TWI409442B - An system and method for algining a sensing device - Google Patents

Abstract

The present invention discloses a system and method for aligning a sensing device. The system of the present invention comprises a hand tool, a sensing device, a positioning device, an aligning device and a computing device. In summary, by embedding the sensing device into the first caving and the second caving of the aligning device sequentially, a plurality of data are obtained therefrom by measuring the coordinates of the sensing device, utilized to analyze the difference among the theoretical positioning result and the positioning result in practice so as to align the hand tool and the sensing device. The present invention overcomes the problem of simulating error occurred during the process of the installation of the sensing device.

Description

Correction system and method for sensing device

The present invention discloses a calibration system and method for a sensing device, and in particular, the present invention relates to a calibration system and method for a sensing device that is applied to a hand tool.

In the current minimally invasive surgery training mechanism, the C-arm image-assisted surgical navigation system is used to obtain the coordinate data of the device in the patient by means of radiology. The more the doctor performs the surgery, the greater the dose received. The long-term accumulation of radiation dose will increase the health risks of medical staff to a certain extent. Therefore, in the current training mechanism, doctors will inevitably receive a large amount of radioactive exposure during the training of minimally invasive surgery. In view of this, the use of computer imaging simulation technology to simulate training for surgery is a trend today.

Systems that use computer image simulation techniques to simulate a surgical procedure typically use a hand tool with a sensing device to measure the coordinates of the opponent's tool. However, in the coordinate measurement, the inaccurate sensing result caused by the sensing device when it is fixed on the surface of the hand tool is often inaccurate.

In view of the above problems, existing correction methods need to reinstall the sensing device, or use a complicated algorithm to compensate the relative relationship between the sensing device and the hand tool to reduce the error amount. The former has a high degree. Unstable, while the latter's learning threshold is extremely high, is not a good way to solve this problem.

Therefore, how to develop an inaccurate sensing result that is cheap, simple, and easy for the user to use and overcome the inevitable installation error caused by the sensing device being fixed on the surface of the hand tool in the related art. The problem is a problem that has existed for a long time and cannot be solved in the technical field.

The invention discloses a calibration system for a sensing device. The calibration system of the present invention comprises a hand tool, a sensing device, a positioning device, a calibration device and an arithmetic device.

Wherein, the hand tool of the present invention has a first portion and a second portion, and the second portion has an end. The sensing device is fixed to the first part of the hand tool; the positioning device is used to measure each state of the sensing device, and respectively generate a corresponding coordinate data.

The correcting device has a first recess and a second recess. Wherein, the first recessed portion is for embedding the second portion of the hand tool and the hand tool has a first axial direction; and the second recessed portion is for embedding the second portion of the hand tool and the hand tool The second axial direction is coupled to the positioning device for correcting the sensing device according to the coordinate data; wherein the first axial direction and the second axial direction intersect in the correcting device.

Further, in actual use, the correcting device of the present invention further has an accommodation space. The accommodating space is formed between the first recessed portion and the second recessed portion to allow the hand tool to be movable between the first recessed portion and the second recessed portion. In addition, the correcting device may further include a universal joint disposed at the intersection of the first recess and the second recess for receiving the end of the hand tool so that the hand tool can be in the first recess and the second Actuated between the depressions.

Another aspect of the present invention provides a method for correcting a sensing device, comprising the steps of: preparing a hand tool; preparing a sensing device; preparing a calibration device; preparing a positioning device; and fixing the sensing device to the hand tool a first portion; the second portion of the hand tool is embedded in the calibration device in a first axial direction; the first coordinate data of the sensing device is obtained by the positioning device; and the hand tool is rotated in the first axial direction; The positioning device is used to obtain the second coordinate data of one of the sensing devices; and an initial correction behavior is performed.

In practical applications, the initial correction behavior of the upper opening refers to correcting the sensing device according to the first coordinate data and the second coordinate data. However, in practical applications, the preliminary correction behavior may also include the steps of: embedding the second portion of the hand tool in the second axial direction in the calibration device; using the positioning device to obtain the sensing device a third coordinate data; rotating the hand tool along the second axis; using the positioning device to obtain a fourth coordinate data of the sensing device; and according to the first coordinate data, the second coordinate data, the The third coordinate data and the fourth coordinate data are used to correct the sensing device.

