distance from the measuring pit to the original point according to the position information of the measuring pit at one time and a first mean square error formula;
calculating the standard distance from the measuring pit to the origin according to the measuring device detection result and a second mean square error formula;
and calculating a distance error according to the measured distance, the standard distance and a subtraction formula.
In one embodiment, the standard distance is based on the second square error formula
Calculation of where L1Standard distance, X1-X-axis coordinate, Y, of the measuring pit in the measuring device detection result1-the Y-axis coordinate, Z, of the measuring pit in the measuring device measurement1-the Z-axis coordinate, X, of the measuring pit in the measuring device measurement0-X-axis coordinate, Y, of said origin in the measurement results of said metrology device0-the Y-axis coordinate of the origin, Z, in the measurement of the measuring device0-the Z-axis coordinate of the origin in the metrology device detection results.
In one embodiment, the measured distance of the measurement pit from the origin is based on the first equation of mean square
Calculation of where L2Measured distance, X2-first acquired X-axis coordinate, Y, of said metrology pit2-the first acquired Y-axis coordinate of the metrology pit, Z2-the first acquired Z-axis coordinate of the metrology pit.
In one embodiment, the distance error is based on the subtraction formula Δ L ═ L2-L1Calculation of where L1-standard distance, L2-measured distance, Δ L-distance error.
In one embodiment, the calculating the vector of the origin, the vector of the measurement pit, and the angle error according to the second set of functional formulas specifically includes:
calculating the vector of the measuring pit according to the position information of the measuring pit twice and a first coordinate difference formula;
calculating a vector of the origin according to the position information of the origin and a second coordinate difference formula twice;
and calculating the angle error according to the vector of the measuring pit, the vector of the origin and an inverse trigonometric function formula.
In one embodiment, the vector of the metrology pits is based on the first coordinate difference formula
And (c) calculating, wherein,
-vector of said measurement pits, X3-the X-axis coordinate, Y, of the second acquired metrology pit3-second acquired Y-axis coordinate, Z, of the metrology pit3-second acquired Z-axis coordinate, X, of the metrology pit2-first acquired X-axis coordinate, Y, of said metrology pit2-the first acquired Y-axis coordinate of the metrology pit, Z2-the first acquired Z-axis coordinate of the metrology pit.
In one embodiment, the vector of the origin is based on the second coordinate difference formula
And (c) calculating, wherein,
-a vector of the origin, X4-first acquired X-axis coordinate, Y, of the origin4-the Y-axis coordinate of the origin, Z, of the first acquisition4For the first timeAcquired Z-axis coordinate, X, of the origin5-X-axis coordinate, Y, of the origin of the second acquisition5-a second acquired Y-axis coordinate of the origin, Z5-a second acquired Z-axis coordinate of the origin.
In one embodiment, the angular error of the metrology pit is based on the inverse trigonometric function formula
Formula (II)
Formula (II)
And
formula (II)
Calculating an angle error, wherein the theta-angle error,
-vector of said metrology pits
The length of (a) of (b),
-vector of the origin
Length of (d).
In one embodiment, the calibrating and registering surgical instrument specifically includes:
the reference plate, the metering device and the registering device are connected and relatively fixed;
and collecting and recording the detection results of the original point and the measuring pit.
In the method for verifying the precision of the surgical instrument, firstly, the surgical instrument is calibrated and registered through a step S101, and a measuring device in the surgical instrument has a detection result of standard position information for representing an origin and a measuring pit; then, the position information of the original point and the measuring pit at least twice is collected and recorded through the step S102, and the collected position information is used for representing the actual position information of the original point and the measuring pit; then, through step S103, respectively calculating the measured distance, the standard distance and the distance error of the measuring pit according to a first group of function formulas, wherein the distance error is used for representing the error of the distance verification of the surgical instrument; finally, in step S104, a vector of the origin, a vector of the measurement pit, and an angle error are calculated according to a second set of function formula, and the angle error is used for representing an error of the surgical instrument angle verification. The distance verification error and the angle verification error of the surgical instrument can be calculated conveniently and rapidly through the acquired position information of the origin and the measuring pit, the first group of function formulas and the second group of function formulas, the calculation process is simple and transparent, high in acceptability and free of operation of professionals, common technicians can operate the calculation process, and the calculation process can be repeated, so that the repeatability and the operability of the surgical instrument precision verification method are good.
