CN201389080Y - General calibration module of surgical navigation machine - Google Patents
General calibration module of surgical navigation machine Download PDFInfo
- Publication number
- CN201389080Y CN201389080Y CN200920105572U CN200920105572U CN201389080Y CN 201389080 Y CN201389080 Y CN 201389080Y CN 200920105572 U CN200920105572 U CN 200920105572U CN 200920105572 U CN200920105572 U CN 200920105572U CN 201389080 Y CN201389080 Y CN 201389080Y
- Authority
- CN
- China
- Prior art keywords
- plane
- tip
- orientation
- module
- operating theater
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Surgical Instruments (AREA)
Abstract
A general calibration module of a surgical navigation machine belongs to the technical field of computer auxiliary surgical navigation, and is characterized by comprising a main body consisting of three rigidity planes which are vertical mutually. The three rigidity planes are a reference plane, a first positioning plane and a second positioning plane, wherein the reference plane is overlapped with an XY plane of a rectangular coordinate system and is used for positioning a position of a tip of the surgical navigation machine, the first positioning plane is overlapped with an XZ plane of the rectangular coordinate system, is provided with a plurality of tracking mark points distributed irregularly on a longitudinal lateral surface relative to the reference plane, and is further provided with 3-5 concave pits to be utilized as fixed points of the surgical navigation machine so as to calibrate the position of the tip, the second positioning plane is simultaneously perpendicular to the reference plane and the first positioning plane, the crossed line of the second positioning plane and the first positioning plane is a Z axis of the rectangular coordinate system, a set clearance is arranged between the second positioning plane and the reference plane, not only is convenient for processing, but also is used for calibrating the position of the tip of a front tool of the surgical navigation machine. The general calibrated module of a surgical navigation machine is adaptable to various surgical navigation machines, and is simple in structure and convenient in use.
Description
Technical field
This utility model relates to a kind of being used for and determines the position at the used operating theater instruments of surgical navigational tip and the surgical navigational apparatus general calibration module of size, and the measurement that can be used for geometric properties such as the position coordinates of the anterior instrument (as probe front, goose saw saw blade, bone drill drill bit etc.) to operating theater instruments and the forward diameter of apparatus, width, orientation is demarcated.General operating theater instruments just can be followed the tracks of by the optical 3-dimensional motion tracking system after adhering to the tracking mark frame.This utility model belongs to the computer-asisted intra-operative navigation technical field.
Background technology
Operation guiding system combines space three-dimensional location technology, three-dimensional visualization and actual clinical operation, and by the real-time three-dimensional demonstration of computer to organization of human body and operating theater instruments, auxiliary doctor finishes high-precision operation.The Core Feature of operation guiding system is to allow the doctor know that the operating theater instruments of using (need insert the apparatus of human body as puncture needle, drill bit, goose saw saw blade and other) is at the inner three-dimensional space position that arrives of patient body.Realize this function, just need locus, and correctly show the relative motion between operating theater instruments and the human body on computers by three-dimensional motion tracking system real-time tracking human body and operating theater instruments.For following the tracks of the motion of operating theater instruments, mode commonly used at present is to adopt the optical motion tracking system, in use operating theater instruments is regarded as indeformable rigid body, be cemented in the active illuminating on the apparatus or the locus of passive reflective rigid body tracking mark frame by measurement, obtain the locus of this rigid body of operating theater instruments, and calculate its most advanced and sophisticated position, and the geological informations such as size dimension of the direction of operating theater instruments axis, its anterior instrument.
Because the pattern of the operating theater instruments that different manufacturers is produced has very big difference, therefore in surgical navigational, all need at present to use special-purpose navigating surgery apparatus, the shape of these apparatuses and most advanced and sophisticated positional information, with and the position of top fixed rigid body tracking mark frame all be that producer's strict difinition is good, and guarantee by manufacture process.Therefore, when following the tracks of operating theater instruments, navigation system can be come the information such as tip location, apparatus direction of accurate Calculation apparatus according to these information, and the anterior tool sizes of apparatus also is predefined and is stored in the navigational computer.But, the result who does like this is that a cover navigation system can only be used its operating theater instruments that can discern of minority, and common general operating theater instruments can't be used for navigating surgery, this has also caused the costliness of navigating surgery apparatus and the problem of versatility difference, simultaneously, if the operating theater instruments of navigation such as falls at impact, its localized degree of accuracy also can descend, and makes apparatus can't continue on for navigating surgery.
