CN209107577U - Caliberating device - Google Patents
Caliberating device Download PDFInfo
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- CN209107577U CN209107577U CN201721503075.7U CN201721503075U CN209107577U CN 209107577 U CN209107577 U CN 209107577U CN 201721503075 U CN201721503075 U CN 201721503075U CN 209107577 U CN209107577 U CN 209107577U
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Abstract
Present disclose provides a kind of caliberating devices comprising the instrument of witness marker and setting on the body of main body, setting on the body demarcates area.Instrument calibration area includes at least two in following calibration area: hole demarcates area, cone hole calibration area, sphere calibration area, probe calibration area and positioning robot's connector assembly calibration area.
Description
Technical field
The utility model relates to the field of medical instrument technology, particularly, are related to a kind of for optical alignment tracking system
Caliberating device.
Background technique
Surgical navigational treatment system based on image guidance generally comprises medical imaging devices, and (such as computed tomography is set
Standby CT, C-arm or magnetic resonance imaging device MRI), positioning device (such as positioning camera, electromagnetic location instrument or optical alignment tracking
System) and the therapeutic equipments such as surgical instrument.In the course of surgery, doctor is under the guidance of positioning device, will by positioning device with
The surgical instrument of track positioning is accurately sent to inside of human body designated position, treats to lesion.
However, in navigating surgery, it will usually because fine motion or surgical instrument generation slight deformation occur for witness marker, lead
Surgical instrument, which occurs, in cause can not identify that the case where deviation occurs in either surgical instrument precision, in addition, there is also some uncertain
The whether accurate situation of the dimension data of surgical instrument.Therefore, how to be accurately positioned to surgical instrument especially its tip is hand
One critical issue of art navigation system.
Utility model content
In order to solve the above-mentioned technical problem, embodiment of the disclosure provides a kind of caliberating device, performs the operation to Accurate Calibration
Instrument.
According to one aspect of the disclosure, a kind of caliberating device is provided, comprising:
Main body；
Witness marker on the body is set；And
Instrument calibration area on the body is set,
Instrument calibration area includes at least two in following calibration area:
Hole demarcates area, and it includes cylindrical cavity that described hole, which demarcates area,；
Hole calibration area is bored, the cone hole calibration area includes the taper hole with predetermined cone angle and predetermined depth；
Sphere demarcates area, and sphere calibration area includes the sphere of installation on the body；
Probe demarcates area, and probe calibration area includes the through hole through at least one face of the main body；With
Positioning robot's connector assembly demarcates area, positioning robot's connector assembly calibration area's butt junction location robot
Connector assembly.
According to some embodiments, described hole calibration area includes at least two cylindrical cavities with different-diameter.
According to some embodiments, described hole calibration area includes three or more cylindrical cavities, described three or more
Cylindrical cavity is arranged in a ring according to the sequence of diameter.
According to some embodiments, the cylindrical cavity is the cylinder perforation through at least one face of the main body
Hole.
According to some embodiments, the size of the taper hole and the predetermined size of probe match.
According to some embodiments, the diameter of the sphere is located in the range of 1mm-100mm.
According to some embodiments, positioning robot's connector assembly calibration area includes a pedestal, the size of the pedestal
Match with the size of the connector assembly of the positioning robot.
According to some embodiments, the caliberating device further include setting on the body connect pedestal fastly.
According to some embodiments, the pedestal that connects fastly is arranged on the first face of the main body, and described hole demarcates area, institute
It states cone hole calibration area, sphere calibration area and probe calibration area to be arranged on the second face of the main body, described first
Face and second face are the different surface of the main body.
According to some embodiments, positioning robot's connector assembly calibration area is arranged on the third face of the main body,
The third face is the surface different from first face and second face of the main body.
According to some embodiments, first face and second face are the opposite surface of the main body.