In addition, when performing the upper opening step, it may also include extracting the hand tool from the calibration device or adjusting the hand tool from the first axial direction to the second axial direction along one of the points of the hand tool. .

In summary, the calibration apparatus and method of the present invention inserts the hand tool of the sensing device into the first recessed hole and the second recessed hole in the correcting device in order to perform measurement and data capture, and according to撷 The data obtained is corrected by the sensing device on the opponent tool. The problem of inaccurate sensing result caused by the inevitable installation error generated when the sensing device is fixed on the surface of the hand tool is solved in the related art. Furthermore, the present invention has the advantage of being inexpensive, simple, and easy for the user to use.

The features and spirit of the present invention will be more apparent from the detailed description of the preferred embodiments. On the contrary, the intention is to cover various modifications and equivalents within the scope of the invention as claimed.

In order that the present invention may be more clearly described, the present invention can be more readily understood by referring to the detailed description of the invention herein herein. The description is only for the essential elements of the present invention, and the description and detailed description of the specification are only for explaining one possible example of the present invention, but the description of the specification should not limit the scope of the technical nature claimed by the present invention. . The invention is not limited to specific structures, materials, functions, or means, unless the scope of the invention is specifically excluded. It is also to be understood that the present invention is described by way of example only, and that any method, material, component, device or means similar or equivalent to the methods and materials may be used in the practice or testing of the present invention. .

In addition, all technical and scientific terms used in the specification have the same meaning as commonly understood by those skilled in the art of the invention, unless otherwise defined. Although any methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention, the presently described methods and materials.

Furthermore, the drawings are merely illustrative of the spirit of the present invention, and are not necessarily equivalent, and the user is free to enlarge or reduce the proportion of each structural element according to the knowledge of the technical field. In addition, the ratio between the elements in the drawings in this specification has been adjusted to maintain the simplicity of each drawing. Therefore, the corresponding size, position and shape of the various elements in the drawing are for reference only. Without departing from the inventive concept of the invention, the arrangement of the features such as the size, the position and the shape of each element can be freely changed depending on the requirements of the user. Further, since the properties of the respective elements of the present invention are considered to be similar to each other, the descriptions and reference numerals between the respective elements apply to each other.

In view of the existing correction methods, it is necessary to reinstall the sensing device or utilize a complicated algorithm to compensate the relative relationship between the sensing device and the hand tool to reduce the error amount, and the former has high instability. The latter has a very high learning threshold and is not a good way to solve this problem.

Therefore, in order to solve the above problems, the present invention discloses a correction system of a sensing device and a correction method of the sensing device. In order to maintain the simplicity of the present specification, the correction system of the sensing device of the present invention and the correction method of the sensing device will be respectively represented by the terms of the correction system and the correction method, respectively. Referring to FIG. 1, FIG. 1 is a functional block diagram of a calibration system of the present invention. The calibration system 1 of the sensing device of the present invention comprises a hand tool 12, a sensing device 11, a positioning device 13, a correction device 14, and an arithmetic device 15.

Further, please refer to FIG. 2A to FIG. 2D. FIG. 2A is a schematic diagram showing the use of the calibration apparatus of a specific embodiment of the calibration system of the present invention. Figure 2B is a partial cross-sectional view taken along line A-A of Figure 2A. Figure 2C is a schematic diagram showing another use of the correcting device of a particular embodiment of the calibration system of the present invention. Figure 2D is a partial cross-sectional view taken along line A-A of Figure 2C.

As seen in Figures 2A through 2D, the hand tool 12 generally refers to a tool that can be held by a user and can be used to provide a particular function. More specifically, the hand tool 12 of the present invention is a trocar, however it is not necessary to have a trocar, it may also be a screwdriver or other item that conforms to the above description. The hand tool 12 of the present invention has a first portion 122 and a second portion 124, the second portion 124 having an end.

In the present embodiment, the first portion 122 refers to the portion of the hand tool 12 that is provided for the sensing device 11 , and the second portion 124 refers to the hand tool 12 for embedding in the interior of the calibration device 14 . Part. It should be noted that the first portion 122 and the second portion 124 are defined by their functions, and the definitions of the first portion 122 and the second portion 124 are independent of each other and are not mutually exclusive, that is, on the hand tool 12. Each zone is considered to be the first portion 122 and the second portion 124 at the same time. For example, if the first portion 122 is embedded in the interior of the calibration device 14, the location of the sensing device 11 of the hand tool 12 is also considered to be the second portion 124. In addition, the end refers to the portion of the hand tool 12 that is in contact with the bottom of the correcting device 14, which is not necessary to be formed at the end of the hand tool 12.