For general operating theater instruments is used for navigating surgery, most critical be to need to determine apparatus tip location, the anterior tool axis direction of apparatus coordinate, physical dimensions such as the diameter of its anterior instrument, width with respect to the tracking mark frame on the apparatus.Therefore in actual use, press for a kind of aid, can help the doctor determine on the apparatus the position relation, the axis direction of the anterior instrument of apparatus at the fixed relative operating theater instruments of rigid body tracking mark frame tip, and the size of the anterior instrument of definite operating theater instruments, as the thickness of probe and drill bit, the geometric elements such as width of saw blade.
In research before, there have been some to solve the scheme of operating theater instruments orientation problem, disclose a kind of " Femoral Neck Needle Penetration Navigator " as Chinese patent 2451065, determined position and the object of reference problem that orientation is threaded a needle, can realize the three-dimensional localization of puncture needle by machinery; Chinese patent 2187048 discloses a kind of " fracture of femoral neck internal fixation multifunctional guide device "; Chinese patent 2075069 discloses a kind of " frame-type neck of femur band pin finder ", by specific guiding, determines the position and the angle of pin.Chinese patent 2354096 discloses a kind of " neck of femur and intertrochanteric fracture drift bolt localizer ", carries out the adjustment of position by body and tightening nail, has realized the drift bolt guiding of direction in space accurately.But these methods all can't be followed the tracks of with the three-dimensional motion of existing operation guiding system and be combined, and realize the dynamic tracking to general operating theater instruments.
Can see by retrieval, also lack at present and can in use effectively measure and demarcate geometrical relationship between surgical navigational instrument tracking sign frame and the anterior instrument of operating theater instruments, thereby make the general surgery apparatus become the simple and practical device of navigation apparatus that can be tracked, make that employed apparatus is restricted in navigating surgery.On the other hand, to also lack the device of the geometric elements such as tip location that can demarcate its anterior instrument at the apparatus of usefulness.General calibration module disclosed in the utility model can be measured the tip location of the anterior instrument of multiple difform operating theater instruments and the direction of axis easily, and geometric elements such as the diameter of the anterior instrument of measuring apparatus or width, thereby come operating theater instruments is followed the tracks of by attaching mark frame on general operating theater instruments, the use of demarcating module can guarantee good measurement reproducibility, and guaranteed the comparability of data between different tested objects very high practical value is arranged.
Summary of the invention
The purpose of this utility model provides a kind of general calibration module of surgical navigational apparatus, can be conveniently used for demarcating the tip location of operating theater instruments, the axis direction of the anterior instrument of operating theater instruments, and the physical dimension of the anterior instrument of operating theater instruments.This demarcating module also can be verified the precision of navigating surgery apparatus above-mentioned parameter simultaneously, guarantees the accurate location of institute's use apparatus in the operation.
Of the present utility model being characterised in that: contain: the main body of the demarcating module that constitutes by orthogonal three rigid planes, wherein: datum plane (1-1) with the XY planes overlapping of rectangular coordinate system, is used for the position of positioning operation navigation instrument tip; First plane of orientation (1-2) is with the XZ planes overlapping of described rectangular coordinate system.On the vertical side of described first plane of orientation (1-2) with respect to described datum plane (1-1), be consolidated with the some fixed points that can be followed the tracks of by operation guiding system, the coordinate of the locus of each index point in described XYZ rectangular coordinate system is known, and the layout of described index point is asymmetric layout.On described vertical side of described first plane of orientation (1-2), the pit that also has 3-5 different-diameter, allowing the tip of described surgical navigational instrument tool is that three-dimensional rotation and swing are carried out in the center with described pit, the constraint of pit forms the fixed point of described surgical navigational apparatus, so that the tip location of operating theater instruments front end tool is demarcated; Second plane of orientation (1-3), both perpendicular to described datum plane (1-1), also perpendicular to described first plane of orientation (1-2), the intersection of described second plane of orientation (1-3) and described first plane of orientation (1-2) is the Z axle of described vertical coordinate system XYZ, between described second plane of orientation (1-3) and described datum plane (1-1), leave the gap of setting, in order to demarcate the anterior instrument of operating theater instruments that the tip has the projection of extending laterally.
