CN115005991B - Precision detection method of surgical navigation device and surgical navigation precision detection device - Google Patents
Precision detection method of surgical navigation device and surgical navigation precision detection device Download PDFInfo
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- CN115005991B CN115005991B CN202210924923.0A CN202210924923A CN115005991B CN 115005991 B CN115005991 B CN 115005991B CN 202210924923 A CN202210924923 A CN 202210924923A CN 115005991 B CN115005991 B CN 115005991B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
- A61B2034/207—Divots for calibration
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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
- A61B2034/2072—Reference field transducer attached to an instrument or patient
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors
Abstract
The invention provides a precision detection method of a surgical navigation device and the surgical navigation precision detection device, wherein the precision detection method of the surgical navigation device comprises the following steps: registering a detection tool; calibrating the sphere center position of the detection tool according to the operation mechanical arm, the detection tool and the detection tool; acquiring a sphere center space coordinate of a target sphere seat of a detection tool; taking a target ball seat of the detection tool as a preset path point for the surgical mechanical arm to move to the target position, and acquiring a sphere center space coordinate of a target ball of the detection tool when the surgical mechanical arm moves to the target position; and calculating a difference value between the sphere center space coordinate of the target ball seat of the detection tool and the sphere center space coordinate of the target ball of the detection tool, and judging whether the precision of the surgical navigation device meets the requirement or not according to the difference value. Through the technical scheme provided by the application, the problem that effective precision detection cannot be carried out on the surgical navigation device in the related art can be solved.
Description
Technical Field
The invention relates to the technical field of surgical navigation, in particular to a precision detection method of a surgical navigation device and the surgical navigation precision detection device.
Background
The operation navigation device comprises an operation mechanical arm, a positioning instrument and an upper computer electrically connected with the operation mechanical arm and the positioning instrument, and is used for tracking the joint position of a patient and assisting a doctor in performing operations such as positioning and posture fixing of an operation tool, so that the positioning precision of the operation navigation device becomes an important index influencing the success or failure of an operation.
In the related art, there is a problem that the surgical navigation device cannot be effectively detected with accuracy.
Disclosure of Invention
The invention provides a precision detection method of a surgical navigation device and the surgical navigation precision detection device, which are used for solving the problem that the surgical navigation device cannot be effectively detected in the related art.
According to one aspect of the present invention, there is provided a precision detection method for a surgical navigation device, wherein the surgical navigation device is precision-detected by using a surgical navigation precision detection device, the surgical navigation precision detection device includes a detection tool and a detection tool, the detection tool is disposed on a surgical manipulator of the surgical navigation device, and the precision detection method for the surgical navigation device includes: registering a detection tool; calibrating the sphere center position of the detection tool according to the operation mechanical arm, the detection tool and the detection tool; acquiring a sphere center space coordinate of a target sphere seat of a detection tool; taking a target ball seat of the detection tool as a preset path point for moving the surgical mechanical arm to a target position, and acquiring a sphere center space coordinate of a target ball of the detection tool when the surgical mechanical arm moves to the target position; and calculating a difference value between the sphere center space coordinate of the target ball seat of the detection tool and the sphere center space coordinate of the target ball of the detection tool, and judging whether the precision of the surgical navigation device meets the requirement or not according to the difference value.
Further, the step of calibrating the sphere center position of the detection tool according to the surgical mechanical arm, the detection tool and the detection tool comprises the following steps: acquiring a conversion matrix of marking points of a surgical mechanical arm and a detection tool; acquiring a conversion matrix of the mark points of the detection tool and the mark points of the detection tool; acquiring a conversion matrix of a mark point of the detection tool and a target ball seat of the detection tool according to the registered three-dimensional model of the detection tool; and moving the surgical mechanical arm, setting the sphere center space coordinate of the target ball seat of the detection tool as the sphere center space coordinate of the target ball of the detection tool when the sphere center of the target ball of the detection tool is superposed with the sphere center of the target ball seat of the detection tool, so as to obtain the conversion relation between the mark point of the detection tool and the sphere center position of the target ball of the detection tool, and completing the calibration of the sphere center position of the detection tool according to each conversion matrix.
Further, the step of moving the surgical manipulator, when the sphere center of the target ball of the detection tool coincides with the sphere center of the target ball seat of the detection tool, setting the sphere center space coordinate of the target ball seat of the detection tool as the sphere center space coordinate of the target ball of the detection tool to obtain the conversion relationship between the mark point of the detection tool and the sphere center position of the target ball of the detection tool, and completing the calibration of the sphere center position of the detection tool according to each conversion matrix comprises: setting the operation mechanical arm to a calibration mode; moving the operation mechanical arm, and enabling the target ball of the detection tool to fall into a target ball seat of the detection tool; and setting the center of the target ball seat of the detection tool as the center of the target ball of the detection tool, and acquiring the conversion relation between the mark point of the detection tool and the center of the target ball of the detection tool so as to obtain the coordinate conversion between the center of the target ball of the detection tool and a flange of the surgical mechanical arm for installing the detection tool, thereby completing the calibration of the detection tool.
Further, a conversion matrix of the marking points of the surgical mechanical arm and the detection tool is obtained by using a robot hand-eye calibration method; and/or acquiring a conversion matrix of the mark points of the detection tool and the mark points of the detection tool by using the optical positioning instrument.
Further, the step of moving the target ball seat of the detection tool to the preset path point of the target position as the surgical mechanical arm comprises the following steps: the detection tool is provided with a plurality of target ball seats, each target ball seat is set as a preset passing point, and connecting lines of at least three preset passing points are set as a preset moving path for the surgical mechanical arm to move to a target position; the number of the preset moving paths for the surgical robot arm to move to the target position is set to be at least three.
