CN113040910B - Calibration method of tracer on tail end of surgical navigation robot - Google Patents
Calibration method of tracer on tail end of surgical navigation robot Download PDFInfo
- Publication number
- CN113040910B CN113040910B CN202110262892.2A CN202110262892A CN113040910B CN 113040910 B CN113040910 B CN 113040910B CN 202110262892 A CN202110262892 A CN 202110262892A CN 113040910 B CN113040910 B CN 113040910B
- Authority
- CN
- China
- Prior art keywords
- robot
- coordinate system
- optical tracker
- marker
- matrix
- 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.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
A calibration method for a tracer on the tail end of a surgical navigation robot belongs to the technical field of medical assistance, and comprises the steps of directly reading the coordinates of the tracer on the tail end of the robot under a coordinate system of an optical tracker by using the optical tracker, and calculating the coordinates of the tracer on the tail end of the robot by recording the coordinates of 3 different positions under the optical tracker respectively.
Description
Technical Field
The invention belongs to the technical field of medical assistance, relates to a calibration method of a tracer on the tail end of a surgical navigation robot, and particularly relates to position calibration of a marker arranged on the tracer on the tail end of the surgical navigation robot.
Background
With the widespread application of minimally invasive surgery and the increasing requirement on the positioning precision of instruments or internal implants in surgery in recent years, auxiliary positioning or surgery navigation systems based on medical image guidance have been greatly developed.
Such systems are generally divided into several large components: a CTCB machine, an optical tracker and a navigation robot; the CTCB machine is used for establishing three-dimensional medical images, the optical tracker tracks the positions of the robot and the patient through a specific tracer, and the navigation robot is used for finishing the final operation. To complete the surgery, registration is first performed, i.e., coordinate transformation relationships between the CTCB machine, the optical tracker, and the navigation robot are established. And then planning the operation, namely planning the operation path by the doctor according to the three-dimensional medical image model established by the CTCB machine. And finally, a surgical implementation part is carried out, namely, a planned surgical path is placed on the surgical path through a handheld surgical guide or an executing mechanism such as a control robot positions the guide on the surgical path, and a doctor completes surgical operation or implantation of the implant through the aid of the guide.
The most central one of the above steps is to establish a system coordinate transformation relationship, namely registration, and finally realize the connection between the operation target and the executing mechanism, and finally the executing mechanism can position the path through the planned path in the three-dimensional image. With the great improvement of the precision of the optical tracker, a high-precision navigation system registration scheme is generally adopted, a coordinate conversion relation between a CTCB machine (with consistent surgical target coordinates) and the optical tracker is established, then the coordinate conversion relation between the optical tracker and a navigation robot is established, and finally the coordinates of the surgical target and the navigation robot are established.
Further, to establish the coordinate transformation relationship between the optical tracker and the navigation robot, a special tracer with more than 3 markers is required to be installed at the end of the navigation robot, and the markers on the tracer have coordinates under the coordinate system of the optical tracker and the coordinate system of the navigation robot. The marker on the tracer can be directly identified by the optical tracker and the coordinates under the coordinate system of the optical tracker are calculated, while the coordinates of the navigation robot are calculated by the position of the marker relative to the tail end of the robot, and the position of the marker relative to the tail end of the robot is difficult to directly measure, and the corresponding coordinates are generally calculated according to the design size of the tracer.
In the prior art, when the coordinates of the tracer marker in the terminal coordinate system of the robot are required to be acquired, one method is to use a special positioning and ranging instrument which is very expensive and cannot be popularized in hospitals, and the other method is to rely on the machining and assembling precision of the robot, so that once a tracer with the precision which does not meet the specified requirement is installed, the precision of the whole system is difficult to guarantee, and the consequence is very serious.
Disclosure of Invention
The invention provides a calibration method of a tracer at the tail end of a surgical navigation robot, aiming at the problem that the position of the tracer at the tail end of the surgical navigation robot is difficult to measure at present, and the coordinates of the tracer at the tail end of the surgical navigation robot can be accurately calibrated without expensive instruments.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a calibration method for a tracer on the tail end of a surgical navigation robot is characterized in that an optical tracker is utilized to directly read the coordinates of the tracer on the tail end of the robot under the coordinate system of the optical tracker, and the coordinates of the tracer on the tail end of the robot under the tail end of the robot are finally calculated by recording the coordinates of 3 different positions under the optical tracker, and comprises the following steps:
the method comprises the following steps of presetting a coordinate system G of a robot base, a coordinate system E of a robot tail end flange, a coordinate system C of an optical tracker, installing markers capable of reflecting infrared light on a tracer, setting the number of the markers to be n, wherein n is more than or equal to 3, fixing the tracer on the robot tail end flange, and enabling the robot to be a 6-axis robot, wherein the method comprises the following specific steps:
step 1: and moving the robot to a specific position, wherein the direction of the z-axis of a flange coordinate system E at the tail end of the robot is required to be consistent with or opposite to the direction of the z-axis of a robot base coordinate system G, the direction of the 5 th axis of the robot is required to be the same as the direction of the y-axis under the E coordinate system, and the position of the marker on the tracer at the moment relative to the robot base coordinate system G is 0.