Drawings
FIG. 1 is a flow chart of a method for verifying the accuracy of a surgical instrument according to the present invention;
fig. 2 is a schematic structural diagram of a module composed of a surgical instrument and a dental jaw according to the present invention.
Reference numerals:
100. a metering device; 110. an origin; 120. a metering pit; 200. a mobile phone; 300. a mobile phone locator; 400. a reference plate; 500. a registration device; 600. a jaw; 700. and a fixing member.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
As shown in fig. 1, the present invention provides a method for verifying the precision of a surgical instrument, which sequentially comprises the following steps:
step S101, calibrating and registering the surgical instrument, as shown in fig. 2, the surgical instrument includes a measuring device 100, the measuring device 100 is provided with an origin 110 and a plurality of measuring pits 120, and the measuring device 100 is provided with detection results of the origin 110 and the measuring pits 120. In a specific arrangement, the surgical instrument refers to a medical instrument used in a clinical operation, and includes a handpiece 200, a handpiece positioner 300, a reference plate 400, a metering device 100, and a registration device 500. Wherein, the mobile phone 200 is used for performing surgical operation; the handset locator 300 is mounted on the handset 200 and can be recognized by other devices, such as a navigator and the like; the registration device 500 is mounted on the dental jaws 600 by fixing members 700 such as screws, etc. for determining the position of a portion to be operated on the dental jaws 600; the measuring device 100 is in signal connection with the registration device 500, the measuring device 100 is provided with an origin 110 and a plurality of measuring pits 120, the origin 110 and the plurality of measuring pits 120 are used for performing accuracy verification, the measuring device 100 is provided with detection results of the origin 110 and the measuring pits 120, and the detection results are used for representing standard position information of the origin 110 and the measuring pits 120; a reference plate 400 is secured to the metrology device 100 to assist in identifying the handset locator 300.
In step S101, the reference plate 400, the metrology device 100 and the registration device 500 are connected together, and then calibration and registration of the surgical instrument are performed in preparation for subsequent information acquisition by the handpiece 200. In order to facilitate calibration and registration of the surgical instrument, a preferred embodiment of the calibration and registration surgical instrument specifically includes: firstly, the reference plate 400, the metering device 100 and the registration device 500 are connected, and after the connection, the reference plate 400, the metering device 100 and the registration device 500 are required to be relatively fixed, so that the accuracy of a subsequent acquisition process is ensured; then, the detection results of the origin 110 and the measuring pit 120 are collected and recorded to realize calibration and registration of the surgical instrument, so that the measuring device 100 can have standard position information of the origin 110 and the measuring pit 120, and subsequent comparison is facilitated.
Step S102 collects and records position information of the at least twice origin 110 and the at least twice measurement pits 120. In specific setting, the mobile phone 200 is used to operate the origin 110 and the measuring pit 120 on the measuring device 100, the mobile phone 200 collects the position information of the origin 110 and the plurality of measuring pits 120, and the number of times collected and recorded by the mobile phone 200 is at least two, for example, two, three, four or more times, so as to facilitate multiple collection of a calibration and registration surgical instrument, thereby enabling multiple verification and simplifying the operation process, the collected position information is used to represent the actual position information of the origin 110 and the measuring pits 120 to prepare for subsequent error calculation operations, the mobile phone 200 collects the position information and records the position information in a control module inside the mobile phone, the control module may be EXCEL software, of course, the control module is not limited thereto, the control module may also be in other programs capable of storing and calculating, because different control modules are limited to different calculation logics, the operation of the surgical instrument accuracy verification method is not affected, and for convenience of explanation, the control module in the mobile phone 200 is set to EXCEL software that calculates and displays information.