Further, the step of calculating the difference value between the sphere center space coordinate of the target ball seat of the detection tool and the sphere center space coordinate of the target ball of the detection tool and judging whether the precision of the surgical navigation device meets the requirement or not according to the difference value comprises the following steps: setting the plane of each preset moving path of the surgical manipulator moving to the target position as an operation plane respectively; and calculating the distance between the sphere center space coordinate of the target sphere of the detection tool and the operation plane, and judging whether the precision of the surgical navigation device meets the requirement.
Further, the step of registering the detection tool comprises: utilizing a CT scanning detection tool, and uploading a three-dimensional image generated by CT to an upper computer of the surgical navigation device; sequentially moving the probes of the registration pen to a plurality of marking points of the detection tool and capturing; and registering the captured actual object position and the generated three-dimensional image position to complete the coordinate system conversion of the actual space and the image space.
Further, the step of obtaining the sphere center space coordinate of the target sphere seat of the detection tool comprises: the detection tool is provided with a plurality of target ball seats, and the target balls of the detection tool are sequentially placed on the plurality of target ball seats of the detection tool; and respectively reading the space coordinates of the target balls of the detection tool when the target balls are positioned on the plurality of target ball seats by using the laser tracker, and setting the obtained space coordinates of the target balls of the detection tool as the space coordinates of the ball centers of the target ball seats of the detection tool.
According to another aspect of the present invention, there is provided a surgical navigation accuracy detecting apparatus, wherein the accuracy detecting method of the surgical navigation apparatus is implemented by using the surgical navigation accuracy detecting apparatus, the surgical navigation apparatus includes a surgical manipulator, an optical position finder and an upper computer electrically connected to the surgical manipulator and the optical position finder, the surgical navigation accuracy detecting apparatus includes: the detection tool comprises a frame body and a target ball seat arranged on the frame body, wherein a first marker is arranged on the frame body; the detection tool is arranged on the surgical mechanical arm and is provided with a target ball matched with the target ball seat and a second marker matched with the first marker to calibrate the detection tool; the laser tracker is used for detecting the position of the target ball; and the control part is electrically connected with the laser tracker and can record the space coordinate data acquired by the laser tracker and perform error calculation.
Furthermore, a plurality of target ball seats are arranged on the frame body, the target ball seats comprise a first seat body, a second seat body and a third seat body which are arranged at intervals, and the heights of the first seat body, the second seat body and the third seat body are different from each other.
Furthermore, the plurality of target ball seats comprise a plurality of target ball groups arranged at intervals, and each target ball group comprises a first seat body, a second seat body and a third seat body; and/or, the support body includes the landing leg that backup pad and three interval set up, and the upper end of three landing leg is connected with the lower surface of backup pad respectively, and the target ball seat sets up the upper surface in the backup pad, and first marker sets up in the backup pad.
Further, the detection tool comprises a connecting plate and an inclined plate connected with the lower end of the connecting plate, the connecting plate is connected with the surgical mechanical arm, the inclined plate and the horizontal plane form an included angle, the target ball is arranged on the inclined plate, and the second marker is arranged on the connecting plate.
Further, the angle between the inclined plate and the horizontal plane is between 30 ° and 60 °.
By applying the technical scheme of the invention, the surgical navigation precision detection device is utilized to carry out precision detection on the surgical navigation device, the surgical navigation precision detection device comprises a detection tool and a detection tool, the detection tool is arranged on a surgical mechanical arm of the surgical navigation device, the detection tool is registered, and a conversion matrix of a space coordinate of the detection tool and an image coordinate of the detection tool is obtained. And calibrating the sphere center position of the detection tool according to the operation mechanical arm, the detection tool and the detection tool, and acquiring a conversion matrix of the mark point of the detection tool and the sphere center of the detection tool. The target ball seat of the detection tool is used as a passing point for the operation mechanical arm to move to the target position, and the operation mechanical arm is controlled to move to the target position according to the sphere center space coordinate of the target ball seat, so that the sphere center space coordinate of the target ball of the detection tool at the passing point is obtained. And calculating a difference value between the sphere center space coordinate of the target ball seat of the detection tool and the sphere center space coordinate of the target ball of the detection tool, judging whether the precision of the surgical navigation device meets the requirement or not according to the difference value, and adjusting the surgical navigation device with unqualified precision until the precision is qualified, so that the positioning precision of the surgical navigation device is improved. The sphere center position of the detection tool is calibrated according to the operation mechanical arm, the detection tool and the detection tool, rigid connection of the detection tool and the operation mechanical arm is only needed to be guaranteed, the processing, assembly and measurement precision requirements of the detection tool are not needed to be guaranteed, the installation time is greatly shortened, the processing cost is reduced, the detection preparation period is shortened, the detection is easy, the interference of the processing error, the assembly error and the measurement error of the detection tool on the precision of the operation navigation device is avoided, and the precision detection method of the operation navigation device can reliably detect the precision of the operation navigation device.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart illustrating a method for detecting accuracy of a surgical navigation device according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a step S200 of a precision detection method of a surgical navigation device according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a step S240 of the precision detection method of the surgical navigation device according to the embodiment of the present invention;
fig. 4 shows a flowchart of step S400 of the accuracy detection method of the surgical navigation device according to the embodiment of the present invention;
fig. 5 is a flowchart illustrating a step S100 of a precision detection method of a surgical navigation device according to an embodiment of the present invention;
fig. 6 shows a flowchart of step S300 of the precision detection method of the surgical navigation device according to the embodiment of the present invention;
fig. 7 is a schematic diagram of a surgical navigation accuracy detection device and a surgical navigation device provided according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram illustrating a detection tool of the surgical navigation precision detection apparatus according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram illustrating a detection tool of the surgical navigation precision detection apparatus according to an embodiment of the present invention;
fig. 10 is a schematic view illustrating a detection tool of the surgical navigation precision detection apparatus and a mechanical arm of the surgical navigation apparatus according to an embodiment of the present invention;
fig. 11 is a schematic diagram illustrating a preset path of a surgical navigation accuracy detection apparatus according to an embodiment of the present invention.