According to some embodiments, the pedestal that connects fastly includes triangle boss, and the triangle boss includes opposite upper
Three sides of surface and lower surface and the connection upper surface and the lower surface, the upper surface is more than the lower surface
Close to the main body, the upper surface and the lower surface shape triangular in shape, and the area of the upper surface are greater than institute
State the area of lower surface.
According to some embodiments, the witness marker includes at least three mark beads, and the mark bead is relative to institute
The position for stating main body is fixed.
According to some embodiments, the caliberating device further includes observation window, and the observation window is formed in the side of the main body
On face.
The embodiments of the present invention provide a kind of general caliberating device, can surgical instrument to different size into
Row is rapidly demarcated.
Detailed description of the invention
It is described by below with reference to attached drawing to made by the disclosure, the other objects and advantages of the disclosure will be aobvious and easy
See, and can help to be fully understood by the disclosure.
Fig. 1 is the perspective view of caliberating device according to the exemplary embodiment of the disclosure；
Fig. 2 is the top view of caliberating device according to the exemplary embodiment of the disclosure；
Fig. 3 is the side view of caliberating device according to the exemplary embodiment of the disclosure；
Fig. 4 is the perspective view at another visual angle of caliberating device according to the exemplary embodiment of the disclosure；
Fig. 5 is the bottom view of caliberating device according to the exemplary embodiment of the disclosure；
Fig. 6 is the main view of caliberating device according to the exemplary embodiment of the disclosure；And
Fig. 7 is the cross-sectional view of caliberating device according to the exemplary embodiment of the disclosure.
It should be noted that each attached drawing is not necessarily to scale to draw, but only not influence the signal that reader understands
Property mode is shown.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present disclosure clearer, below in conjunction with the embodiment of the present disclosure
Attached drawing, the technical solution of the embodiment of the present disclosure is clearly and completely described.Obviously, described embodiment is this public affairs
The a part of the embodiment opened, instead of all the embodiments.Based on described embodiment of the disclosure, ordinary skill
Personnel's every other embodiment obtained under the premise of being not necessarily to creative work, belongs to the range of disclosure protection.
Unless expressly stated otherwise, in the attached drawing of the embodiment of the present disclosure size of each structure and ratio do not represent it is actual
Size and ratio.
Unless otherwise defined, the technical term or scientific term that the disclosure uses should be tool in disclosure fields
The ordinary meaning for thering is the personage of general technical ability to be understood.
It should be noted that, although term " first ", " second " etc. can be used herein to description various parts, component, member
Part, regions, layers, and/or portions, but these components, component, element, regions, layers, and/or portions should not be limited by these terms
System.But these terms are for mutually distinguishing a component, component, element, regions, layers, and/or portions with another.Thus,
For example, the first component discussed below, first component, first element, first area, first layer and/or first part can be by
Referred to as second component, second component, second element, second area, the second layer and/or second part, without departing from the disclosure
Introduction.
In addition, the similar word such as " comprising " or "comprising" means that the element or component that occur before the word are covered out
The element of the present word presented hereinafter perhaps component and its equivalent and be not excluded for other elements or component." connection " or " phase
The similar words such as company " are not limited to physics or mechanical connection, but may include electrical connection, either directly
It is connecing or indirect.
In the disclosure, for convenience, directional terminology "upper", "lower", "left", "right", " first party have been used
To ", " second direction ", " third direction " etc., it should be understood that the directional terminology is only used for indicating relative positional relationship,
After the absolute position for being described object changes, then the relative positional relationship may also correspondingly change.For example, in description basis
When the locking device of the bone fixation needle of the embodiment of the present disclosure, it is actual using orientation to be referred to the locking device, with " first
Direction " indicates the direction for being parallel to the direction of insertion of the bone fixation needle, is indicated with " second direction " perpendicular to the bone fixation
The direction of the direction of insertion of needle indicates the direction perpendicular to the first direction and the second direction with " third direction ".