In the specific embodiment, the sensing device 11 is configured to measure the state of the surface of the sensing device 11 to generate a standard data, and the coordinate data includes physical parameters such as relative coordinate position, inclination, velocity, or acceleration. In the present embodiment, the sensing device 11 includes six parameters, which are the coordinate positions of the X-axis, the Y-axis, and the Z-axis, and the surface of the sensing device 11 toward the X-axis, the Y-axis, and the Z-axis. Angle. The relative coordinate position described above refers to the relative distance and angle from the positioning device 13 to the coordinates of the sensing device 11. Since the positioning device 13 will not move during the calibration procedure, the sensing is known by obtaining the corresponding coordinate. The location and status of the device 11.

The calibration device 14 includes a first recess 142 and a second recess 144. The first recessed portion 142 generally refers to a structure for embedding the second portion 124 of the hand tool 12 and providing the hand tool 12 with a first axial direction. The second recessed portion 144 generally refers to the second portion 124 for embedding the hand tool 12, and the hand tool 12 has a second axial structure.

More specifically, the first axial direction and the second axial direction respectively represent a direction, the first axial direction is defined as the extending direction of the first recessed portion 142; and the second axial direction is defined as the second depressed portion. 144 hours of extension. It can be seen from the above definition that the first axial direction and the second axial direction are not constant values, and the two are different according to the design of the first recessed portion 142 and the second recessed portion 144 of each of the correcting devices 14. However, a calibration device 14 of the present invention has the first axial direction and the second axial direction intersecting within the correcting device 14 and having an included angle of a specified size. In the present embodiment, the angle between the first axial direction and the second axial direction is 90 degrees, however it is not necessary to be 90 degrees.

Please refer to Figure 2A to Figure 2D. As can be seen, in the present embodiment, the correcting device 14 of the present invention is formed by integral molding. The first recessed portion 142 and the second recessed portion 144 are respectively formed on the two side surfaces of the correcting device 14, and the apertures of the first recessed portion 142 and the second recessed portion 144 cooperate with the hand tool 12, but Both are larger than the first portion 122 of the hand tool 12 to allow the first portion 122 of the hand tool 12 to have two node degrees of freedom within the first recess 142 and the second recess 144, the two nodes described above. The degree of freedom refers to a vertical movement and a horizontal scrolling. In addition, the first recessed portion 142 and the second recessed portion 144 are mutually penetrated and an angle is formed between the extending directions of the two recessed holes. In the specific embodiment, the above angle is ninety degrees. Furthermore, the bottoms of the first recessed portion 142 and the second recessed portion 144 each have a structure corresponding to the shape of the hand tool 12 for accurately positioning the hand tool 12 on the correcting device 14.

However, the calibration device 14 of the present invention is not limited to the above design. Please refer to FIG. 3A to FIG. 3E. FIG. 3A is a schematic diagram showing the use of the calibration device of another embodiment of the calibration system of the present invention. . Figure 3B is a partial cross-sectional view taken along line A-A of Figure 3A. Figure 3C is a schematic diagram showing another use of the correction device of another embodiment of the calibration system of the present invention. Figure 3D depicts a partial cross-sectional view taken along line A-A of Figure 3C. Figure 3E is another schematic diagram of a calibration apparatus of another embodiment of the calibration system of the present invention.

Unlike the specific embodiment mentioned above, in the present embodiment, the correction device 14 has the materials of the first recess 142 and the second recess 144 in addition to the first recess 142 and the second recess 144. It is also removed to form an accommodation space 146. In addition, the bottom of the first recessed portion 142 and the second recessed portion 144 is also provided with a universal joint 148, and the universal joint 148 is disposed at the intersection of the first recessed portion 142 and the second recessed portion 144. The end of the hand tool 12 is placed so that the hand tool 12 can be fulcrum between the first recessed portion 142 and the second recessed portion 144 with its end to perform the operation with three joint degrees of freedom. The universal joint 148 is coupled to a retaining structure 149 for retaining the correcting device 14 to limit its movable path and angle. Accordingly, the universal joint 148 has two joint degrees of freedom, respectively, in different axial directions. Scrolling. In addition, a strong magnet 147 or a metal may be respectively embedded in the surface of the holding structure 149 of the universal joint 148 and the corresponding correcting device 14 to apply a magnetic force to the universal joint 148 for correction. The universal joint 148 is further stabilized, and the universal joint 148 is also provided with an automatic homing function. Further, the universal joint 148 can be provided with a horizontal sensor 145 for transmitting the position of the universal joint 148 to the computing device 15 to cause the computing device 15 to perform a corresponding behavior.