Wherein the figures include the following reference numerals:
10. a surgical navigation precision detection device; 11. detecting a tool; 111. a target ball seat; 1111. a target ball set; 1112. a first seat body; 1113. a second seat body; 1114. a third seat body; 112. a frame body; 1121. a first marker; 1122. a support plate; 1123. a support leg; 12. a detection means; 121. a target ball; 122. a second marker; 123. a connecting plate; 124. an inclined plate; 13. a laser tracker; 14. a control member;
20. a surgical navigation device; 21. a surgical manipulator; 211. a flange; 22. an optical position finder; 23. an upper computer;
alpha, and the included angle between the inclined plate and the horizontal plane.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to fig. 11, an embodiment of the present invention provides a precision detection method for a surgical navigation device, where a surgical navigation precision detection device 10 is used to perform precision detection on a surgical navigation device 20, the surgical navigation precision detection device 10 includes a detection tool 11 and a detection tool 12, the detection tool 12 is disposed on a surgical robot arm 21 of the surgical navigation device 20, and the precision detection method for a surgical navigation device includes:
s100, registering a detection tool 11;
s200, calibrating the sphere center position of the detection tool 12 according to the surgical mechanical arm 21, the detection tool 12 and the detection tool 11;
s300, obtaining a sphere center space coordinate of the target sphere seat 111 of the detection tool 11;
s400, taking the target ball seat 111 of the detection tool 11 as a preset path point for the surgical mechanical arm 21 to move to the target position, and acquiring the sphere center space coordinate of the target ball 121 of the detection tool 12 when the surgical mechanical arm 21 moves to the target position;
s500, calculating a difference value between the sphere center space coordinates of the target ball seat 111 of the detection tool 11 and the sphere center space coordinates of the target ball 121 of the detection tool 12, and judging whether the precision of the surgical navigation device 20 meets the requirement or not according to the difference value.
By applying the precision detection method of the surgical navigation device provided by the embodiment, the surgical navigation precision detection device 10 is used for performing precision detection on the surgical navigation device 20, the surgical navigation precision detection device 10 includes a detection tool 11 and a detection tool 12, the detection tool 12 is arranged on the surgical mechanical arm 21 of the surgical navigation device 20, the detection tool 11 is registered, and a transformation matrix of the spatial coordinates of the detection tool 11 and the image coordinates of the detection tool 11 is obtained. The sphere center position of the detection tool 12 is calibrated according to the surgical manipulator 21, the detection tool 12 and the detection tool 11, and a conversion matrix of the mark point of the detection tool 12 and the sphere center of the detection tool 12 is obtained. The target ball seat 111 of the detection tool 11 is used as a passing point for the surgical robot arm 21 to move to the target position, and the surgical robot arm 21 is controlled to move to the target position according to the sphere center space coordinate of the target ball seat 111, so that the sphere center space coordinate of the target ball 121 of the detection tool 12 at the passing point of the surgical robot arm 21 is obtained. Calculating the difference between the spatial coordinates of the center of sphere of the target ball seat 111 of the detection tool 11 and the spatial coordinates of the center of sphere of the target ball 121 of the detection tool 12, determining whether the precision of the surgical navigation device 20 meets the requirement according to the difference, and adjusting the surgical navigation device 20 with unqualified precision until the precision is qualified, thereby improving the positioning precision of the surgical navigation device 20. The sphere center position of the detection tool 12 is calibrated according to the surgical mechanical arm 21, the detection tool 12 and the detection tool 11, only rigid connection between the detection tool 12 and the surgical mechanical arm 21 needs to be ensured, the precision requirements of processing, assembling and measuring of the detection tool 12 need not to be ensured, the time for installation is greatly shortened, the processing cost is reduced, the detection preparation period is shortened, the detection is easy, the interference of the processing error, the assembling error and the measuring error of the detection tool 12 on the precision of the surgical navigation device 20 is avoided, and the precision detection method of the surgical navigation device can reliably detect the precision of the surgical navigation device 20.
The center of sphere position of the detection tool 12 means the center of sphere position of the target ball 121 when the target ball 121 is attached to the detection tool 12, that is, the center of sphere position of the detection tool 12.
The center-of-sphere space coordinates of the target ball 121 of the detection tool 12 when the surgical robot 21 moves to the target position are obtained, and the difference between the center-of-sphere space coordinates of the target ball seat 111 of the detection tool 11 and the center-of-sphere space coordinates of the target ball 121 of the detection tool 12 is calculated and used as a determination condition for determining whether the precision of the surgical navigation device 20 meets the requirement, so that the precision detection method of the surgical navigation device provided by the embodiment performs precision detection by regarding the surgical navigation device 20 as a whole, so as to obtain the system precision of the surgical navigation device 20, and improve the reliability of the precision detection method of the surgical navigation device.
The surgical navigation device 20 employs surgical robotics, specifically a tandem robot for tracking the position of a joint of a patient, to assist a surgeon in positioning and orienting a surgical tool.