Step S103, calculating the actual measurement distance, the standard distance and the distance error of the measuring pit 120 according to the first group of function formulas. During specific setting, the EXCEL software in the mobile phone 200 respectively calculates the measured distance, the standard distance and the distance error of the measuring pit 120 according to the first group of function formulas, wherein the measured distance is the actual distance of the measuring pit 120 relative to the origin 110, the standard distance is the standard distance of the measuring pit 120 corresponding to the detection result of the measuring device 100 relative to the origin 110, the distance error is an error value of the measured distance relative to the standard distance, the distance error is used for representing the error of distance verification of the surgical instrument, and the position information, the measured distance, the standard distance and the distance error of the origin 110 and the plurality of measuring pits 120 acquired for multiple times can be displayed on the operation interface of the mobile phone 200.
In step S104, the vector of the origin 110, the vector of the measurement pit 120, and the angle error are calculated according to the second set of functional formula. During specific setting, the EXCEL software in the mobile phone 200 calculates the vector of the origin 110, the vector of the measurement pit 120 and the angle error according to the second set of function formulas, wherein the vector of the origin 110 is used for representing the position change direction of the origin 110 acquired twice, the vector of the measurement pit 120 is used for representing the position change direction of the measurement pit 120 acquired twice, the angle error is the deflection angle of the vector of the measurement pit 120 relative to the vector of the origin 110, the angle error is used for representing the error of surgical instrument angle verification, and the position information of the origin 110 and the plurality of measurement pits 120 acquired multiple times, the vector of the origin 110, the vector of the measurement pit 120 and the angle error can be displayed on the operation interface of the mobile phone 200.
In the method for verifying the precision of the surgical instrument, firstly, the surgical instrument is calibrated and registered through step S101, and the measuring device 100 in the surgical instrument has a detection result of standard position information for representing the origin 110 and the measuring pit 120; then, the position information of the at least twice origin 110 and the at least twice measuring pits 120 is collected and recorded through step S102, and the collected position information is used for representing the actual position information of the origin 110 and the measuring pits 120; then, through step S103, respectively calculating the measured distance, the standard distance, and the distance error of the measuring pit 120 according to the first group of function formulas, where the distance error is used to represent the error of the surgical instrument distance verification; finally, in step S104, a vector of the origin 110, a vector of the measurement pit 120, and an angle error, which is used to represent an error of the surgical instrument angle verification, are calculated according to a second set of functional formulas. The distance verification error and the angle verification error of the surgical instrument can be calculated conveniently and rapidly through the acquired position information of the origin 110 and the measuring pit 120, the first group of function formulas and the second group of function formulas, the calculation process is simple and transparent, high in acceptability and free of operation of professionals, common technicians can operate the calculation process, and the calculation process can be repeated, so that the repeatability and the operability of the surgical instrument precision verification method are good.
To facilitate the calculation of the distance error, a preferred embodiment calculates the measured distance, the standard distance, and the distance error of the measurement pit 120 according to a first set of function formulas, which specifically includes:
the measured distance from the measurement pit 120 to the origin 110 is calculated based on the position information of the one-time measurement pit 120 and the first mean square error formula. In specific setting, the position information of the primary measuring pit 120 is input into the EXCEL software, and is calculated by a first square error formula, so as to obtain the measured distance from the measuring pit 120 to the origin 110.
And calculating the standard distance from the measuring pit 120 to the origin 110 according to the detection result of the measuring device 100 and a second mean square error formula. At the time of specific setting, the detection result of the measuring apparatus 100 is input into the EXCEL software, and is calculated by the second square error formula to obtain the standard distance from the measuring pit 120 to the origin 110.
And calculating the distance error according to the measured distance, the standard distance and a subtraction formula. In the specific setting, the measured distance from the measuring pit 120 to the origin 110 and the standard distance from the measuring pit 120 to the origin 110 are calculated, and the measured distance from the origin 110 and the standard distance from the measuring pit 120 to the origin 110 are input into a subtraction formula for calculation, so as to obtain the distance error between the measured distance from the measuring pit 120 to the origin 110 and the standard distance from the measuring pit 120 to the origin 110.
