CN113855247A - Surgical robot integrated registration device and operation method - Google Patents
Surgical robot integrated registration device and operation method Download PDFInfo
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- CN113855247A CN113855247A CN202111226616.7A CN202111226616A CN113855247A CN 113855247 A CN113855247 A CN 113855247A CN 202111226616 A CN202111226616 A CN 202111226616A CN 113855247 A CN113855247 A CN 113855247A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The invention discloses an integrated registering device of a surgical robot and an operating method. The three-dimensional C-arm imaging device comprises a three-dimensional C-arm, an integrated registration device and a three-dimensional C-arm imaging equipment flat panel detector, wherein the three-dimensional C-arm is used for acquiring 3D image data; the integrated registration device comprises a support body and at least six registration points which are coplanar and non-collinear, and is arranged at the flat panel end of the flat panel detector of the three-dimensional C-arm imaging equipment; the optical tracker is used for identifying the tracer and recording the pose information of the tracer; the robot is communicated with the workstation and used for navigation and positioning; and the workstation is in communication connection with the three-dimensional C arm, the optical tracker and the robot, calculates the conversion relation and the target point plan in each system, and finally controls the robot to perform navigation and positioning. The invention realizes the key step of accurate registration of the three-dimensional C arm and the orthopaedic surgery robot system, is convenient to disassemble and assemble, is convenient to use, and has an important function in the orthopaedic surgery robot system.
Description
Technical Field
The invention belongs to the technical field of surgical robots, and particularly relates to a surgical robot integrated registration device and an operation method thereof.
Background
In recent years, with the wide application of three-dimensional C-arm and robot technologies, the combined application of a three-dimensional C-arm system and an orthopedic surgery robot system becomes the mainstream of innovation in the medical field. Accurate registration between systems is a key step for ensuring the accuracy of the systems.
In the actual research and development process, according to the characteristics of each system, a proper device is designed, coordinate conversion between the two systems is calculated, and a computer is used for processing and displaying images provided by medical imaging equipment and combining an optical tracker, so that the robot arm is controlled to perform operation positioning safely and effectively.
In view of the above-mentioned problems, in order to ensure the accurate registration of the three-dimensional C-arm system and the orthopaedic surgery robot system, the invention solves the key step of the accurate registration of the system, meets the requirements of the system accuracy and solves the practical problems.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an integrated registration device of a surgical robot and an operation method, so that the problem of how to accurately register a three-dimensional C-arm system with an orthopaedic surgical robot system is solved.
The technical scheme is as follows: the invention discloses an integrated registering device of a surgical robot, which comprises a three-dimensional C arm (1), an integrated registering device (2) and a three-dimensional C arm imaging equipment flat panel detector (3);
wherein the integrated registration device (2) comprises a support body (21), on which support body (21) at least six coplanar non-collinear registration points (22) are provided, on the other side of which support body (21) a connection assembly (23) is detachably provided by means of bolts;
the connecting assembly (23) is connected to the flat plate end of the three-dimensional C-arm imaging equipment flat plate detector (3);
the three-dimensional C arm (1) and the three-dimensional C arm imaging equipment flat panel detector (3) are connected with each other through a connecting device.
Further, the lower end of a support body (21) in the integrated registration device (2) does not exceed the imaging lower edge of the three-dimensional C-arm imaging equipment flat panel detector (3), and the upper end does not exceed the edge of the three-dimensional C-arm (1).
Further, the device also comprises a work operation device, wherein the work operation device comprises a work station (4) arranged at the lower end, and an optical tracker (5) is arranged at the upper end of the work station (4) through a connecting shaft;
and the connecting shaft is also provided with a large display screen and a small display screen.
Further, the robot also comprises a robot (6).
Further, an operation method of the surgical robot integrated registration device comprises the following specific operation steps:
(5.1) mounting an integrated registration device (2) on the three-dimensional C-arm (1);
(5.2) the three-dimensional C arm (1) collects and transmits 3D image data through the integrated registering device (2), and meanwhile, the optical tracker (5) identifies and records pose information of the registration point (22) on the integrated registering device (2);
(5.3) the workstation (4) acquires 3D image data acquired by the three-dimensional C arm (1) through the optical tracker (5), and the conversion relation between the coordinate system of the optical tracker and the image coordinate system is obtained through calculation;
and (5.4) according to the navigation positioning principle and the pre-planning function of the orthopaedic surgery robot, obtaining the conversion relation between the image coordinate system and the robot coordinate system according to the calculation result obtained in the step (5.3), and finally realizing the navigation positioning of the robot (6) by controlling the robot (6) to reach the target position.