The technical solution of the utility model provides a kind of and has been used for the general calibration module that the surgical navigational apparatus is demarcated, and the using method of module has been described.The main body of this module is to be consolidated with to be had on module as plane and the crossing at right angle limit of demarcating benchmark by the rigid body module of the index point of optical 3-dimensional motion tracking system real-time tracking, and the calibration pit that can demarcate the apparatus tip location.In use be placed in the diverse location of demarcating module by front portion with institute's demarcation apparatus, and the tip of its anterior instrument and side are contacted respectively with datum plane and true edge, just can determine apparatus tip location, axis direction and be cemented in relative position relation between the tracking mark frame on the apparatus, thereby general operating theater instruments is converted into the operating theater instruments that can be followed the tracks of by operation guiding system by the optical 3-dimensional motion tracer of operation guiding system.
Description of drawings
Fig. 1 is the three dimensional structure sketch map of the general calibration modular device of surgical navigational apparatus; A is front side figure, and b is rear side figure
Fig. 2 is the method signal of the apparatus (drill bit, puncture needle etc.) at cylindrical tip being demarcated by module; A is position 1, and b is position 2;
Fig. 3 is the method signal of the apparatus (goose saw etc.) at rectangle tip being demarcated by module; A is position 1, and b is position 2;
Fig. 4 is the method signal of the apicule end-apparatus tool (probe etc.) with symmetric shape being demarcated by module.
The specific embodiment
The utility model discloses a kind of measurement demarcating module that is used for determining that the position concerns between geometric elements such as operating theater instruments tip, axis and the tracking mark frame that is cemented on the apparatus, it is characterized in that: it contain demarcating module main body, be cemented in the track and localization index point on the module, on module, be useful on the datum plane of demarcating the apparatus tip location, be used for determining the crossing at right angle limit of apparatus axis direction, and can demarcate the calibration pit etc. of instrument tip with pivot point technique.
In use by the anterior tools section of the operating theater instruments of required demarcation (as the saw blade of the drill bit of bone drill, goose saw, surgical probe etc.) is placed in one or several ad-hoc location on the demarcating module, and its most advanced and sophisticated and side is contacted with datum plane and crossing at right angle limit on the demarcating module.Apparatus put put in place after, utilize the optical 3-dimensional motion tracer in the operation guiding system that the index point position on the module is measured, obtain the locus of module, simultaneously tracking mark frame fixed on the operating theater instruments is measured, obtain the position of operating theater instruments, just can calculate sign frame on the operating theater instruments and the relative position relation between the demarcating module, thereby determine to be positioned on the operating theater instruments of ad-hoc location tool tip, and the direction of definite apparatus upper forepart tool axis and the geometrical relationship between the tracking mark frame with respect to the position relation of tracking mark frame on the apparatus.By above-mentioned demarcation, as long as go up fixedly tracking mark frame, just can be translated into the operating theater instruments that to be followed the tracks of by operation guiding system, and be used for the operation of navigating surgery in general operating theater instruments (as bone drill, goose saw).
In sum, the utility model discloses a kind of aided measurement device that is used to the operating theater instruments tip, axis and its anterior tool geometry size that are identified for navigating, can measure and demarcate the geometric element of instrument specific on the operating theater instruments, with and tip and axis and be cemented in relation between the tracking mark frame on the apparatus, thereby the general surgery apparatus is changed into the navigating surgery apparatus, or be used for demarcation and check existing navigating surgery apparatus.The principal character of this demarcating module is:
1. this demarcating module is a firm rigid body, is useful on the datum plane of locating apparatus tip location on the module, and this plane has constituted the XY coordinate plane among the rectangular coordinate system XYZ that is cemented on the demarcating module.