As shown in fig. 2, the step S200 of calibrating the center position of the detection tool 12 based on the surgical robot 21, the detection tool 12, and the detection tool 11 includes:
s210, acquiring a conversion matrix of the marking points of the surgical mechanical arm 21 and the detection tool 12;
s220, acquiring a conversion matrix of the mark points of the detection tool 12 and the mark points of the detection tool 11;
s230, acquiring a conversion matrix of the mark point of the detection tool 11 and the target ball seat 111 of the detection tool 11 according to the registered three-dimensional model of the detection tool 11;
s240, moving the surgical mechanical arm 21, and when the sphere center of the target ball 121 of the detection tool 12 is overlapped with the sphere center of the target ball seat 111 of the detection tool 11, setting the sphere center space coordinates of the target ball seat 111 of the detection tool 11 as the sphere center space coordinates of the target ball 121 of the detection tool 12 to obtain the conversion relation between the mark point of the detection tool 12 and the sphere center position of the target ball 121 of the detection tool 12, and completing the sphere center position calibration of the detection tool 12 according to each conversion matrix. Through the above steps, when the sphere center of the target ball 121 coincides with the sphere center of the target ball holder 111, the sphere center space coordinate of the target ball 121 is the same as the sphere center space coordinate of the target ball holder 111, the sphere center space coordinate of the target ball holder 111 is converted into the mark point space coordinate of the detection tool 11, the mark point space coordinate of the detection tool 11 is converted into the mark point space coordinate of the detection tool 12, the mark point space coordinate of the detection tool 12 is converted into the space coordinate of the surgical robot arm 21, and thus the conversion matrix between the sphere center of the target ball 121 of the detection tool 12 and the surgical robot arm 21 is indirectly obtained. When the detection tool 12 is mounted on the surgical manipulator 21, only the mounting firmness needs to be considered, the mounting precision does not need to be controlled, the mounting time is greatly shortened, the interference of mounting errors on the precision of the surgical navigation device 20 is avoided, and the precision detection method of the surgical navigation device can reliably detect the precision of the surgical navigation device 20.
The mark point of the detection tool 12 is the second mark 122 on the detection tool 12 in the surgical navigation precision detection device, and the mark point of the detection tool 11 is the first mark 1121 on the detection tool 11 in the surgical navigation precision detection device.
As shown in fig. 3, the step S240 of moving the surgical robot 21, setting the spatial coordinates of the center of sphere of the target ball seat 111 of the detection tool 11 as the spatial coordinates of the center of sphere of the target ball 121 of the detection tool 12 when the center of sphere of the target ball 121 of the detection tool 12 coincides with the center of sphere of the target ball seat 111 of the detection tool 11, so as to obtain the conversion relationship between the mark point of the detection tool 12 and the position of the center of sphere of the target ball 121 of the detection tool 12, and completing the calibration of the position of the center of sphere of the detection tool 12 according to each conversion matrix includes:
s241, setting the surgical mechanical arm 21 to be in a calibration mode;
s242, moving the surgical mechanical arm 21, and enabling the target ball 121 of the detection tool 12 to fall into the target ball seat 111 of the detection tool 11;
s243, setting the center of the target ball seat 111 of the detection tool 11 as the center of the target ball 121 of the detection tool 12, and obtaining the conversion relationship between the mark point of the detection tool 12 and the center of the target ball 121 of the detection tool 12, so as to obtain the coordinate conversion between the center of the target ball 121 of the detection tool 12 and the flange 211 of the surgical robot arm 21 on which the detection tool 12 is mounted, thereby completing the calibration of the detection tool 12. Through the steps, the operation mechanical arm 21 is set to be in the calibration mode, so that the interference of the motion error of the operation mechanical arm 21 on the calibration of the sphere center position of the detection tool 12 is avoided, and the calibration accuracy of the sphere center position of the detection tool 12 is ensured. Dragging the surgical robot arm 21 to enable the target ball 121 of the detection tool 12 to fall into the target ball seat 111 of the detection tool 11, so that the center of the target ball 121 coincides with the center of the target ball seat 111, the spatial coordinates of the center of the target ball seat 111 are converted into the spatial coordinates of the surgical robot arm 21, and the conversion matrix of the center of the target ball 121 of the detection tool 12 and the flange 211 of the surgical robot arm 21 is indirectly obtained. When the detection tool 12 is mounted on the surgical mechanical arm 21, the interference of the mounting error to the precision of the surgical navigation device 20 is avoided, so that the precision detection method of the surgical navigation device can reliably detect the precision of the surgical navigation device 20.
In the present embodiment, in step 210, a transformation matrix of the marking points of the surgical robot arm 21 and the detection tool 12 is obtained by using a robot eye calibration method. Through the above steps, the spatial coordinates of the surgical manipulator 21 are converted into the spatial coordinates of the marker points of the detection tool 12, and the conversion matrix of the marker points of the detection tool 12 and the center of the target ball 121 of the detection tool 12 is indirectly obtained according to the conversion matrix of the center of the target ball 121 of the detection tool 12 and the flange 211 of the surgical manipulator 21, so that the interference of the machining error and the measurement error of the detection tool 12 on the precision of the surgical navigation device 20 is avoided, and the precision detection method of the surgical navigation device can reliably detect the precision of the surgical navigation device 20.
Specifically, the coordinate system transformation principle means that the offset of the { B } origin of the coordinate system with respect to the { A } origin of the coordinate system can be represented by a vector
Indicating that simultaneous rotation of { B } relative to { A } can be used
A description is given. It is known that
The following can be obtained:
the following equations can be obtained:
thus is composed of
To
The transformation of (c) can be described as:
as shown in fig. 11, the complex transformation can obtain the expression of the sphere center space coordinate system { C } of the inspection tool 12 in the space coordinate system { a } of the flange 211:
wherein, in the above formula
Refers to a transformation matrix of the mark points of the inspection tool 12 and the sphere centers of the target spheres 121 of the inspection tool 12,
refers to a transformation matrix of the surgical robot arm 21 and the marking points of the inspection tool 12,
refers to a conversion matrix of the mark points of the inspection tool 12 and the mark points of the inspection tool 11,
refers to a transformation matrix of the mark points of the inspection tool 11 and the target ball seats 111 of the inspection tool 11,
the conversion matrix refers to the sphere centers of the target ball seat 111 of the detection tool 11 and the target ball 121 of the detection tool 12.
In the present embodiment, in step S230, a conversion matrix between the mark points of the detection tool 12 and the mark points of the detection tool 11 is obtained by using the optical locator 22. The optical positioning instrument 22 is used for obtaining the conversion matrix, so that the acquisition of the conversion matrix of the mark point of the detection tool 12 and the mark point of the detection tool 11 is rapid and intuitive.