The positioning device 13 generally refers to a device that can be used to measure various states of the sensing device 11 between the hand tool 12 and the positioning device 13, and respectively generate a corresponding coordinate data. In the embodiment, the sensing device 11 is a magnetic sensing device 11 and the positioning device 13 is a corresponding magnetic field positioning receiver for measuring each state of the sensing device 11 to generate a corresponding one. Coordinate information. However, the sensing device 11 of the present invention is not limited to the magnetic sensing, and the sensing device 11 is also a light sensing component according to the needs of the user.

The computing device 15 is coupled to the positioning device 13 for correcting the sensing device according to the coordinate data. In this embodiment, the computing device 15 is a personal computer.

After the introduction of the components of the correction system of the sensing device of the present invention, a method of correcting the sensing device will be described below. First of all, it should be noted that the following terms appearing are applicable to the descriptions of the above, so they will not be repeated for each component one by one.

Referring to FIG. 4, FIG. 4 is a flow chart showing a specific embodiment of the calibration method of the present invention. Two possible methods are depicted in the figure, which will be explained separately below. It should be noted that the following explanatory terms are common to the above description. The correction method of the present invention includes steps S1 to S4. Step S1 is to prepare the applied device, and step S1 includes a plurality of sub-steps, which respectively include steps S11 to S16. Step S11 is to prepare a hand tool having a first portion and a second portion, the second portion having an end. Step S12 is to prepare a sensing device for sensing the state of the plane in which the sensing device is located. Step S13 is to prepare a correcting device for correcting the measurement data of a positioning device. Step S14 is to prepare a positioning device that can be used to measure the relative coordinates and state of the sensing device. Step S15 is to fix the sensing device to the first part of the hand tool. Step S16 is to embed the second portion of the hand tool in the first axial direction in the calibration device.

After the preparation is completed, step S2 is performed to obtain the first coordinate data of one of the sensing devices by using the positioning device; then, step S3 is performed to rotate the hand tool along the first axial direction; and then step S4 is performed. The positioning device is used to obtain the second coordinate data of one of the sensing devices. Following that, step S5 is performed, and step S5 is performed to perform a preliminary correction behavior.

As can be seen from the figure, the preliminary correction line of the correction method of the present invention can be divided into steps S51 to S55 and step S56. Step S56 is a direct basis, but is not limited to, the first coordinate data and the second coordinate data are corrected for the sensing device. In step S51, the second portion of the hand tool is embedded in the calibration device in a second axial direction, and the first axial direction and the second axial relationship intersect in the correction device means the hand After the tool is withdrawn from the calibration device, the hand tool is again placed in the calibration device in the second axis. However, depending on the design of the calibration device, the user can also adjust the hand tool from the first axis to the second axis by a point along the hand tool. Next, in step S52, the third coordinate data of the sensing device is obtained by using the positioning device; step S53 is a step of rotating the hand tool along the second axis; and step S54 is to obtain the sensing by using the positioning device. The fourth coordinate data of the device; and the step S55 is based on, but not limited to, the first coordinate data, the second coordinate data, the third coordinate data, and the fourth coordinate data to correct the sensing device. It should be noted that the calibration method of the sensing device of the present invention is not necessary for all the above steps to be performed at the same time, and the order of the steps and the use or not are determined by the user's requirements for accuracy.

In short, the calibration method of the present invention uses a sensing device on a hand tool to perform multiple measurements of different axial and coordinate measurements. In summary, the calibration apparatus and method of the present invention inserts the hand tools of the sensing device into the first recessed holes and the second recessed holes in the correcting device in order to perform measurement and data capture, and according to撷 The data obtained is corrected by the sensing device on the opponent tool. The problem of inaccurate sensing result caused by the inevitable installation error generated when the sensing device is fixed on the surface of the hand tool is solved in the related art. Furthermore, the present invention has the advantage of being inexpensive, simple, and easy for the user to use.