2. be useful on the crossing at right angle limit of locating apparatus axis direction on the module, perpendicular by making the two planar intersections and the said reference plane that guarantee this crossing at right angle limit of formation, so this intersection has constituted the Z axle of the rectangular coordinate system XYZ that is cemented on the demarcating module.Therefore said reference plane and crossing at right angle limit have formed the rectangular coordinate system on the demarcating module;
3. be consolidated with the some index points that can be followed the tracks of by navigation system above the demarcating module, the locus of each index point in the XYZ rectangular coordinate system is exactly determined in the mill, therefore its space coordinates is known, the layout of index point adopts asymmetric arranging, so that operation guiding system can distribute according to the index point that measures, determine the orientation of demarcating module, and can obtain the position on said reference plane and crossing at right angle limit by tracking measurement to these landmark space positions;
4. be used for leaving between the crossing at right angle limit of locating apparatus axis direction and the datum plane gap of moon 10mm on the module, so that the processing of module, simultaneously, the anterior instrument of the apparatus that have the projection of extending laterally at the tip can demarcated in this gap;
5. the pit that also has 3～5 different sizes on the demarcating module, the tip that can allow apparatus is that three-dimensional rotation and swing are carried out in the center with the pit, the fixed point that the constraint of pit forms instrument tip can adopt the fixed pivot method that tip location is demarcated;
6. by to putting, can determine that sign frame on the operating theater instruments is position among the XYZ at module coordinate in the measurement (promptly carrying out tracking measurement) of the locus of the apparatus of one or several ad-hoc location on the module by the tracking mark frame that is cemented on the apparatus.Because the tip of the anterior instrument of apparatus is positioned at putting position specific on the module when measuring, simultaneously its side closely contacts with crossing at right angle limit on the module, therefore the placing attitude of the anterior instrument of apparatus on module is fixed, can put of the constraint of condition lower module by this to apparatus, relative position relation on the calaculating apparatus between tracking mark frame and the instrument tip, and the relative position relation between anterior tool axis of calaculating apparatus and the instrument tracking sign frame.
The general calibration module of above-mentioned demarcation operating theater instruments geometric element simple in structure, by inflexible demarcation face and crossing at right angle limit putting of apparatus positioned, can set up by the relation between defined apparatus coordinate system of the sign frame on the apparatus and the module coordinate system, thereby calculate instrument tip and axis relation, and in surgical navigational, utilize this geometrical relationship to determine the tip location and the axis direction of the anterior instrument of operating theater instruments with respect to the apparatus coordinate system.This device be fit to hospital and research worker with common operating theater instruments as the navigating surgery instrumentation, or the help doctor is to demarcating and check in the operating theater instruments of usefulness.
Can actual fabrication demarcating module of the present utility model with reference to accompanying drawing 1, can demarcate the apparatus of different pointed shape with reference to accompanying drawing 2～accompanying drawing 4.Specifically the structure function of module and the concrete grammar of use are described below in conjunction with accompanying drawing.It is emphasized that: the detailed description of present embodiment and all be for those of ordinary skills can be implemented according to method of the present utility model to the restriction of particular dimensions and shape is not that concrete grammar of the present utility model is limited.
As shown in Figure 1, the main body 1 of demarcating module is orthogonal three rigid plane bodies, and its perpendicularity can be guaranteed by machining or accurate assembling.Wherein with plane of orientation 1-1 as localized datum plane, set up rectangular coordinate system XYZ, XY plane wherein overlaps with datum plane 1-1, the XZ plane overlaps with plane of orientation 1-2.The 3rd outstanding plane of orientation 1-3 arranged on plane of orientation 1-2, this plane both perpendicular to plane 1-1 also perpendicular to plane 1-2, plane 1-2 and plane 1-3 have formed intersecting of right angle, therefore the intersection of plane 1-2 and plane 1-3 can be defined as the Z axle of rectangular coordinate system XYZ.For ease of the processing of module, between plane 1-3 and datum plane 1-1, leave the gap, this gap can also be used to demarcating the special tool(s) of bent at its tip.
On the plane 1-4 parallel with plane 1-2, be consolidated with 4～5 the luminous or reflecting sign points that can be followed the tracks of by navigation system, according to the difference of navigation system, can select the infrarede emitting diode of active illuminating for use or adopt passive reflective sign ball.Here be that example describes with passive reflective sign ball.Each index point adopts asymmetric arranging in the plane, so that navigation system can be determined the orientation of demarcating module according to the distribution situation of index point.By tracking measurement, can obtain the position on said reference plane and crossing at right angle limit to these landmark space positions.After module making was finished, the position of each index point need be measured accurately on the module, thereby obtained the coordinate M of each index point in rectangular coordinate system XYZ
i(x
i, y
i, z
i).Simultaneously, on the 1-4 of plane, be manufactured with the V-arrangement pit 1-5 of 3～5 diameters between 1mm～5mm, be used to adopt the fixed pivot method that tip location is demarcated.
In use, the cutting part that is consolidated with the operating theater instruments of tracking mark frame is placed in the ad-hoc location of demarcating module, just can measures, describe below by several examples to the geometric properties of apparatus.