In the above method for verifying the precision of the surgical instrument, the EXCEL software in the mobile phone 200 is pre-stored with a first set of function formulas, the first set of functional formulas includes a first mean square error formula, a second mean square error formula, and a subtraction formula, after the position information of the primary metering pit 120 is collected and the detection result of the metering device 100 is combined, the measured distance from the measuring pit 120 to the origin 110 and the standard distance from the measuring pit 120 to the origin 110 can be conveniently and quickly obtained through the first square difference formula and the second square difference formula, and the distance error between the measured distance from the measuring pit 120 to the origin 110 and the standard distance from the measuring pit 120 to the origin 110 can be conveniently and rapidly obtained by continuing the subtraction formula, so as to obtain the error of the distance verification of the surgical instrument, the calculation process is simple and transparent, and the distance precision verification of the surgical instrument is simple and easy to operate.
To facilitate calculation of the standard distance of the metrology pit 120 from the origin 110, specifically, the standard distance is calculated according to a second mean square error formula
Calculation of where L1Standard distance, X1X-axis coordinate, Y of the measuring pit 120 in the measurement results of the measuring apparatus 1001Y-axis coordinate, Z, of the measuring pit 120 in the measurement results of the measuring apparatus 1001Z-axis coordinate, X, of the measuring pit 120 in the measurement results of the measuring apparatus 1000X-axis coordinate, Y, of origin 110 in the measurement results of metrology device 1000Y-axis coordinate of origin 110, Z, of measurement results of metrology device 1000The metrology device 100 detects the Z-axis coordinate of the origin 110 in the results.
In the method for verifying the precision of the surgical instrument, the detection result of the measuring device 100 is input into the mobile phone 200 and is imported into the EXCEL software in the mobile phone 200, the EXCEL software can calculate the standard distance from each measuring pit 120 to the origin 110 when the detection result of the measuring device 100 is imported, and the EXCEL software can also calculate the standard distance from each measuring pit 120 to the origin 110 after the collection of the mobile phone 200 is completedThe distance and the measured distance from the measuring pit 120 to the origin 110 can be calculated by the second square error formula in any of the above calculation methods
The standard distance of each of the metrology wells 120 to the origin 110 is calculated relatively quickly and conveniently.
To facilitate calculation of the measured distance of the measurement pit 120 from the origin 110, specifically, the measured distance of the measurement pit 120 from the origin 110 is calculated according to a first mean square error formula
Calculation of where L2Measured distance, X2X-axis coordinate, Y of the first acquired metrology pit 1202First acquired Y-axis coordinate of the metrology well 120, Z2The Z-axis coordinate of the first acquired metrology pit 120.
In the above-mentioned method for verifying the accuracy of surgical instruments, the mobile phone 200 collects the position information of the measuring wells 120 and inputs the position information into the EXCEL software, the EXCEL software may calculate the actual measurement distance from each measuring well 120 to the origin 110 after the position information of each measuring well 120 is input, the EXCEL software may calculate the actual measurement distance from each measuring well 120 to the origin 110 after the position information of each measuring well 120 is collected, and the first square error formula may be used to pass through any of the calculation methods
The measured distance from each of the measurement wells 120 to the origin 110 is calculated more conveniently and quickly. In specific setting, the first square deviation formula and the second square deviation formula can be two different calculation formulas, so that the operation logic is simpler, and the first square deviation formula and the second square deviation formula can also be unified into the same calculation formula, so that a plurality of groups of results can be directly calculated after data is imported.
To facilitate calculation of a distance error between a measured distance of the measurement pit 120 from the origin 110 and a standard distance of the measurement pit 120 from the origin 110, specifically, a distance error rootAccording to the subtraction formula, L is equal to2-L1Calculation of where L1-standard distance, L2-measured distance, Δ L-distance error.