It should be understood that operation guiding system is widely used in various surgical operations, such as orthopaedics, nerve are outer
Section, spinal nerve surgery etc., while being also used for the Minimally Invasive Surgeries such as thorax abdomen, tissue Biopsy.Operation guiding system can lead to
It crosses positioning system to register the patient location of 3 d image data and real space that imaging device acquires, by right
The real-time tracking of surgical instrument mark point in real space obtains surgical instrument and shows in the real-time three-dimensional of image space, assists
Doctor carries out accurately surgical procedure.Operation guiding system can be using based on optical Technology of surgery navigation.In order to more specific
Ground illustrates the technical concept of the utility model, and herein, description is originally practical new for based on optical Technology of surgery navigation
The embodiment of type, however, it will be understood by those skilled in the art that the technical concept of the utility model can be used for it is other
In the Technology of surgery navigation of type.
Unless otherwise indicated, herein, term " witness marker " can be active witness marker, and it is passive to be also possible to
Formula witness marker.For example, active witness marker may include the mark bead for being equipped with light emitting diode, the infraluminescence two
The light that pole pipe issues can be acquired by Optical devices such as video cameras；Passive type witness marker may include multiple mark beads, should
Multiple mark beads reflect the light that other devices issue, and the light of the reflection can be acquired by Optical devices such as video cameras.
An exemplary embodiment according to the present utility model, in conjunction with shown in Fig. 1-3, a kind of calibration for surgical navigational
Device 1 may include main body 2, the witness marker 4 being arranged in the main body 2 and the instrument mark being arranged in the main body 2
Determine area.
As depicted in figs. 1 and 2, instrument calibration area may include at least two in following calibration area: hole calibration
Area, it may include cylindrical cavity 6 that described hole, which demarcates area,；Hole calibration area is bored, cone hole calibration area may include having in advance
Determine the taper hole 7 of cone angle and predetermined depth；Sphere demarcates area, and sphere calibration area may include being mounted on the main body 2
On sphere 8；Probe demarcates area, and probe calibration area may include the through hole 9 through at least one face of the main body；
Area 10 is demarcated with positioning robot's connector assembly, positioning robot's connector assembly calibration area's docking is determined for surgical navigational
The connector assembly of position robot.
According to an exemplary embodiment, described hole calibration area may include at least two cylinders with different-diameter
Shape hole 6.According to another exemplary embodiment, described hole calibration area may include three or more cylindrical cavities 6,
Described three or more cylindrical cavities 6 are arranged in a ring according to the sequence of diameter.As shown in Fig. 2, described hole is demarcated
Area may include multiple cylindrical cavities 6, and the diameter of multiple cylindrical cavities 6 is all different, and multiple cylindrical cavities 6 can be by
It is arranged in a ring according to the sequence of diameter, at the center of the annular, it is also formed with a cylindrical cavity 6.Center should be located at
The diameter of cylindrical cavity 6 can be all different with the diameter of other cylindrical cavities 6 around it.Arrangement in this way
Mode can make full use of space that multiple holes with different diameter specifications are arranged, so as to have different rulers to a variety of
The cylindrical surgical instrument (such as intramedullary nail etc.) of very little specification (such as point diameter) is demarcated.
Fig. 7 shows the cross-sectional view of the caliberating device according to the utility model embodiment, as shown in fig. 7, the cylinder
Hole 6 can be for through the cylindrical through hole at least one face of the main body.In the embodiment shown in fig. 7, this is at least
A loaf of bread includes the upper surface of main body 2.
As shown in fig. 7, taper hole 7 can have scheduled cone angle and scheduled depth.In the exemplary embodiment,
Taper hole 7 can be used to demarcate the surgical instrument for having slightly pointed end.For example, cone hole calibration area can be used to demarcate
Hole calibration area can not find suitable diameter, end is sharp instrument.Specifically, it is fixed the surgical instrument for having slightly pointed end to be installed
After bit flag, the end of point is placed in taper hole 7, then around the apex angle rotation of taper hole 7 or inclination at least three position
It postpones and is demarcated, specific calibration process will be described in more detail below.