This utility model provides a kind of aided measurement device that geological informations such as anterior tool tip of surgical navigational apparatus and axis are demarcated that is used for.This device is by employed optical 3-dimensional motion tracking system in the operation guiding system, measurement is cemented in the tracking mark frame on the operating theater instruments, and by the anterior instrument of operating theater instruments is placed in certain location on the demarcating module, determine the position relation between the axis direction of the tip location of operating theater instruments, anterior instrument and the tracking mark frame on the apparatus, measure the geometric elements such as size of demarcating the anterior instrument of operating theater instruments simultaneously.After finishing demarcation, by the tracking measurement that sign chord position on the operating theater instruments is put, obtain the spatial positional information of operating theater instruments, just can assist the doctor to determine that the position between anterior instrument of operating theater instruments and the human body concerns, overcome the shortcoming that existing navigation system can only rely on special navigation apparatus merely, general operating theater instruments can be found application in navigating surgery.Designed caliberating device is simple in structure, and is easy to use, durable in use.
The 1st example as the use of this module, for demarcating the apparatus front portion is that the instrument 2 of cylindrical shape is (as drill bit, probe etc., with reference to figure 2), the main geometric element that needs to measure comprises position, the direction A of cylindrical most advanced and sophisticated axis, the diameter D of cylinder etc. of tool tip position P with respect to sign frame 3 on the apparatus.Shown in Fig. 2 (a), cylindrical most advanced and sophisticated P is resisted against on the datum plane 1-1 of location, two sides with columniform instrument cylindrical are resisted against respectively on the right angle V-shaped groove of plane of orientation 1-2 and the formation of plane of orientation 1-3 right angle intersection simultaneously, like this, the tip of the anterior instrument of apparatus is positioned at the XY plane (so its Z coordinate is 0) of demarcating module, and that while right angle V-shaped groove has retrained the direction of cylindrical tool axis is parallel with the Z axle of demarcating module coordinate system.By the index point on the optical 3-dimensional motion tracking system collection demarcating module of operation guiding system and the locus of the sign frame 3 on the apparatus, just can obtain position and the direction of sign frame 3 in demarcating module coordinate system XYZ on the apparatus, therefore can calculate the axis direction at the cylindrical tip of the anterior instrument of apparatus and the relation between the apparatus sign frame 3.Further,, apparatus is rotated 30～90 degree around the cylinder axis of its anterior instrument, arrive position shown in Fig. 2 (b) in order to obtain the accurate position of the most advanced and sophisticated axis of cylindrical tool.Because the axis symmetry of cylindrical shape, the position of apparatus cylindrical forward portion tool axis does not change in rotation, rotation around fixed axis (axis parallel with the demarcating module Z-direction) has then taken place in the sign frame 3 on the apparatus, therefore can calculate the position of the rotation axis of sign frame 3 on the apparatus, so just determined the actual position of apparatus cylindrical forward portion tool axis, and obtained this columniform radius (i.e. X on the module at this axis place or Y coordinate) by this position.Because instrument tip is against on the datum level, so its Z coordinate is 0, and most advanced and sophisticated X, the Y coordinate is exactly to demarcate the axis coordinate that obtains.By above-mentioned demarcation, just determined position, direction and the diameter at cylindrical tool tip uniquely.
Similar with above-mentioned principle, as the 2nd example that uses, for demarcating the apparatus front portion is orthogonal instrument (for example saw blade of goose saw) 4, according to putting shown in Fig. 3 (a) and Fig. 3 (b), four planes of the goose saw saw blade side of square type are resisted against respectively on the right angle V-shaped groove that locating surface 1-2 and 1-3 form, guarantee that all the front end of saw blade is resisted against on the datum level 1-1, the tracking mark frame 3 when at every turn putting by measuring on the apparatus is position among the XYZ at module coordinate at every turn.Because the saw blade front end always is resisted against on the plane of Z=0 when putting at every turn, the side of saw blade always is parallel to XZ plane and YZ plane, therefore saw blade be can calculate with respect to the position that is cemented in the tracking mark frame 3 on the goose saw, and the width and the thickness information of saw blade obtained.