Further, in step (5.3), the specific operation of obtaining the transformation relationship between the optical tracker coordinate system and the image coordinate system by calculation is as follows:
(5.3.1) acquiring 3D image data by the three-dimensional C arm (1), and identifying pose information under the integrated registration device (2) in real time by the optical tracker (5);
(5.3.2) the integrated registration device (2) is arranged at a fixed position of a flat plate end of the three-dimensional C-arm imaging equipment flat plate detector (3), so that the pose information of the three-dimensional C-arm imaging equipment flat plate detector in the rotating process of the three-dimensional C-arm imaging equipment flat plate detector is calculated; then according to the imaging principle of the three-dimensional C arm (1), the conversion relation between the three-dimensional C arm coordinate system and the image coordinate is calculated;
(5.3.3) the optical tracker (5) identifies the pose information of the integrated registering device (2) in the rotating process of the three-dimensional C arm (1), and then calculates the conversion relation between the coordinate system of the optical tracker and the coordinate system of the three-dimensional C arm by an ICP algorithm by combining the pose information of the integrated registering device (2) on the three-dimensional C arm (1);
and (5.3.4) combining the step (5.3.2) and the step (5.3.3), and finally calculating the conversion relation between the optical tracker coordinate system and the image coordinate system.
Has the advantages that: compared with the prior art, the invention has the characteristics that: the invention establishes the conversion relation between the three-dimensional C-arm image coordinate and the optical tracker coordinate system, thereby solving the key step of accurate registration of the three-dimensional C-arm and the orthopaedic surgery robot system; according to the method, only an integrated registration device is arranged at the end of the three-dimensional C-arm imaging equipment, and the position and posture information of the registration device is recorded by an optical tracker when 3D image data are collected, so that the spatial relationship among systems can be established; the method has the advantages of simple operation, no increase of any radiation dose, no increase of image shooting steps, high precision and the like, and has great application value in the orthopedic surgery robot system.
Drawings
Fig. 1 is a schematic structural view of an integrated registration device in the present invention;
FIG. 2 is a schematic view of the installation of the three-dimensional C-arm, the integrated registration device and the three-dimensional C-arm imaging device flat panel detector of the present invention;
FIG. 3 is a view showing the construction of the operation of the surgical robot according to the present invention;
FIG. 4 is a flow chart of the registration method of the present invention;
in the figure, 1 is a three-dimensional C-arm;
2 is an integrated registration device, 21 is a support body, 22 is a registration point, and 23 is a connecting component;
3 is a three-dimensional C-arm imaging device flat panel detector;
4 is a workstation; 5 is an optical tracker; 6 is a robot.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in the figure, the surgical robot integrated registration device provided by the invention comprises a three-dimensional C arm 1, an integrated registration device 2 and a three-dimensional C arm imaging equipment flat panel detector 3;
wherein, the integrated registration device 2 comprises a support body 21, at least six coplanar and non-collinear registration points 22 are arranged on the support body 21, and a connecting component 23 is detachably arranged on the other side of the support body 21 through bolts;
the registration point 22 is arranged on the plane at one side of the support body 21; the connecting assembly 23 is detachably arranged on the other side of the supporting body 21 through a bolt, and the function is convenient disassembly and assembly;
the connecting assembly 23 is connected to the flat plate end of the three-dimensional C-arm imaging device flat plate detector 3;
the connecting assembly 23 is fixedly arranged on the flat end of the flat panel detector 3 of the three-dimensional C-arm imaging equipment;
the three-dimensional C arm 1 and the three-dimensional C arm imaging equipment flat panel detector 3 are connected with each other through a connecting device;
in addition, in an integrated surgical robot registration apparatus, the three-dimensional C-arm 1 must rotate in synchronization with a C-arm apparatus that controls the periphery of the three-dimensional C-arm 1 when acquiring 3D image data;
the registration points 22 are geometrically arranged correspondingly according to the rotation angle range of the three-dimensional C arm 1, so that any angle of synchronous rotation with the three-dimensional C arm 1 is ensured; so that the optical tracker 5 can accurately identify all the registration points 22;
the support body 21 and the connecting assembly 23 are made of light materials.