In the above-mentioned method for verifying the accuracy of surgical instruments, the mobile phone 200 collects the position information of the measuring wells 120 and inputs the position information into the EXCEL software, the EXCEL software may calculate the measured distance from each measuring well 120 to the origin 110 after the position information of each measuring well 120 is input, and calculate the distance error between the measured distance from each measuring well 120 to the origin 110 and the standard distance from each measuring well 120 to the origin 110, and the EXCEL software may calculate the measured distances from each measuring well 120 to the origin 110 and the distance error between the measured distance from each measuring well 120 to the origin 110 and the standard distance from each measuring well 120 to the origin 110 after the position information of each measuring well 120 is collected, and in any of the above calculation methods, the distance error can be calculated by the subtraction formula Δ L ═ L2-L1The distance error between the measured distance of each measurement pit 120 from the origin 110 and the standard distance of the measurement pit 120 from the origin 110 can be calculated more conveniently and quickly.
To facilitate the calculation of the angle error, a preferred embodiment calculates the vector of the origin 110, the vector of the measurement pit 120 and the angle error according to a second set of functional formulas, which specifically includes:
the vector of the measurement pit 120 is calculated according to the position information of the measurement pit 120 twice and the first coordinate difference formula. During specific setting, the position information of the measuring pit 120 twice is input into the EXCEL software, and is calculated through a first coordinate difference formula, so as to obtain the vector of the measuring pit 120.
The vector of the origin 110 is calculated according to the position information of the origin 110 twice and a second coordinate difference formula. In specific setting, the position information of the origin 110 is input into the EXCEL software twice, and is calculated through a second coordinate difference formula to obtain a vector of the origin 110.
The angle error is calculated from the vector of the metrology pit 120, the vector of the origin 110, and the inverse trigonometric function formula. In the specific setting, after the vector of the measuring pit 120 and the vector of the origin 110 are calculated, the vector of the measuring pit 120 and the vector of the origin 110 are input into the inverse trigonometric function formula for calculation, so as to obtain the angle error of the vector of the measuring pit 120 relative to the vector of the origin 110.
In the above method for verifying the precision of the surgical instrument, a second set of function formulas is pre-stored in the EXCEL software in the mobile phone 200, where the second set of function formulas includes a first coordinate difference formula, a second coordinate difference formula, and an inverse trigonometric function formula, when the position information of the measuring pit 120 is collected twice, the vector of the measuring pit 120 can be obtained more conveniently and quickly through the first coordinate difference formula, when the position information of the origin 110 is collected twice, the vector of the origin 110 can be obtained more conveniently and quickly through the second coordinate difference formula, and the angle error of the vector of the measuring pit 120 relative to the vector of the origin 110 can be obtained more conveniently and quickly through the inverse trigonometric function formula, so as to obtain the error of the angle verification of the surgical instrument.
To facilitate calculation of the vector of the metrology pit 120, specifically, the vector of the metrology pit 120 is calculated according to a first coordinate difference formula
And (c) calculating, wherein,
vector of measurement wells 120, X3X-axis coordinate, Y, of second acquired metrology pit 1203Second acquired Y-axis coordinate of the metrology pit 120, Z3Second acquired Z-axis coordinate, X, of metrology pit 1202X-axis coordinate, Y of the first acquired metrology pit 1202First acquired Y-axis coordinate of the metrology well 120, Z2The Z-axis coordinate of the first acquired metrology pit 120.
In the above-mentioned method for verifying the accuracy of the surgical instrument, the mobile phone 200 collects the position information of the measuring wells 120 twice and inputs the position information into the EXCEL software, the EXCEL software can calculate the vector of the measuring wells 120 after the position information of each measuring well 120 is input, and the EXCEL software further calculates the vector of the measuring wells 120The vectors of the plurality of measuring pits 120 can be uniformly calculated after the position information of the plurality of measuring pits 120 is collected, and no matter which calculation mode is adopted, the vectors can be calculated by the first coordinate difference formula
The vector for each metrology pit 120 is calculated relatively quickly and conveniently.