Step 2: the optical tracker is moved so that the robot end flange is within the visible range of the optical tracker.
And step 3: and rotating the 6 th axis theta angle of the robot to enable infrared light reflected by the marker on the tracer to be received by the optical tracker, wherein the position of the marker on the tracer relative to the robot base coordinate system G at the moment of marking is 1, and recording the coordinates of the marker on the tracer under the optical tracker coordinate system C by using the optical tracker.
And 4, step 4: rotating the 6 th axis by an angle alpha within a range of 20-90 degrees, wherein the tracer is required to be within the visible range of the optical tracker after being rotated, translating the length of L in the Z axis upwards or downwards, and moving the L not to exceed the visible range of the optical tracker, wherein the position of the marker on the tracer at the moment relative to the robot base coordinate system G is 2, and the optical tracker is used for recording the coordinates of the marker on the tracer under the optical tracker coordinate system C.
And 5: returning to the position 1, rotating the 5 th axis by an angle beta within the range of 20-90 degrees, wherein the tracer is required to be within the visible range of the optical tracker after rotation, marking the position of the marker on the tracer at the moment relative to the robot base coordinate system G to be 3, and recording the coordinates of the marker on the tracer under the optical tracker coordinate system C by using the optical tracker.
Step 6: and calculating the coordinates of the marker on the tracer in the space of the robot tail end coordinate system E through the coordinates of the marker under the optical tracker coordinate system C recorded at the positions 1, 2, and 3 on the optical tracker and the position transformation matrix of the robot.
In the above step, let the coordinate transformation matrix of the robot end coordinate system E from position 1 to position 0 be
The matrix is a 4x4 homogeneous matrix, and is specifically represented as
Further, let a coordinate transformation matrix of the robot end coordinate system E from position 2 to position 1 be
Assuming that the step 4 is offset by a along the Z axis, if a is equal to L in the same direction as the Z axis, and if a is equal to L in the opposite direction, the matrix is a 4x4 homogeneous matrix, specifically denoted as
Further, let a coordinate transformation matrix of the robot end coordinate system E from position 3 to position 1 be
Assuming that the shortest distance from the center point of the end flange to the center line of the 5 th axis is b, unit mm, the matrix is a 4x4 homogeneous matrix, which is specifically shown as
Further, at position 1, the transformation matrix from the optical tracker coordinate system C to the robot end coordinate system E is B, denoted as B
Setting any marker P point of the tracer, and reading homogeneous coordinate P by the optical tracker at the position 1C1＝[PC1x PC1y PC1z 1]TAt position 2, the homogeneous coordinate read by the optical tracker is PC2＝[PC2x PC2y PC2z 1]TThe homogeneous coordinate read by the optical tracker at position 3 is PC3＝[PC3x PC3y PC3z 1]TThen there is
The above two equations are written as a general expression
B·[x'y'z'1]T＝A·B·[x y z 1]T (3)
Wherein matrix A takes the value of
Can be expressed as
And performing matrix operation on the matrixes A and B, wherein the final result is as follows:
let matrix X ═ B11,B12,B13,B14,B21,B22,B23,B24,B31,B32,B33,B34]TThe above can be expressed as a matrix
Substituting the variables in the formula (1) into the formula (3) specifically as follows:
[x' y' z' 1]T＝PC2＝[PC2x PC2y PC2z 1]T，
[x y z 1]T＝PC1＝[PC1x PC1y PC1z 1]T
by equation (4), 3 equations can be derived for each marker on the tracer, for a total of n markers, 3n equations can be derived,
also, 3n equations can be obtained by substituting the variables in equation (2) into equation (3). That is, there are 6n equations in total, and the unknown variable is only X ═ B11,B12,B13,B14,B21,B22,B23,B24,B31,B32,B33,B34]T. Finally obtaining X ═ B through Singular Value Decomposition (SVD)11,B12,B13,B14,B21,B22,B23,B24,B31,B32,B33,B34]TI.e. the values of the matrix B are obtained.
Then the homogeneous coordinate P of any marker in the robot end coordinate system EE＝[PEx PEy PEz 1]Can be represented by formula
PE＝B·PC1
And (6) calculating.
Compared with the prior art, the calibration method of the tracer at the tail end of the surgical navigation robot provided by the invention can accurately calculate the coordinates of the marker without using a professional measuring instrument, avoids errors caused by processing precision, improves the precision of the whole surgical navigation system, and is simple in operation, low in cost and convenient to popularize.
Drawings
FIG. 1 is a schematic representation of a marker position 1 according to the present invention;
FIG. 2 is a schematic view of a marker position 2 of the present invention;
FIG. 3 is a schematic view of a marker position 3 of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1 to fig. 3, in the calibration method for the tracer at the distal end of the surgical navigation robot provided in this embodiment, the optical tracker is used to directly read the coordinates of the tracer at the distal end of the robot in the coordinate system of the optical tracker, and the coordinates of the tracer at the distal end of the robot are calculated by recording the coordinates of 3 different positions respectively under the optical tracker.