Further, the three-dimensional C-arm 1: the integrated registration device 2 is installed and used for collecting and transmitting 3D image data;
the optical tracker 5: is used for acquiring the pose information of the integrated registering device 2 and the tail end of the robot 6;
the robot 6: the system is communicated with a workstation 4 and is used for receiving information sent by the workstation 4 so as to realize accurate navigation and positioning;
the work station 4: is connected with the three-dimensional C arm 1, the optical tracker 5 and the robot 6 through communication (wireless connection); acquiring 3D image data which are acquired by a three-dimensional C arm 1 and meet the precision of an orthopaedic surgery robot system; recording pose information of the integrated registration device 2 in the three-dimensional C-arm 1 acquisition process; and calculating conversion relations and target point plans in each system, and finally controlling the robot to perform accurate navigation and positioning.
Further, the lower end of the support body 21 in the integrated registration device 2 does not exceed the imaging lower edge of the three-dimensional C-arm imaging device flat panel detector 3, and the upper end does not exceed the edge of the three-dimensional C-arm 1.
Further, the device also comprises a work operation device, wherein the work operation device comprises a work station 4 arranged at the lower end, and an optical tracker 5 is arranged at the upper end of the work station 4 through a connecting shaft;
and the connecting shaft is also provided with a large display screen and a small display screen.
Further, a robot 6 is included.
Further, an operation method of the surgical robot integrated registration device comprises the following specific operation steps:
(5.1) mounting an integrated registration device 2 on the three-dimensional C-arm 1;
(5.2) the three-dimensional C arm 1 collects and transmits 3D image data through the integrated registration device 2, and meanwhile, the optical tracker 5 identifies and records pose information of registration points 22 on the integrated registration device 2;
(5.3) the workstation 4 acquires 3D image data acquired by the three-dimensional C arm 1 through the optical tracker 5, and obtains a conversion relation between an optical tracker coordinate system and an image coordinate system through calculation;
and (5.4) according to the navigation positioning principle and the pre-planning function of the orthopaedic surgical robot, obtaining the conversion relation between the image coordinate system and the robot coordinate system according to the calculation result obtained in the step (5.3), and finally realizing the navigation positioning of the robot 6 by controlling the robot 6 to reach the target position.
Further, in step (5.3), the specific operation of obtaining the transformation relationship between the optical tracker coordinate system and the image coordinate system by calculation is as follows:
(5.3.1) the three-dimensional C arm 1 collects 3D image data, and the optical tracker 5 identifies pose information under the integrated registration device 2 in real time;
(5.3.2) the integrated registration device 2 is arranged at a fixed position of a flat plate end of the three-dimensional C-arm imaging equipment flat plate detector 3, so that the pose information of the three-dimensional C-arm imaging equipment flat plate detector in the rotation process of the three-dimensional C-arm 1 is calculated; then according to the imaging principle of the three-dimensional C arm 1, calculating the conversion relation between the three-dimensional C arm coordinate system and the image coordinate;
(5.3.3) the optical tracker (5) identifies the pose information of the integrated registering device 2 in the rotating process of the three-dimensional C arm 1, and then calculates the conversion relation between the coordinate system of the optical tracker and the coordinate system of the three-dimensional C arm by an ICP algorithm by combining the pose information of the integrated registering device 2 on the three-dimensional C arm 1;
and (5.3.4) combining the step (5.3.2) and the step (5.3.3), and finally calculating the conversion relation between the optical tracker coordinate system and the image coordinate system.
Further, the geometric deformation of the three-dimensional C arm 1 can be calculated; specifically, the method comprises the following steps: when the ray of the three-dimensional C arm 1 stops, the three-dimensional C arm 1 independently runs for rotation at different time or different time intervals, and meanwhile, the optical tracker 5 identifies and records the pose information point cloud p of the integrated registration device 2 at different time or different time intervals in the rotation process of the three-dimensional C arm 1i(i 1,2), by the ICP algorithm, the amount of deformation at different times or intervals due to rotation or other movement of the three-dimensional C-arm 1, the three-dimensional C-arm 1 itself, and the like can be calculated.