Further, as the 3rd example that uses,, utilize this module also can carry out the demarcation verification that easier fixed pivot method is done instrument tip for the anterior instrument of apicule end-apparatus tool (probe etc.) with symmetric shape is demarcated.It is a kind ofly commonly used apicule end-apparatus tool to be carried out the method for location position that pivot point technique is demarcated, and in many documents introduction is arranged.Its method is that instrument tip is placed a fixed point, serves as that fixed point is carried out three-dimensional rotation with apparatus with this point, the rotate path that sign frame 3 forms on the apparatus is a taper seat that is fixed point with this point, by the position that the space spin matrix of the sign frame 3 on the apparatus can calculate fixed point in the rigid body rotation, obtain the position of tool tip.As shown in Figure 4,, can provide suitable fulcrum, thereby carry out the most advanced and sophisticated demarcation of reliable and stable pivot point technique the instrument tip of different sizes by the V-arrangement pit on this demarcating module.
Claims (2)
1. the general module used of surgical navigational apparatus is characterized in that containing: the main body of the demarcating module that constitutes by orthogonal three rigid planes, wherein:
Datum plane (1-1) with the XY planes overlapping of rectangular coordinate system, is used for the position of positioning operation navigation instrument tip; First plane of orientation (1-2), XZ planes overlapping with described rectangular coordinate system, on the vertical side of described first plane of orientation (1-2) with respect to described datum plane (1-1), be consolidated with the some fixed points that can be followed the tracks of by operation guiding system, the coordinate of the locus of each index point in described XYZ rectangular coordinate system is known, the layout of described index point is asymmetric layout, on described vertical side of described first plane of orientation (1-2), the pit that also has 3-5 different-diameter, allowing the tip of described surgical navigational instrument tool is that three-dimensional rotation and swing are carried out in the center with described pit, the constraint of pit forms the fixed point of described surgical navigational apparatus, so that the tip location of operating theater instruments front end tool is demarcated; Second plane of orientation (1-3), both perpendicular to described datum plane (1-1), also perpendicular to described first plane of orientation (1-2), the intersection of described second plane of orientation (1-3) and described first plane of orientation (1-2) is the Z axle of described vertical coordinate system XYZ, between described second plane of orientation (1-3) and described datum plane (1-1), leave the gap of setting, in order to demarcate the anterior instrument of operating theater instruments that the tip has the projection of extending laterally.
2. the general calibration module of surgical navigational apparatus according to claim 1 is characterized in that described gap is 10mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920105572U CN201389080Y (en) | 2009-02-25 | 2009-02-25 | General calibration module of surgical navigation machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920105572U CN201389080Y (en) | 2009-02-25 | 2009-02-25 | General calibration module of surgical navigation machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201389080Y true CN201389080Y (en) | 2010-01-27 |
Family
ID=41595895
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200920105572U Expired - Lifetime CN201389080Y (en) | 2009-02-25 | 2009-02-25 | General calibration module of surgical navigation machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201389080Y (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085119A (en) * | 2011-03-08 | 2011-06-08 | 江苏大学 | Navigation equipment for femoral medullary cavity cutting operation by femoral myelocavity file |
| CN103968829A (en) * | 2014-05-13 | 2014-08-06 | 清华大学 | Three-dimensional space orientation tracking method and three-dimensional space orientation tracking system based on virtual marker |
| CN105094129A (en) * | 2015-07-10 | 2015-11-25 | 于浩源 | Positioning system of robot tool tip and positioning method thereof |
| CN105769244A (en) * | 2016-03-22 | 2016-07-20 | 上海交通大学 | Calibration device for calibrating ultrasonic probe |