Referring back to Fig. 1 and Fig. 2, the taper hole 7 can be arranged on the upper surface of main body 2.That is, taper hole 7
It is arranged on the same surface of main body 2 with cylindrical cavity 6.
Exemplary embodiment according to the present utility model, the size of the taper hole 7 (such as can be visited with surgical instrument
Needle) predetermined size match.
Referring to Fig.1, sphere calibration area may include the sphere 8 being mounted in the main body 2, and the sphere demarcates area
It is that witness marker can be specifically mounted on hollow instrument, then by instrument by spherical hollow instrument that end, which can be demarcated,
Hollow end be stuck on sphere, around sphere 8 rotate or tilt at least three position after demarcated, specific calibration process
It will be described in more detail below.
Exemplary embodiment according to the present utility model, the diameter of the sphere 8 can be located at the range of 1mm-100mm
Interior, particularly, the diameter of the sphere 8 can be located in the range of 5mm-10mm.
In the illustrated embodiment, the sphere 8 can be arranged on the upper surface of main body 2.That is, sphere 8 and bellmouth
Hole 7 and cylindrical cavity 6 are arranged on the same surface of main body 2.For example, sphere 8 can be mounted on master by cylindrical base
On the upper surface of body 2.
Exemplary embodiment according to the present utility model, probe calibration area may include running through the main body 2 extremely
The through hole 9 in a few face.Referring to Fig. 7, through hole 9 runs through the upper surface of main body 2, and extend to the lower surface of main body 2
In a part.Probe calibration area can be used for demarcating probe.Probe generally has longer length, inserts a probe into perforation
Behind hole 9, by the caliberating device, location information of the end of probe relative to the witness marker on probe can be calibrated.
Referring to Figure 1 and Figure 3, positioning robot's connector assembly calibration area 10 may include a pedestal 12, the pedestal
Connector assembly of 12 docking for the positioning robot of surgical navigational, the size of the pedestal 12 and the end group of positioning robot
The size of part matches.The connector assembly of positioning robot is installed on to the pedestal 12 in positioning robot's end effector calibration area
On, positional relationship of the connector assembly of positioning robot relative to pedestal 12 can be calibrated, then can by certain conversion
To know the relative position after the connector assembly of positioning robot is mounted on positioning robot's arm.In the illustrated embodiment,
Positioning robot's connector assembly calibration area 10 is arranged on a side of main body 2.
In the illustrated embodiment, although also showing hole calibration area, cone hole calibration area, sphere calibration area, probe
It demarcates area and positioning robot's connector assembly demarcates area, it should be understood, however, that in the other embodiments of the utility model
In, caliberating device may include hole calibration area, cone hole calibration area, sphere calibration area, probe calibration area and positioning robot end
Hold component calibration area at least two, that is, caliberating device may include hole calibration area, cone hole calibration area, sphere calibration area,
Probe demarcates any combination at least two calibration areas in area and positioning robot's connector assembly calibration area, for example, calibration dress
Setting may include hole calibration area and cone hole calibration area, or may include sphere calibration area and probe calibration area, or may include
Hole demarcates area and positioning robot's connector assembly demarcates area.
For many kinds of of current surgical instrument, there is different specifications because of surgical application difference, different manufacturers production
Surgical instrument specification it is also inconsistent, the shape that difference is mainly reflected in the length of needle body, diameter and needle point has beveling and axis
The problems such as symmetrical two kinds of forms, the embodiments of the present invention provide a kind of general caliberating device, can be to different size
Surgical instrument rapidly demarcated.In the caliberating device according to the utility model embodiment, pass through setting at least two
Different calibration areas can simultaneously demarcate a variety of instruments, avoid and need to be equipped with multiple marks when operating an operation
The problem of determining device, and while also simplifying various calibration various instruments, needs the various algorithms that carry out, to strive for for doctor
Valuable operating time is arrived.