As shown in fig. 4, the step S400 of moving the target ball seat 111 of the detection tool 11 to the preset approach point of the target position as the surgical robot 21 includes:
s411, the detection tool 11 is provided with a plurality of target ball seats 111, each target ball seat 111 is respectively set as a preset approach point, and connecting lines of at least three preset approach points are set as preset moving paths for the surgical mechanical arm 21 to move to the target position;
s412, the number of the preset movement paths for moving the surgical robot 21 to the target position is set to at least three. Through the above steps, the connecting lines of at least three preset path points are set as the preset moving paths of the surgical navigation device 20 moving to the target position, so that the precision of the surgical navigation device 20 in one preset moving path is reflected by the precision of at least three preset pass-through points, each preset moving path comprises a surgical in point, a surgical out point and at least one pass-through point, at least one plane is determined by the at least three preset pass-through points, different intraoperative planes of the surgical navigation device 20 in practical application are simulated, the number of the preset moving paths of the surgical navigation device 21 moving to the target position is set to be at least three, the precision of the surgical navigation device 20 is reflected by the precision of the surgical navigation device 20 in the at least three preset moving paths, and the precision detection accuracy of the surgical navigation device 20 is further improved, and the precision detection method of the surgical navigation device can perform reliable precision detection on the surgical navigation device 20.
As shown in fig. 4, the step S400 of calculating the difference between the spatial coordinates of the center of sphere of the target ball seat 111 of the detection tool 11 and the spatial coordinates of the center of sphere of the target ball 121 of the detection tool 12, and determining whether the accuracy of the surgical navigation device 20 meets the requirement based on the difference includes:
s421, respectively setting a plane where each preset moving path of the surgical manipulator 21 to the target position is located as an operation plane;
s422, calculating the distance between the sphere center space coordinate of the target sphere 121 of the detection tool 12 and the operation plane, and judging whether the precision of the surgical navigation device 20 meets the requirement. Through the above steps, the plane where each preset moving path of the surgical robot arm 21 to the target position is located is set as an operation plane, so that the preset moving path is closer to the actual use scene of the surgical navigation device 20, the distance between the sphere center space coordinate of the target sphere 121 and the operation plane is calculated, whether the precision of the surgical navigation device 20 meets the requirement or not is judged according to the distance, compared with the distance from a point to a line, the precision of the surgical navigation device 20 is evaluated, and the precision of the surgical navigation device 20 is evaluated according to the distance from a point to a plane, so that the precision requirement of the embodiment on the surgical navigation device 20 is higher, and the precision requirement better meets the actual use scene.
In this embodiment, a preset moving path includes three passing points, and the coordinates of the sphere centers of the target spheres 121 of the detection tool 12 passing through the three passing points of the preset moving path are respectively
，
，
The standard position coordinates of the three passing points are respectively
，
，
。
According to actual position coordinates
、
、
Solving a plane equation passed by the preset moving path:
respectively calculating the distances from the 3 standard positions to the plane of the actual path according to a point-to-plane distance formula
：
Wherein, the first and the second end of the pipe are connected with each other,
、
、
are standard position coordinates.
In the same way, the distances from the points on the second and the third tracks to the planning plane can be calculated,
i.e. the system accuracy, should be less than the system accuracy requirement.
As shown in fig. 5, step S100 of registering the inspection tool 11 includes:
s110, scanning and detecting the tool 11 by utilizing the CT, and uploading a three-dimensional image generated by the CT to an upper computer 23 of the operation navigation device 20;
s120, sequentially moving the probes of the registration pen to a plurality of marking points of the detection tool 11 and capturing;
s130, registering the captured actual object position and the generated three-dimensional image position, and completing the coordinate system conversion between the actual space and the image space. Through the steps, the detection tool 11 is registered by adopting a space labeling registration method, the detection tool 11 is scanned by using a CT (computed tomography), the three-dimensional image of the detection tool 11 is uploaded to the upper computer 23, the probe of the registration pen is sequentially moved to the plurality of marking point positions of the detection tool 11, and the plurality of captured marking point positions are registered with the positions in the three-dimensional image, so that the coordinate system conversion between the actual space and the image space is completed, the precision of the coordinate system conversion is ensured, and the reliability of the precision detection of the surgical navigation device 20 in the embodiment is improved.
As shown in fig. 6, the step S300 of acquiring the sphere center space coordinates of the target ball holder 111 of the detection tool 11 includes:
s310, the detection tool 11 is provided with a plurality of target ball seats 111, and the target balls 121 of the detection tool 12 are sequentially placed on the plurality of target ball seats 111 of the detection tool 11;
s320, the laser tracker 13 reads the spatial coordinates of the target balls 121 of the detection tool 12 when they are located on the plurality of target ball seats 111, and sets the acquired spatial coordinates of the target balls 121 of the detection tool 12 as the spatial coordinates of the centers of the target balls 111 of the detection tool 11. Through the above steps, the target ball 121 of the detection tool 12 is placed in the target ball seat 111 of the detection tool 11, so that the spatial coordinates of the center of sphere of the target ball 121 coincide with the spatial coordinates of the center of sphere of the target ball seat 111, and the spatial coordinates of the center of sphere when the target ball 121 is respectively located in the plurality of target ball seats 111 are read by the laser tracker 13, so that the spatial coordinates of the center of sphere of the plurality of target ball seats 111 are obtained, and the spatial coordinates of the center of sphere of the target ball seat 111 of the detection tool 11 are obtained quickly and reliably.