| CN105919669A (en) * | 2016-07-01 | 2016-09-07 | 华南理工大学 | Method for achieving optical surgical navigation surgical instrument calibration through calibrating device |
| CN107049376A (en) * | 2016-07-04 | 2017-08-18 | 广州雄俊智能科技有限公司 | A kind of navigation puncture device performed the operation for foramen intervertebrale lens |
| WO2017219206A1 (en) * | 2016-06-20 | 2017-12-28 | 深圳市鑫君特智能医疗器械有限公司 | Surgical positioning device |
| CN107802347A (en) * | 2017-11-10 | 2018-03-16 | 唐佩福 | Caliberating device |
| CN108784833A (en) * | 2018-04-09 | 2018-11-13 | 上海术凯机器人有限公司 | A kind of probe registration apparatus and method |
| CN110352042A (en) * | 2016-10-21 | 2019-10-18 | 医疗技术股份有限公司 | Device and method for being recalibrated automatically to image in 3D art |
| CN110464463A (en) * | 2019-08-30 | 2019-11-19 | 苏州迪凯尔医疗科技有限公司 | Surgical instrument tip scaling method, device, computer equipment and storage medium |
| WO2020073865A1 (en) * | 2018-10-12 | 2020-04-16 | 北京和华瑞博科技有限公司 | Surgical instrument calibration system, calibration table and method used for guided surgery |
| CN111189394A (en) * | 2020-04-09 | 2020-05-22 | 南京佗道医疗科技有限公司 | Device, system and method for verifying parameters of special-shaped workpiece |
| CN112022350A (en) * | 2020-09-27 | 2020-12-04 | 上海交通大学 | Surgical instrument calibration device and method for surgical navigation system |
| CN112022351A (en) * | 2020-09-28 | 2020-12-04 | 南京普爱医疗设备股份有限公司 | Polyhedral surgical tool defining method for surgical navigation system |
| CN112091983A (en) * | 2020-11-17 | 2020-12-18 | 南京佗道医疗科技有限公司 | Precision checking device, system and method |
| CN113243991A (en) * | 2019-11-22 | 2021-08-13 | 苏州微创畅行机器人有限公司 | Checking method and checking system of osteotomy guiding tool and detection target |
| CN113509268A (en) * | 2021-05-12 | 2021-10-19 | 上海交通大学 | Calibration device and calibration method of mixed reality surgical navigation system |
| CN114305683A (en) * | 2021-12-03 | 2022-04-12 | 哈尔滨工业大学 | Surgical instrument registration device and method |
| CN115429429A (en) * | 2022-08-16 | 2022-12-06 | 天津大学 | Surgical instrument calibration and visual tracking method for optical navigation surgery |
-
2009
- 2009-02-25 CN CN200920105572U patent/CN201389080Y/en not_active Expired - Lifetime
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085119B (en) * | 2011-03-08 | 2013-05-08 | 江苏大学 | Navigation equipment for femoral medullary cavity cutting operation by femoral myelocavity file |
| CN102085119A (en) * | 2011-03-08 | 2011-06-08 | 江苏大学 | Navigation equipment for femoral medullary cavity cutting operation by femoral myelocavity file |
| CN103968829B (en) * | 2014-05-13 | 2016-12-07 | 清华大学 | Three-dimensional fix method for tracing based on virtual signage thing and system |
| CN103968829A (en) * | 2014-05-13 | 2014-08-06 | 清华大学 | Three-dimensional space orientation tracking method and three-dimensional space orientation tracking system based on virtual marker |
| CN105094129A (en) * | 2015-07-10 | 2015-11-25 | 于浩源 | Positioning system of robot tool tip and positioning method thereof |
| CN105094129B (en) * | 2015-07-10 | 2018-11-23 | 青岛星华智能装备有限公司 | A kind of robot tool tip positioning system and its localization method |
| CN105769244A (en) * | 2016-03-22 | 2016-07-20 | 上海交通大学 | Calibration device for calibrating ultrasonic probe |
| CN105769244B (en) * | 2016-03-22 | 2020-04-03 | 上海交通大学 | Calibration device for ultrasonic probe calibration |
| WO2017219206A1 (en) * | 2016-06-20 | 2017-12-28 | 深圳市鑫君特智能医疗器械有限公司 | Surgical positioning device |
| CN105919669A (en) * | 2016-07-01 | 2016-09-07 | 华南理工大学 | Method for achieving optical surgical navigation surgical instrument calibration through calibrating device |
| CN105919669B (en) * | 2016-07-01 | 2018-07-20 | 华南理工大学 | A method of realizing that optical operation navigation surgical instrument is demarcated using caliberating device |
| CN107049376A (en) * | 2016-07-04 | 2017-08-18 | 广州雄俊智能科技有限公司 | A kind of navigation puncture device performed the operation for foramen intervertebrale lens |
| CN107049377A (en) * | 2016-07-04 | 2017-08-18 | 广州雄俊智能科技有限公司 | A kind of puncture needle performed the operation for foramen intervertebrale lens and its manufacture method |
| CN110352042A (en) * | 2016-10-21 | 2019-10-18 | 医疗技术股份有限公司 | Device and method for being recalibrated automatically to image in 3D art |