The features and spirit of the present invention will be more apparent from the detailed description of the preferred embodiments. On the contrary, the intention is to cover various modifications and equivalents within the scope of the invention as claimed.

1. . . Correction system for sensing device

11. . . Sensing device

12. . . Hand tool

122. . . First

124. . . Second part

13. . . Positioning means

14. . . Correction device

142. . . First depression

144. . . Second depression

145. . . Level sensor

146. . . Housing space

147. . . magnet

148. . . Universal joint

149. . . Card structure

15. . . Arithmetic device

S1~S5. . . Process step

S11~S16, S51~S56. . . Process step

Figure 1 is a functional block diagram of the calibration system of the present invention.

Figure 2A is a schematic diagram showing a specific embodiment of the calibration system of the present invention.

Figure 2B is a partial cross-sectional view taken along line A-A of Figure 2A.

Figure 2C depicts another schematic diagram of one embodiment of the calibration system of the present invention.

Figure 2D is a partial cross-sectional view taken along line A-A of Figure 2C.

Figure 3A is a schematic illustration of the use of a calibration device of another embodiment of the calibration system of the present invention.

Figure 3B is a partial cross-sectional view taken along line A-A of Figure 3A.

Figure 3C is a schematic diagram showing another use of the correcting device of another embodiment of the calibration system of the present invention.

Figure 3D depicts a partial cross-sectional view taken along line A-A of Figure 3C.

Figure 3E is another schematic diagram of a calibration apparatus of another embodiment of the calibration system of the present invention.

Figure 4 is a flow chart showing a specific embodiment of the correction method of the present invention.

11. . . Sensing device

12. . . Hand tool

122. . . First

14. . . Correction device

142. . . First depression

144. . . Second depression

Claims (8)

A calibration system for a sensing device, the calibration system comprising: a hand tool having a first portion and a second portion, the second portion having an end; a sensing device fixed to the first portion of the hand tool a positioning device for measuring each state of the sensing device to generate a corresponding coordinate data; a calibration device having: a first recess for embedding the hand tool The second portion and the hand tool have a first axial direction; and a second recess portion for burying the second portion of the hand tool and the hand tool having a second axial direction; and an arithmetic device And the positioning device is coupled to correct the sensing device according to the coordinate data; wherein the first axial direction and the second axial direction intersect in the correcting device. The calibration system of claim 1, wherein the calibration device further has an accommodating space formed between the first recess and the second recess to allow the hand tool to be A recess is actuated between the recess and the second recess. The calibration system of claim 2, wherein the correction device further comprises a universal joint disposed at an intersection of the first recess and the second recess for receiving the end of the hand tool So that the hand tool can be actuated between the first recess and the second recess. A method for correcting a sensing device, comprising: preparing a hand tool having a first portion and a second portion, the second portion having an end; preparing a sensing device for sensing the feeling Measuring the state of the plane in which the device is located; preparing a calibration device; preparing a positioning device; fixing the sensing device to the first portion of the hand tool; and applying the second portion of the hand tool to a first axial direction Embedding in the calibration device; using the positioning device to obtain a first coordinate data of the sensing device; rotating the hand tool along the first axial direction; and using the positioning device to obtain one of the sensing devices Two coordinate data; perform an initial correction behavior. The calibration method of claim 4, wherein the preliminary correction behavior comprises the step of: correcting the sensing device according to the first coordinate data and the second coordinate data. The calibration method of claim 4, wherein the preliminary correction behavior comprises the step of: embedding the second portion of the hand tool in the second axial direction in the calibration device, the first axial direction and The second axial system intersects the calibration device; the positioning device is used to obtain a third coordinate data of the sensing device; the hand tool is rotated along the second axial direction; and the positioning device is used to obtain the sense a fourth coordinate data of the measuring device; and correcting the sensing device according to the first coordinate data, the second coordinate data, the third coordinate data, and the fourth coordinate data. The method of claim 6, wherein the step of embedding the second portion of the hand tool in the second axial direction in the correcting device further comprises the substep of: correcting the hand tool from the correction Extracted from the device. The method of claim 6, wherein the step of embedding the second portion of the hand tool in the second axial direction in the correcting device further comprises the following substep: along one of the hand tools The fulcrum adjusts the hand tool from the first axial direction to the second axial direction.