As shown in fig. 7 to 11, another embodiment of the present invention provides a surgical navigation precision detecting apparatus, wherein the method for detecting precision of the surgical navigation apparatus provided above is implemented by using the surgical navigation precision detecting apparatus, the surgical navigation apparatus 20 includes a surgical robot arm 21, an optical locator 22, and an upper computer 23 electrically connected to the surgical robot arm 21 and the optical locator 22, the surgical navigation precision detecting apparatus includes a detection tool 11, a detection tool 12, a laser tracker 13, and a control component 14, the detection tool 11 includes a frame 112 and a target ball seat 111 disposed on the frame 112, the frame 112 is provided with a first marker 1121, the detection tool 12 is disposed on the surgical robot arm 21, the detection tool 12 is provided with a target ball 121 engaged with the target ball seat 111 and a second marker 122 engaged with the first marker 1121 to calibrate the detection tool 12, the laser tracker 13 is used for detecting the position of the target ball 121, the detection tool 14 is electrically connected to the laser tracker 13, and the laser tracker 14 is capable of recording spatial coordinate data collected by the laser tracker 13 and performing error calculation.
The surgical navigation precision detection device provided by the embodiment is applied, the surgical navigation precision detection device comprises a detection tool 11, a detection tool 12, a laser tracker 13 and a control element 14, the detection tool 12 is arranged on a surgical manipulator 21, the surgical manipulator 21 is switched to a calibration mode and the surgical manipulator 21 is dragged, so that a target ball 121 of the detection tool 12 falls into a target ball seat 111, the laser tracker 13 is used for capturing the position of the target ball 121 to obtain the position of the target ball seat 111, the position of the target ball seat 111 is used as a target position, a registered and registered three-dimensional model of the detection tool 11 is stored in an upper computer 23, so that image coordinates of the target ball seat 111 are obtained through an optical positioning instrument 22, the upper computer 23 plans a track according to the image coordinates of the target ball seat 111 and sends the track to the surgical manipulator 21, so that the surgical manipulator 21 moves to the target position, the spherical center space coordinates of the target ball at the moment are detected by the laser tracker 13, the control element 14 records space coordinate data collected by the laser tracker 13, the control element moves the target ball seat 21 to the target position of the target ball seat to the target position, the target ball coordinate of the surgical navigation device detects the accuracy of the surgical navigation device, and the surgical navigation device 20, so that the error of the surgical navigation device can be reliably detected, and the surgical navigation device 20 can be detected, and the accuracy of the surgical navigation device can be reliably detected, and the surgical navigation device 20.
It should be noted that the laser tracker 13 can accurately feed back the spherical center space coordinates of the target ball 121 in the visual field range.
In the present embodiment, the control member 14 is a portable computer.
As shown in fig. 8, the holder 112 is provided with a plurality of target ball seats 111, the plurality of target ball seats 111 includes a first seat 1112, a second seat 1113 and a third seat 1114 which are arranged at intervals, and heights of the first seat 1112, the second seat 1113 and the third seat 1114 are different from each other. When the surgical robot 21 moves along a preset moving path, the surgical robot 21 drives the target balls 121 to fall into the first seat 1112, the second seat 1113, and the third seat 1114, respectively, because the heights of the first seat 1112, the second seat 1113, and the third seat 1114 are different from each other, the preset moving path of the surgical robot 21 is a three-dimensional path structure, and the preset moving path better conforms to the actual use scene of the surgical navigation device 20, thereby improving the reliability of the precision detection of the surgical navigation device 20 by the surgical navigation precision detection device 10.
As shown in fig. 8, the plurality of target ball seats 111 includes a plurality of target ball sets 1111 arranged at intervals, and each target ball set 1111 includes a first seat body 1112, a second seat body 1113, and a third seat body 1114. With the target ball seat 111 having the above structure, since the target ball seat 111 includes the plurality of target ball groups 1111 arranged at intervals, the surgical robot arm 21 may have a plurality of preset moving paths.
In this embodiment, the ball holder 111 includes three ball groups 1111, and the heights of the ball groups 1111 are different from each other.
As shown in fig. 8, the frame body 112 includes a supporting plate 1122 and three legs 1123 spaced apart from each other, the upper ends of the three legs 1123 are respectively connected to the lower surface of the supporting plate 1122, the target ball holder 111 is disposed on the upper surface of the supporting plate 1122, and the first marker 1121 is disposed on the supporting plate 1122. Because the frame body 112 includes three support legs 1123 arranged at intervals, and the upper ends of the three support legs 1123 are respectively connected to the lower surface of the support plate 1122, so that the target ball seat 111 and the first mark member 1121 are both supported by three points, and thus the target ball seat 111 and the first mark member 1121 are both determined to have unique spherical center coordinates, so that the coordinate detection of the target ball seat 111 by the laser tracker 13 is more reliable, and the positioning of the first mark member 1121 by the optical positioning instrument 22 is more accurate and reliable.
As shown in fig. 9, the detection tool 12 includes a connection plate 123 and an inclined plate 124 connected to a lower end of the connection plate 123, the connection plate 123 is connected to the surgical robot 21, the inclined plate 124 is disposed at an angle to the horizontal plane, the target ball 121 is disposed on the inclined plate 124, and the second marker 122 is disposed on the connection plate 123. Adopt the detection instrument 12 of above-mentioned structure, through setting up target ball 121 on hang plate 124, because hang plate 124 is the contained angle setting with the level for each target position can be reachd in best motion range to operation arm 21, and when guaranteeing to calibrate at detection instrument 12, target ball 121 on detection instrument 12 can normally fall into the target ball seat 111 on detecting frock 11, makes the centre of sphere space coordinate of target ball 121 and the centre of sphere space coordinate of target ball seat 111 coincide mutually.