| US11771519B2 (en) | 2016-10-21 | 2023-10-03 | Medtech S.A. | Device and method for automatic recalibration for 3D intraoperative images |
| CN107802347A (en) * | 2017-11-10 | 2018-03-16 | 唐佩福 | Caliberating device |
| CN107802347B (en) * | 2017-11-10 | 2023-09-26 | 中国人民解放军总医院 | Calibration device |
| CN108784833A (en) * | 2018-04-09 | 2018-11-13 | 上海术凯机器人有限公司 | A kind of probe registration apparatus and method |
| WO2020073865A1 (en) * | 2018-10-12 | 2020-04-16 | 北京和华瑞博科技有限公司 | Surgical instrument calibration system, calibration table and method used for guided surgery |
| CN110464463A (en) * | 2019-08-30 | 2019-11-19 | 苏州迪凯尔医疗科技有限公司 | Surgical instrument tip scaling method, device, computer equipment and storage medium |
| CN113243991A (en) * | 2019-11-22 | 2021-08-13 | 苏州微创畅行机器人有限公司 | Checking method and checking system of osteotomy guiding tool and detection target |
| CN111189394A (en) * | 2020-04-09 | 2020-05-22 | 南京佗道医疗科技有限公司 | Device, system and method for verifying parameters of special-shaped workpiece |
| WO2022062232A1 (en) * | 2020-09-27 | 2022-03-31 | 上海交通大学 | Surgical instrument calibration device and method for surgical navigation system |
| CN112022350A (en) * | 2020-09-27 | 2020-12-04 | 上海交通大学 | Surgical instrument calibration device and method for surgical navigation system |
| CN112022351A (en) * | 2020-09-28 | 2020-12-04 | 南京普爱医疗设备股份有限公司 | Polyhedral surgical tool defining method for surgical navigation system |
| CN112091983B (en) * | 2020-11-17 | 2021-02-12 | 南京佗道医疗科技有限公司 | Precision checking device, system and method |
| CN112091983A (en) * | 2020-11-17 | 2020-12-18 | 南京佗道医疗科技有限公司 | Precision checking device, system and method |
| CN113509268A (en) * | 2021-05-12 | 2021-10-19 | 上海交通大学 | Calibration device and calibration method of mixed reality surgical navigation system |
| CN114305683A (en) * | 2021-12-03 | 2022-04-12 | 哈尔滨工业大学 | Surgical instrument registration device and method |
| CN114305683B (en) * | 2021-12-03 | 2023-01-06 | 哈尔滨工业大学 | Surgical instrument registration device and method |
| CN115429429A (en) * | 2022-08-16 | 2022-12-06 | 天津大学 | Surgical instrument calibration and visual tracking method for optical navigation surgery |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201389080Y (en) | General calibration module of surgical navigation machine | |
| US10932865B2 (en) | Precision detection method and device for surgical robot positioning system | |
| CN100412505C (en) | Width measuring method and surface property measuring equipment | |
| CN106152956B (en) | A kind of laser inside diameter measuring instrument | |
| CN201968836U (en) | Puncture needle guider | |
| CN108227622A (en) | Lathe geometric error measuring method and system based on one-dimensional probe and standard ball | |
| CN205215354U (en) | A needle point calibration device for optics operation navigation | |
| CN105643362A (en) | Five-axis machine tool measuring method based on AxiSet | |
| CN207675080U (en) | A kind of detection ruler for detecting radiation therapy bed kinematic accuracy | |
| CN100491895C (en) | Three-coordinate calibrating and inspection instrument | |
| CN205691075U (en) | The measurement frock of perpendicularity between guide rail | |
| CN202036324U (en) | Positioning tracking mechanism used for craniomaxillofacial surgery navigation | |
| CN102873586B (en) | Fast on-line measuring device for curvature radius of workpiece processed in numerically controlled manner | |
| CN100386060C (en) | Extraneous directional guiding device for internal target and positioning method | |
| EP1007900A1 (en) | Medico-scientific measuring device | |
| CN205215377U (en) | Surgical instruments who is applied to optics operation navigation marks instrument | |
| CN101749995B (en) | Rapid tree height determination method under adverse tree base visibility condition | |
| CN102840815B (en) | Assembled type multifunctional workpiece detector for fitter | |
| Haff | Preparation of petrofabric diagrams | |
| CN103673826B (en) | A kind of dimension measurement tool | |
| CN103134453B (en) | Measuring head calibration method of thread combined function dimensional measurement instrument | |
| CN201067404Y (en) | Auxiliary tool for checking operation navigation system precision | |
| CN113124756B (en) | Cabin size measuring method based on laser tracker | |
| CN215584364U (en) | Navigation precision measuring device | |
| CN105157639A (en) | Combined positioning device and positioning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20100127 |