Specifically, the invention provides an integrated registration device of a surgical robot, fig. 1 is a schematic view of the integrated registration device 2 of the invention, and as shown in fig. 1, the integrated registration device 2 comprises a support body 21, at least six co-planar and non-collinear registration points 22 and a connecting assembly 23; the registration point 22 is installed on the plane of the support body 21; the connecting assembly 23 is convenient to disassemble and assemble; six coplanar and non-collinear registration points 22 are arranged on a support body 21 according to a set geometric layout, the center of a plane where the support body 21 is located is taken as a coplanar center, the upper right corner of a normal bitmap starts, and in a counterclockwise sequence, the plane coordinates of a registration point I are (102,58), the plane coordinates of a registration point II are (-28,94), the plane coordinates of a registration point III are (-120,86), the plane coordinates of a registration point IV are (-117, -71), the plane coordinates of a registration point V are (-10, -94), and the plane coordinates of a registration point six are (-120, -67); the three-dimensional information value of each registration point is the spherical center geometric height of the spherical registration point; the support body 21 and the connection assembly 23 of the integrated registration device 2 are made of light materials.
As shown in fig. 2, the integrated registration device 2 is schematically installed, and the integrated registration device 2 is fixedly installed on a flat end of a flat panel detector 3 of the three-dimensional C-arm imaging device; the installation position does not influence the clinical operation as the premise: the installation design is ingeniously integrated with the three-dimensional C-arm imaging equipment flat panel detector 3, the lower end of the installation design is not more than the imaging lower edge of the three-dimensional C-arm imaging equipment flat panel detector 3, and the upper end of the installation design is not more than the edge of the three-dimensional C-arm 1; i.e. the clinical operating space of the three-dimensional C-arm 1 is not reduced, nor any rotational movement of the three-dimensional C-arm 1 is affected.
The invention provides an integrated registering device of a surgical robot; as shown in fig. 3, the system comprises a three-dimensional C-arm 1, an integrated registration device 2, a workstation 4, an optical tracker 5 and a robot 6.
The invention provides a method of an integrated registration device, which comprises the following steps:
1. an integrated registration device 2 is arranged at the flat end of a flat panel detector 3 of a three-dimensional C-arm imaging device of a three-dimensional C-arm 1, and the installation position of the integrated registration device and the three-dimensional C-arm 1 have a fixed geometric structure;
2. the three-dimensional C arm 1 collects 3D image data meeting the precision of a navigation positioning system and transmits the data to the workstation 4, and meanwhile, the optical tracker 5 identifies and records pose information of a registration point 22 on the integrated registration device 2;
3. workstation 4 acquires 3D image data; the integrated registration device 2 is arranged at a fixed position of a flat plate end of a flat plate detector 3 of the three-dimensional C-arm imaging equipment, and can calculate the pose information of the integrated registration device in the three-dimensional C-arm 1; according to the three-dimensional C-arm imaging principle, the conversion relation between a C-arm coordinate system and an image coordinate can be calculated; combining the pose information of the registration point 22 on the integrated registration device 2 recorded in the step 2 in the rotation process of the three-dimensional C arm 1, and obtaining a conversion relation between an optical tracker coordinate system and an image coordinate system through an ICP (inductively coupled plasma) algorithm;
4. according to the navigation positioning principle and the pre-planning function of the orthopaedic surgery robot, the conversion relation between the image coordinate system and the robot coordinate system is calculated, and the robot 6 is controlled to perform navigation positioning.
Further, the invention indirectly provides a method for calculating the geometric deformation of the three-dimensional C-arm, which comprises the following steps:
1. to reduce unnecessary radiation dose, the three-dimensional C-arm 1 temporarily turns off the ray function;
2. the optical tracker 5 identifies and records the position and attitude information point cloud p of the integrated registration device 2 in the three-dimensional C arm 1 rotation process in different time periodsi(i＝1,2)；
3. By the ICP algorithm as follows: according to certain constraint conditions, calculating optimal matching parameters R and t to minimize the following error function; the formula is as follows:
where n denotes the number of nearest neighbor point pairs, p2iRepresenting a point in the target point cloud p2, p1iRepresenting p2 in the source point cloud p1iCorresponding closest point, R represents a rotation matrix, and t represents a translation vector;
the ICP algorithm comprises the following steps:
1. taking a point set p2 from a target point cloud p2i∈p2；
2. Finding corresponding point set p1 in source point cloud p1iE.g. p1, so that p1i-p2i||＝min；
3. Calculating a rotation matrix R and a translation matrix t to minimize an error function;
4. for p1iUsing the rotation matrices R and R obtained in the previous stepAnd (4) performing rotation and translation transformation on the translation matrix t to obtain a new corresponding point set p '═ p'i＝Rp1i+t,p1i∈p1}；
5. Calculating the average distance between p' and the corresponding point set p 1;
6. if d is smaller than a given threshold value or larger than a preset maximum iteration number, stopping iterative computation; otherwise, returning to the step 2 until the convergence condition is met.