As shown in fig. 10, the angle α between the inclined plate 124 and the horizontal plane is between 30 ° and 60 °. By adopting the included angle α between the inclined plate 124 and the horizontal plane within the above-mentioned angle range, the surgical robot arm 21 can reach each target position within the optimal movement range, and it is ensured that the spatial coordinates of the sphere center of the target ball 121 of the detection tool 12 can coincide with the spatial coordinates of the sphere center of the target ball seat 111 of the detection tool 11 when the detection tool 12 performs calibration. On one hand, it is avoided that the included angle α is too small (α is less than 30 °), the surgical robot arm 21 cannot reach each target position within the optimal movement range, so that when the surgical navigation precision detection device 10 performs precision detection on the surgical navigation device 20, the movement of the surgical robot arm 21 does not conform to the actual use scene, and in the actual use scene, the surgical navigation device 20 performs surgical navigation operation within the optimal movement range of the surgical robot arm 21, thereby reducing the reliability of the precision detection of the surgical navigation precision detection device 10 on the surgical navigation device 20, and on the other hand, it is avoided that the included angle α is too large (α > 60 °), when the detection tool 12 performs calibration, the sphere center space coordinate of the target sphere 121 of the detection tool 12 cannot coincide with the sphere center space coordinate of the target sphere seat 111 of the detection tool 11, so that the calibration of the detection tool 12 is inaccurate, thereby reducing the reliability of the precision detection of the surgical navigation precision detection device 20 by the surgical navigation precision detection device 10.
By applying the technology and the scheme provided by the embodiment, the following beneficial effects are achieved:
(1) The upper computer 23 plans a track according to the image coordinates of the target ball seat 111 and sends the track to the surgical manipulator 21, so that the surgical manipulator 21 moves to a target position, the laser tracker 13 is adopted to detect the spatial coordinates of the ball center of the target ball 121 at the moment, the control part 14 records the spatial coordinate data acquired by the laser tracker 13, the control part performs error calculation on the spatial coordinates of the ball center of the target ball 121 after the surgical manipulator 21 moves to the target position and the spatial coordinates of the target position to obtain the precision of the surgical navigation device 20, the precision detection method of the surgical navigation device can perform reliable precision detection on the surgical navigation device 20, and the surgical navigation device 20 with unqualified precision is adjusted, so that the positioning precision of the surgical navigation device 20 is improved;
(2) Calibrating the position of the sphere center of the detection tool 12 according to the surgical manipulator 21, the detection tool 12 and the detection tool 11, and obtaining a conversion matrix of the mark point of the detection tool 12 and the sphere center of the detection tool 12, so that only rigid connection between the detection tool 12 and the surgical manipulator 21 is required, precision requirements of processing, assembly and measurement of the detection tool 12 are not required, the mounting time is greatly shortened, the processing cost is reduced, the detection preparation period is shortened, the detection is easy, and the interference of processing errors, assembly errors and measurement errors of the detection tool 12 on the precision of the surgical navigation device 20 is avoided, so that the precision detection method of the surgical navigation device can reliably detect the precision of the surgical navigation device 20;
(3) When the surgical robot 21 moves along a preset moving path, the surgical robot 21 drives the target balls 121 to fall into the first seat 1112, the second seat 1113, and the third seat 1114, respectively, because the heights of the first seat 1112, the second seat 1113, and the third seat 1114 are different from each other, the preset moving path of the surgical robot 21 is a three-dimensional path structure, and the preset moving path better conforms to the actual use scene of the surgical navigation device 20, thereby improving the reliability of the precision detection of the surgical navigation device 20 by the surgical navigation precision detection device 10.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; above" may include both orientations "at 8230; \8230; above" and "at 8230; \8230; below". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and unless otherwise stated, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. The precision detection method of the surgical navigation device is characterized in that the precision of the surgical navigation device (20) is detected by using a surgical navigation precision detection device (10), the surgical navigation precision detection device (10) comprises a detection tool (11) and a detection tool (12), the detection tool (12) is arranged on a surgical mechanical arm (21) of the surgical navigation device (20), and the precision detection method of the surgical navigation device comprises the following steps:
registering the detection tool (11);
calibrating the position of the center of sphere of the detection tool (12) according to the surgical mechanical arm (21), the detection tool (12) and the detection tool (11);
acquiring a sphere center space coordinate of a target sphere seat (111) of the detection tool (11);
taking a target ball seat (111) of the detection tool (11) as a preset path point for the surgical mechanical arm (21) to move to a target position, and acquiring a sphere center space coordinate of a target ball (121) of the detection tool (12) when the surgical mechanical arm (21) moves to the target position;
calculating a difference value between the sphere center space coordinate of the target sphere seat (111) of the detection tool (11) and the sphere center space coordinate of the target sphere (121) of the detection tool (12), and judging whether the precision of the surgical navigation device (20) meets the requirement or not according to the difference value;
the step of calibrating the sphere center position of the detection tool (12) according to the surgical mechanical arm (21), the detection tool (12) and the detection tool (11) comprises the following steps:
acquiring a conversion matrix of the marking points of the surgical mechanical arm (21) and the detection tool (12);
acquiring a conversion matrix of the mark points of the detection tool (12) and the mark points of the detection tool (11);
acquiring a conversion matrix of a marking point of the detection tool (11) and a target ball seat (111) of the detection tool (11) according to the registered three-dimensional model of the detection tool (11);
moving the surgical manipulator (21), and when the sphere center of the target ball (121) of the detection tool (12) is superposed with the sphere center of the target ball seat (111) of the detection tool (11), setting the sphere center space coordinate of the target ball seat (111) of the detection tool (11) as the sphere center space coordinate of the target ball (121) of the detection tool (12) to obtain the conversion relation between the mark point of the detection tool (12) and the sphere center position of the target ball (121) of the detection tool (12), and finishing the sphere center position calibration of the detection tool (12) according to each conversion matrix;
when the center of the target ball (121) of the detection tool (12) coincides with the center of the target ball holder (111) of the detection tool (11) by moving the surgical robot arm (21), setting the spatial coordinates of the center of the target ball holder (111) of the detection tool (11) as the spatial coordinates of the center of the target ball (121) of the detection tool (12) to obtain the conversion relationship between the mark point of the detection tool (12) and the position of the center of the target ball (121) of the detection tool (12), and completing the calibration of the position of the center of the target ball of the detection tool (12) according to each conversion matrix comprises:
setting the surgical robotic arm (21) to a calibration mode;
moving the surgical mechanical arm (21) to enable the target ball (121) of the detection tool (12) to fall into the target ball seat (111) of the detection tool (11);
setting the center of the target ball seat (111) of the detection tool (11) as the center of the target ball (121) of the detection tool (12), and acquiring the conversion relation between the marking point of the detection tool (12) and the center of the target ball (121) of the detection tool (12) to obtain the coordinate conversion between the center of the target ball (121) of the detection tool (12) and the flange (211) of the surgical manipulator (21) for installing the detection tool (12), so as to finish the calibration of the detection tool (12).