As shown in figure 4, exemplary embodiment according to the present utility model, the caliberating device 1 can also include that setting exists
Pedestal 3 is connect fastly in the main body 2.In the illustrated embodiment, the lower surface for connecing pedestal 3 fastly and the main body 2 being set
On.
According to an exemplary embodiment, the pedestal 3 that connects fastly may include triangle boss 32, and the triangle is convex
Platform 32 includes three sides of opposite upper surface 321 and lower surface 322 and the connection upper surface and the lower surface
324, the upper surface 321 is than the lower surface 322 closer to the main body 2, the upper surface 321 and the lower surface 322
Shape triangular in shape, and the area of the upper surface 321 is greater than the area of the lower surface 322.As shown in figure 5, described
Lower surface 322 is fallen completely in the upper surface 321 in the projection in the main body 2.
For example, needed for caliberating device 1 to be mounted in reset robot when caliberating device 1 is used for bone surgery, it is multiple
It is provided with the up big and down small triangular groove to match with the triangle boss 32 on the platform of position robot, triangle is convex
The lower surface 322 of platform 32 and triangular groove pass through magnetic fixed.Fit system in this way, may be implemented caliberating device with
The rapid abutting joint of robot is resetted, to further win valuable operating time for doctor.
As an example, the witness marker 4 of caliberating device 1 may include at least three mark beads 42, such as Fig. 4 institute
Show, the mark bead 42 is fixed relative to the position of the main body 2.In the illustrated embodiment, it is provided on caliberating device 1
6 mark beads 42, wherein 3 mark bead 42 settings are on a side, in addition 3 mark beads are arranged in another side
On face, as shown in figs. 1 and 3.3 mark beads being arranged on the same side are not conllinear, may thereby determine that a plane.
During the calibration process, the position by calculation flag bead relative to positioning robot, so that it may determine that caliberating device is positioning
Position in robot coordinate system.
According to an exemplary embodiment, indicate that bead 42 can be installed in main body 2 by pedestal 41, such as Fig. 1 institute
Show.
As shown in fig. 6, caliberating device 1 can also include observation window 5, the observation window 5 can be formed in the main body 2
On side.By observation window, operator can see the instrument end for inserting in hole calibration area and probe calibration area either with or without arriving
Up to lowermost end, so as to ensure the accuracy demarcated.
In the following, the course of work of various instruments is demarcated in description using the caliberating device in conjunction with the structure of above-mentioned caliberating device.
Firstly, mark bead 42 is installed on the body 2, caliberating device 1 is then mounted on reset by connecing pedestal 3 fastly
In robot, such as it is mounted in the reduction platform for resetting robot.Optical positioning device can real-time detection mark bead 42,
To determine three-dimensional coordinate of the mark bead 42 relative to positioning device (such as positioning robot), to realize reality robotic position
Set the mapping with navigation Virtual Space robot location.
It is then possible to carry out the calibration of various instruments using caliberating device 1.When being demarcated, be related to coordinate system it
Between various conversions, conversion process is related to the operation of matrix, unless otherwise instructed, used in matrix be generally 4 × 4
Matrix.
For example, the cylindrical surgical instrument of such as intramedullary nail is demarcated in the hole calibration area using caliberating device 1.It is right
Such as the target of the cylindrical surgical instrument calibration of intramedullary nail is to determine the front end of cylindrical surgical instrument relative to cylindrical hand
It the position of the end of art instrument generally can be in the end Installation Mark bead of instrument during actual operation, that is to say, that mark
Fixed target is coordinates matrix of the front end of determining cylindrical surgical instrument under navigation space, realizes its realistic space and navigation
The mapping in space.In the end Installation Mark bead of intramedullary nail, diameter identical with the point diameter of the intramedullary nail is then selected
Hole, intramedullary nail is inserted into the hole.Pass through the optical alignment tracking system of positioning device, that is, pass through acquisition calibration dress
The mark bead light issued set or the light of reflection, seat of the available calibration tool of positioning device under positioning device coordinate system
Mark, is denoted as matrix B.After corresponding hole is inserted into the front end of intramedullary nail, the front end of the available intramedullary nail of positioning device is being positioned
Coordinate under device coordinate system is denoted as matrix T.And position of the cylindrical cavity 6 in hole calibration area under calibration tool coordinate system
It sets once determination, is just fixed and invariable, i.e., its coordinate can be denoted as matrix PB.