7. If the appropriate point set can not be calculated to meet the convergence condition, the deformation quantity caused by the rotation or other movements of the C arm, the C arm per se and other factors at different time or in different time periods is considered to exceed a preset value; the preset value may be altered until a convergence condition is satisfied.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (6)
1. An integrated registering device of a surgical robot is characterized by comprising a three-dimensional C arm (1), an integrated registering device (2) and a three-dimensional C arm imaging equipment flat panel detector (3);
wherein the integrated registration device (2) comprises a support body (21), on which support body (21) at least six coplanar non-collinear registration points (22) are provided, on the other side of which support body (21) a connection assembly (23) is detachably provided by means of bolts;
the connecting assembly (23) is connected to the flat plate end of the three-dimensional C-arm imaging equipment flat plate detector (3);
the three-dimensional C arm (1) and the three-dimensional C arm imaging equipment flat panel detector (3) are connected with each other through a connecting device.
2. A surgical robotically integrated registration apparatus according to claim 1,
the lower end of a support body (21) in the integrated registration device (2) does not exceed the imaging lower edge of the three-dimensional C-arm imaging equipment flat panel detector (3), and the upper end does not exceed the edge of the three-dimensional C-arm (1).
3. A surgical robotically integrated registration device according to claim 1, characterized by further comprising a work operative device comprising a workstation (4) arranged at a lower end, at the upper end of said workstation (4) an optical tracker (5) being arranged by means of a connecting shaft;
and the connecting shaft is also provided with a large display screen and a small display screen.
4. A surgical robotically integrated registration apparatus according to claim 1, further comprising a robot (6).
5. The operation method of the integrated surgical robot registration device according to claims 1-4, characterized by the following specific operation steps:
(5.1) mounting an integrated registration device (2) on the three-dimensional C-arm (1);
(5.2) the three-dimensional C arm (1) collects and transmits 3D image data through the integrated registering device (2), and meanwhile, the optical tracker (5) identifies and records pose information of the registration point (22) on the integrated registering device (2);
(5.3) the workstation (4) acquires 3D image data acquired by the three-dimensional C arm (1) through the optical tracker (5), and the conversion relation between the coordinate system of the optical tracker and the image coordinate system is obtained through calculation;
and (5.4) according to the navigation positioning principle and the pre-planning function of the orthopaedic surgery robot, obtaining the conversion relation between the image coordinate system and the robot coordinate system according to the calculation result obtained in the step (5.3), and finally realizing the navigation positioning of the robot (6) by controlling the robot (6) to reach the target position.
6. The operation method of the integrated surgical robot registration apparatus according to claim 5, wherein in step (5.3), the specific operation steps of calculating the transformation relationship between the optical tracker coordinate system and the image coordinate system are as follows:
(5.3.1) acquiring 3D image data by the three-dimensional C arm (1), and identifying pose information under the integrated registration device (2) in real time by the optical tracker (5);
(5.3.2) the integrated registration device (2) is arranged at a fixed position of a flat plate end of the three-dimensional C-arm imaging equipment flat plate detector (3), so that the pose information of the three-dimensional C-arm imaging equipment flat plate detector in the rotating process of the three-dimensional C-arm imaging equipment flat plate detector is calculated; then according to the imaging principle of the three-dimensional C arm (1), the conversion relation between the three-dimensional C arm coordinate system and the image coordinate is calculated;
(5.3.3) the optical tracker (5) identifies the pose information of the integrated registering device (2) in the rotating process of the three-dimensional C arm (1), and then calculates the conversion relation between the coordinate system of the optical tracker and the coordinate system of the three-dimensional C arm by an ICP algorithm by combining the pose information of the integrated registering device (2) on the three-dimensional C arm (1);
and (5.3.4) combining the step (5.3.2) and the step (5.3.3), and finally calculating the conversion relation between the optical tracker coordinate system and the image coordinate system.
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| WO2024000931A1 (en) * | 2022-06-28 | 2024-01-04 | 南京普爱医疗设备股份有限公司 | Tracing device for orthopedic surgical robot and self-compensation tracking method |
| CN117204951A (en) * | 2023-09-22 | 2023-12-12 | 上海睿触科技有限公司 | Operation positioning navigation equipment based on X-rays and positioning realization method thereof |
| CN117204951B (en) * | 2023-09-22 | 2024-04-30 | 上海睿触科技有限公司 | Operation positioning navigation equipment based on X-rays and positioning realization method thereof |
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