2. The accuracy detection method of a surgical navigation device according to claim 1,
acquiring a conversion matrix of the marking points of the surgical mechanical arm (21) and the detection tool (12) by using a robot hand-eye calibration method; and/or the presence of a gas in the gas,
and acquiring a conversion matrix of the mark points of the detection tool (12) and the mark points of the detection tool (11) by using an optical locator (22).
3. The method for detecting the accuracy of the surgical navigation device according to claim 1 or 2, wherein the step of moving the target ball seat (111) of the detection tool (11) to a preset approach point of the target position as the surgical robot arm (21) comprises:
the detection tool (11) is provided with a plurality of target ball seats (111), each target ball seat (111) is set as one preset approach point, and connecting lines of at least three preset approach points are set as preset moving paths for the surgical manipulator (21) to move to a target position;
the number of preset moving paths for moving the surgical robot arm (21) to a target position is set to at least three.
4. The method for detecting the accuracy of a surgical navigation device according to claim 3, wherein the step of calculating the difference between the spatial coordinates of the center of sphere of the target ball seat (111) of the detection tool (11) and the spatial coordinates of the center of sphere of the target ball (121) of the detection tool (12) and determining whether the accuracy of the surgical navigation device (20) meets the requirement according to the difference comprises:
setting the plane of each preset moving path in which the surgical mechanical arm (21) moves to the target position as an operation plane respectively;
and calculating the distance between the sphere center space coordinates of the target sphere (121) of the detection tool (12) and the operation plane, and judging whether the precision of the operation navigation device (20) meets the requirement.
5. The method for detecting the accuracy of a surgical navigation device according to claim 1 or 2, wherein the step of registering the detection tool (11) comprises:
scanning the detection tool (11) by using CT, and uploading a three-dimensional image generated by the CT to an upper computer (23) of the surgical navigation device (20);
sequentially moving the probes of the registration pen to a plurality of marking points of the detection tool (11) and capturing;
and registering the captured actual object position and the generated three-dimensional image position to complete the coordinate system conversion between the actual space and the image space.
6. The method for detecting the accuracy of a surgical navigation device according to claim 1 or 2, wherein the step of obtaining the spatial coordinates of the center of sphere of the target ball holder (111) of the detection tool (11) comprises:
the detection tool (11) is provided with a plurality of target ball seats (111), and the target balls (121) of the detection tool (12) are sequentially placed on the plurality of target ball seats (111) of the detection tool (11);
and respectively reading the space coordinates of the target balls (121) of the detection tool (12) when the target balls are positioned on the plurality of target ball seats (111) by using a laser tracker (13), and setting the acquired space coordinates of the target balls (121) of the detection tool (12) as the space coordinates of the sphere center of the target ball seat (111) of the detection tool (11).
7. A surgical navigation accuracy detection device, wherein the accuracy detection method of a surgical navigation device according to any one of claims 1 to 6 is implemented by using the surgical navigation accuracy detection device, the surgical navigation device (20) includes a surgical manipulator (21), an optical locator (22), and an upper computer (23) electrically connected to the surgical manipulator (21) and the optical locator (22), and the surgical navigation accuracy detection device includes:
the detection tool (11) comprises a frame body (112) and a target ball seat (111) arranged on the frame body (112), wherein a first marker (1121) is arranged on the frame body (112);
a detection tool (12) arranged on the surgical robot arm (21), wherein the detection tool (12) is provided with a target ball (121) matched with the target ball seat (111) and a second marker (122) matched with the first marker (1121) to mark the detection tool (12);
a laser tracker (13) for detecting the position of the target ball (121);
and the control part (14) is electrically connected with the laser tracker (13), and the control part (14) can record the space coordinate data acquired by the laser tracker (13) and perform error calculation.
8. The surgical navigation precision detecting apparatus according to claim 7, wherein a plurality of the target ball seats (111) are disposed on the frame body (112), the plurality of the target ball seats (111) includes a first seat body (1112), a second seat body (1113) and a third seat body (1114) which are disposed at intervals, and heights of the first seat body (1112), the second seat body (1113) and the third seat body (1114) are different from each other.
9. The surgical navigation accuracy detection device of claim 8,
the plurality of target ball seats (111) comprises a plurality of target ball groups (1111) arranged at intervals, and each target ball group (1111) comprises one first seat body (1112), one second seat body (1113) and one third seat body (1114); and/or the presence of a gas in the gas,
the frame body (112) comprises a support plate (1122) and three support legs (1123) arranged at intervals, the upper ends of the three support legs (1123) are respectively connected with the lower surface of the support plate (1122), the target ball seat (111) is arranged on the upper surface of the support plate (1122), and the first marker (1121) is arranged on the support plate (1122).
10. The surgical navigation precision detecting device according to claim 7, wherein the detecting tool (12) comprises a connecting plate (123) and an inclined plate (124) connected to a lower end of the connecting plate (123), the connecting plate (123) is connected to the surgical robot arm (21), the inclined plate (124) is disposed at an angle to a horizontal plane, the target ball (121) is disposed on the inclined plate (124), and the second marker (122) is disposed on the connecting plate (123).
11. The surgical navigation accuracy detection device of claim 10, wherein the inclined plate (124) is angled between 30 ° and 60 ° from a horizontal plane.
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