According to above-mentioned relation, coordinate PT of the front end of intramedullary nail under its own coordinate system can be conversed, specifically:
PT=B*T-1* PB,
Wherein, B*T-1Can indicate calibration tool coordinate system to surgical instrument coordinate system transition matrix.
It should be noted that the calibration process that probe calibration area is used to demarcate the surgical instruments such as probe is similar,
Details are not described herein.
For another example being demarcated using positioning robot's connector assembly calibration area to positioning robot.Positioning robot's mark
Fixed target is coordinates matrix of the connector assembly of determining positioning robot under mark system, robot itself.When due to calibration, mark
Determine tool 1 to dock with the connector assembly of robot, i.e. matrix of the connector assembly of known machine people under calibration tool coordinate system
For A.According to optical alignment tracking system, matrix F of the calibration tool 1 under optical alignment tracking system, localization machine can be obtained
Matrix C of the mark bead (i.e. positioning robot itself) under optical alignment tracking system on device people.It, can according to above-mentioned relation
To converse matrix D of the connector assembly of robot under robot local Coordinate System are as follows: D=A*F*C-1。
For another example being demarcated using cone hole calibration area to the instrument that front end is point.To have slightly pointed front end (referred to as
" tip ") surgical instrument installation witness marker after, tip is placed in taper hole 7, then tip is motionless in a fixed point,
Surgical instrument is demarcated after the apex angle rotation of taper hole 7 or inclination at least three position.
Tip is against to motionless on a fixed point, rotary operation instrument.In rotary course, the space of witness marker is acquired
Parameter matrix Mj, j=1,2,3 ... n, n are times of collection.Assuming that space ginseng of the fixed point of tip conflict under positioning device
Matrix number is M, and tip is M relative to the position of witness markertip, it can then be derived as follows:
Then: RjTtip+Tj=Rj+1Ttip+Tj+1, to obtain:
(Rj-Rj+1)*Ttip=(Tj+1-Tj)。
Wherein, RjAnd Rj+1Characterize spatial parameter matrix MjAnd Mj+1In rotational component, TjAnd Tj+1Characterization parameter matrix Mj
And Mj+1In translational component, TtipIt is the space vector at unknown tip to be asked, TtipIn include needle point coordinate information.Pass through
Acquire n times spatial parameter matrix Mj, can establish one include 3* (n-1) a equation equation group, utilize least square method
It is final to determine TtipSo that it is determined that coordinate of the tip of surgical instrument in its own coordinate system out.
It should be noted that sphere calibration area is used to demarcate the calibration process of surgical instrument and the mark in cone hole calibration area
It is similar to determine process, details are not described herein.
For embodiment of the disclosure, it is also necessary to explanation, in the absence of conflict, embodiment of the disclosure and reality
Applying the feature in example can be combined with each other to obtain new embodiment.
More than, the only specific embodiment of the disclosure, but the protection scope of the disclosure is not limited thereto, the disclosure
Protection scope should be subject to the protection scope in claims.