To facilitate calculation of the vector of origin 110, specifically, the vector of origin 110 is based on a second coordinate difference formula
And (c) calculating, wherein,
vector of origin 110, X4X-axis coordinate, Y, of origin 110 of the first acquisition4The Y-axis coordinate of the origin 110 of the first acquisition, Z4Z-axis coordinate, X, of origin 110 of the first acquisition5X-axis coordinate, Y, of origin 110 of the second acquisition5The Y-axis coordinate of the origin 110 of the second acquisition, Z5The Z-axis coordinate of the origin 110 of the second acquisition.
In the above-mentioned method for verifying the precision of the surgical instrument, the mobile phone 200 collects the position information of the origin 110 twice and inputs the position information into the EXCEL software, the EXCEL software may calculate the vector of the origin 110 after the position information of the origin 110 is input, the EXCEL software may further calculate the vector of the origin 110 and the vectors of the plurality of measuring wells 120 in a unified manner after the position information of the origin 110 and the plurality of measuring wells 120 are collected, and whatever the calculation method is, the calculation method can pass through the second coordinate difference formula
The vector of the origin 110 is calculated more conveniently and quickly. In a specific setting, the first coordinate difference formula and the second coordinate difference formula may be two different calculation formulas, so that the operation logic is simpler, and the first coordinate difference formula and the second coordinate difference formula may be unified into the same meterAnd calculating formulas to enable the data to be directly calculated into a plurality of groups of results after being imported.
To facilitate calculation of the angular error of the vector of the metrology pit 120 relative to the vector of the origin 110, specifically, the angular error of the metrology pit 120 is calculated according to an inverse trigonometric function formula
Formula (II)
Formula (II)
And
formula (II)
Calculating an angle error, wherein the theta-angle error,
vector of metrology pits 120
The length of (a) of (b),
vector of origin 110
Length of (d).
In the method for verifying the precision of the surgical instrument, the radian system and the inverse trigonometric function formula are adopted for calculating the angle in the EXCEL
Need to be correspondingly changed into
The inverse trigonometric function formulas corresponding to different control modules can also be usedCorrespondingly, the mobile phone 200 collects the position information of the measuring pits 120 and the position information of the origin 110 twice, and inputs the position information into the EXCEL software, the EXCEL software can calculate the vector of the origin 110 after the position information of the origin 110 is input, and calculate the vector of each measuring pit 120 and the angle error of the measuring pit 120 after the position information of each measuring pit 120 is input, the EXCEL software can also calculate the vectors of the measuring pits 120 and the angle errors of the measuring pits 120 uniformly after the position information of the measuring pits 120 is collected, and whatever the calculation method, the angle errors of the vectors of the measuring pits 120 relative to the vector of the origin 110 can be calculated conveniently and quickly by the above inverse trigonometric function formula.
Table 1 shows an EXCEL display interface in one embodiment, and the corresponding measuring device 100 has an origin 110 and 31 measuring pits 120, wherein the origin 110 corresponds to point 1 in table 1, and the 31 measuring pits 120 correspond to points 2-32 in table 1.
TABLE 1
As can be seen from table 1, in this embodiment, the distance verification error and the angle verification error of the surgical instrument can be calculated more conveniently and rapidly by the acquired position information of the origin 110 and the measurement pit 120, the first group of function formula and the second group of function formula, and the calculation process is simple and transparent, has higher acceptance, does not need to be operated by a professional, can be operated by a common technician, and can be repeated, so that the repeatability and the operability of the surgical instrument precision verification method are better.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A surgical instrument precision verification method is characterized by sequentially comprising the following steps:
calibrating and registering surgical instruments, wherein the surgical instruments comprise a metering device, an origin point and a plurality of metering pits are arranged on the metering device, and detection results of the origin point and the metering pits are arranged on the metering device;
collecting and recording position information of the origin and the measuring pits at least twice;
calculating the measured distance, the standard distance and the distance error of the measuring pit according to a first group of function formulas;
and calculating the vector of the origin, the vector of the measuring pit and the angle error according to a second group of function formulas.