Claims (14)
1. a kind of caliberating device, comprising:
Main body；
Witness marker on the body is set；And
Instrument calibration area on the body is set,
It is characterized in that, instrument calibration area includes at least two in following calibration area:
Hole demarcates area, and it includes cylindrical cavity that described hole, which demarcates area,；
Hole calibration area is bored, the cone hole calibration area includes the taper hole with predetermined cone angle and predetermined depth；
Sphere demarcates area, and sphere calibration area includes the sphere of installation on the body；
Probe demarcates area, and probe calibration area includes the through hole through at least one face of the main body；With
Positioning robot's connector assembly demarcates area, the end of positioning robot's connector assembly calibration area's butt junction location robot
Component.
2. caliberating device according to claim 1, which is characterized in that it includes at least two with not that described hole, which demarcates area,
With the cylindrical cavity of diameter.
3. caliberating device according to claim 1 or 2, which is characterized in that it includes three or more that described hole, which demarcates area,
Cylindrical cavity, described three or more cylindrical cavities are arranged in a ring according to the sequence of diameter.
4. caliberating device according to claim 1 or 2, which is characterized in that the cylindrical cavity is through the main body
At least one face cylindrical through hole.
5. caliberating device according to claim 1 or 2, which is characterized in that the size of the taper hole and the rule of probe
Scale cun matches.
6. caliberating device according to claim 1 or 2, which is characterized in that the diameter of the sphere is located at 1mm-100mm's
In range.
7. caliberating device according to claim 1 or 2, which is characterized in that positioning robot's connector assembly demarcates area
Including a pedestal, the size of the pedestal and the size of the connector assembly of the positioning robot match.
8. caliberating device according to claim 1 or 2, which is characterized in that the caliberating device further includes being arranged described
Pedestal is connect fastly in main body.
9. caliberating device according to claim 8, which is characterized in that first for connecing pedestal fastly and the main body being arranged in
On face, described hole is demarcated area, cone hole calibration area, sphere calibration area and probe calibration area and is arranged in the master
On second face of body, first face and second face are the different surface of the main body.
10. caliberating device according to claim 9, which is characterized in that positioning robot's connector assembly calibration area is set
It sets on the third face of the main body, the third face is the table different from first face and second face of the main body
Face.
11. caliberating device according to claim 9, which is characterized in that first face and second face are the master
The opposite surface of body.
12. caliberating device according to claim 8, which is characterized in that the pedestal that connects fastly includes triangle boss, described
Triangle boss includes three sides of opposite upper and lower surfaces and the connection upper surface and the lower surface, institute
Upper surface is stated than the lower surface closer to the main body, the upper surface and the lower surface shape triangular in shape, and
The area of the upper surface is greater than the area of the lower surface.
13. caliberating device according to claim 1 or 2, which is characterized in that the witness marker includes at least three marks
Bead, the mark bead are fixed relative to the position of the main body.
14. caliberating device according to claim 1 or 2, which is characterized in that the caliberating device further includes observation window, institute
Observation window is stated to be formed on the side of the main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721503075.7U CN209107577U (en) | 2017-11-10 | 2017-11-10 | Caliberating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721503075.7U CN209107577U (en) | 2017-11-10 | 2017-11-10 | Caliberating device |
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| Publication Number | Publication Date |
|---|---|
| CN209107577U true CN209107577U (en) | 2019-07-16 |
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ID=67194672
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721503075.7U Active CN209107577U (en) | 2017-11-10 | 2017-11-10 | Caliberating device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107802347A (en) * | 2017-11-10 | 2018-03-16 | 唐佩福 | Caliberating device |
| CN112022350A (en) * | 2020-09-27 | 2020-12-04 | 上海交通大学 | Surgical instrument calibration device and method for surgical navigation system |
| 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 |
-
2017
- 2017-11-10 CN CN201721503075.7U patent/CN209107577U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112022350A (en) * | 2020-09-27 | 2020-12-04 | 上海交通大学 | Surgical instrument calibration device and method for surgical navigation system |
| WO2022062232A1 (en) * | 2020-09-27 | 2022-03-31 | 上海交通大学 | Surgical instrument calibration device and method for surgical navigation system |
| 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 |
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