2. The method for verifying the accuracy of a surgical instrument according to claim 1, wherein the calculating the measured distance, the standard distance, and the distance error of the measurement pit according to a first set of function formulas specifically includes:
calculating the actually measured distance from the measuring pit to the original point according to the position information of the measuring pit at one time and a first mean square error formula;
calculating the standard distance from the measuring pit to the origin according to the measuring device detection result and a second mean square error formula;
and calculating a distance error according to the measured distance, the standard distance and a subtraction formula.
3. A surgical instrument accuracy verification method as claimed in claim 2, wherein the standard distance is according to the second mean square error formula
Calculation of where L1Standard distance, X1-X-axis coordinate, Y, of the measuring pit in the measuring device detection result1-the Y-axis coordinate, Z, of the measuring pit in the measuring device measurement1-the Z-axis coordinate, X, of the measuring pit in the measuring device measurement0-X-axis coordinate, Y, of said origin in the measurement results of said metrology device0-the Y-axis coordinate of the origin, Z, in the measurement of the measuring device0-the Z-axis coordinate of the origin in the metrology device detection results.
4. A surgical instrument accuracy verification method as claimed in claim 3, wherein the measured distance of the metrology well to the origin is based on the first variance equation
Calculation of where L2Measured distance, X2-first acquired X-axis coordinate, Y, of said metrology pit2-the first acquired Y-axis coordinate of the metrology pit, Z2-the first acquired Z-axis coordinate of the metrology pit.
5. The surgical instrument accuracy verification method of claim 4, wherein the distance error is based on a subtraction formula Δ L ═ L2-L1Calculation of where L1-standard distance, L2-measured distance, Δ L-distance error.
6. The method for verifying the precision of a surgical instrument according to claim 1, wherein the calculating the vector of the origin, the vector of the measurement pit, and the angle error according to the second set of functional formulas specifically includes:
calculating the vector of the measuring pit according to the position information of the measuring pit twice and a first coordinate difference formula;
calculating a vector of the origin according to the position information of the origin and a second coordinate difference formula twice;
and calculating the angle error according to the vector of the measuring pit, the vector of the origin and an inverse trigonometric function formula.
7. The surgical instrument accuracy verification method of claim 6, wherein the vector of the metrology wells is based on the first coordinate difference formula
And (c) calculating, wherein,
-vector of said measurement pits, X3-the X-axis coordinate, Y, of the second acquired metrology pit3-second acquired Y-axis coordinate, Z, of the metrology pit3-second acquired Z-axis coordinate, X, of the metrology pit2-first acquired X-axis coordinate, Y, of said metrology pit2-the first acquired Y-axis coordinate of the metrology pit, Z2-the first acquired Z-axis coordinate of the metrology pit.
8. The method of claim 7, wherein the vector of the origin is based on the second coordinate difference formula
And (c) calculating, wherein,
-saidVector of origin, X4-first acquired X-axis coordinate, Y, of the origin4-the Y-axis coordinate of the origin, Z, of the first acquisition4-the Z-axis coordinate, X, of the origin of the first acquisition5-X-axis coordinate, Y, of the origin of the second acquisition5-a second acquired Y-axis coordinate of the origin, Z5-a second acquired Z-axis coordinate of the origin.
9. The surgical instrument accuracy verification method of claim 8, wherein the angular error of the gauge pit is according to the inverse trigonometric function formula
Formula (II)
Formula (II)
And
formula (II)
Calculating an angle error, wherein the theta-angle error,
-vector of said metrology pits
The length of (a) of (b),
-vector of the origin
Length of (d).
10. The method for verifying the accuracy of a surgical instrument according to claim 1, wherein the calibrating and registering the surgical instrument specifically includes:
the reference plate, the metering device and the registering device are connected and relatively fixed;
and collecting and recording the detection results of the original point and the measuring pit.
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