Wherein 1 is the robot, 2 is the tracer, 3 is the optical tracker, 11 is the robot base, 12 is the terminal flange of robot, 13 is the 5 th axle of robot, 14 is the 6 th axle of robot, 21 is the marker. The tracer 2 is fixed to the robot end flange 12 and the optical tracker 3 can read the coordinates of the markers 21 on the tracer 2 with 4 markers 21 on the tracer 2.
Presetting a coordinate system G of a robot base 11, a coordinate system E of a flange 12 at the tail end of a robot 1, a coordinate system C of an optical tracker 3 and a 6-axis robot 1, and specifically comprising the following steps:
step 1: the robot is moved to the position shown in fig. 1, where the end coordinate system E is shown, where the z-axis of the coordinate system E of the robot end flange 12 is in the opposite direction to the z-axis of the coordinate system B of the robot base 11, the x-axis of the coordinate system E is the same as the x-axis of the coordinate system B, and the y-axis of the coordinate system E is opposite to the y-axis of the coordinate system B.
And 2, step: the optical tracker 3 is moved so that the robot end flange 12 is within the visual range of the optical tracker 3.
And step 3: the 6 th axis θ is rotated by an angle θ, where θ is 0, so that the infrared light reflected by the marker 21 on the tracer 2 is received by the optical tracker 3, the position of the marker 21 on the tracer 2 relative to the robot base coordinate system G at the time of marking is 1, and the coordinates of the marker 21 on the tracer 2 in the optical tracker 3 coordinate system C are recorded by the optical tracker 3.
And 4, step 4: the 6 th axis of rotation α is 30 degrees and the Z axis is translated upwards by 20mm, marking the position of the marker 21 on the tracer 2 at this time with respect to the robot base coordinate system G by 2, and the coordinates of the marker 21 on the tracer 2 in the optical tracker 3 coordinate system C are recorded by the optical tracker 3.
And 5: returning to position 1, the 5 th axis β is rotated by 30 degrees, the position of the marker 21 on the tracer 2 at this time is marked as 3 with respect to the robot base coordinate system G, and the coordinates of the marker 21 on the tracer 2 in the optical tracker 3 coordinate system C are recorded by the optical tracker 3.
Step 6: the coordinates of the marker 21 on the tracer 2 in the space of the robot end coordinate system E are calculated from the coordinates of the marker 21 recorded on the optical tracker 3 at positions 1, 2, 3 in the coordinate system C of the optical tracker 3 and the position transformation matrix of the robot 1.
The robot 1 in the step is a 6-axis robot.
In the above steps, a coordinate transformation matrix of the robot end flange coordinate system E from the position 1 to the position 0 is set as
The matrix is a 4x4 homogeneous matrix, specifically expressed as (current θ ═ 0)
Further, let the coordinate transformation matrix of robot end flange coordinate system E from position 2 to position 1 be
When a is-20The matrix is a 4x4 homogeneous matrix, specifically denoted as (in this case, 30)
Further, let a coordinate conversion matrix of the robot end flange coordinate system E from position 3 to position 1 be
The shortest distance from the center point of the robot end flange 12 to the center line of the 5 th axis used in this example is 94, mm, which is a 4x4 homogeneous matrix, specifically denoted as (in this case, 30)
Further, at position 1, the transformation matrix from the optical tracker coordinate system C to the robot end flange coordinate system E is B, denoted as B
Let any marker 21 of the tracer 2 be point P, and the homogeneous coordinate read by the optical tracker 3 at position 1 be point PC1＝[PC1x PC1y PC1z 1]TAt position 2, the homogeneous coordinate read by optical tracker 3 is PC2＝[PC2x PC2y PC2z 1]TAt position 3, the homogeneous coordinate read by the optical tracker 3 is PC3＝[PC3x PC3y PC3z 1]TThen there is
The above two equations are written as a general expression
B·[x' y' z'1]T＝A·B·[x y z 1]T (3)
Wherein the matrix A is represented as
And carrying out matrix operation on the matrixes A and B, wherein the final result is as follows:
let matrix X ═ B11,B12,B13,B14,B21,B22,B23,B24,B31,B32,B33,B34]TThe above can be expressed as a matrix
Substituting the variables in the formula (1) into the formula (3) specifically as follows:
[x' y' z'1]T＝PC2＝[PC2x PC2y PC2z 1]T，
[x y z 1]T＝PC1＝[PC1x PC1y PC1z 1]T
from equation (4), 3 equations can be derived for each marker 21 on the tracer 2, for a total of 4 markers, 12 equations can be derived,
also according to the variable in the formula (2), substituting into the formula(3) In (2), 12 equations can also be derived. That is, there are 24 equations in total, and the unknown variable is only X ═ B11,B12,B13,B14,B21,B22,B23,B24,B31,B32,B33,B34]T. Finally obtaining X ═ B through Singular Value Decomposition (SVD)11,B12,B13,B14,B21,B22,B23,B24,B31,B32,B33,B34]TI.e. the values of the matrix B are obtained.
Then the homogeneous coordinate P of any marker 21 in the robot end flange coordinate system EE＝[PEx PEy PEz 1]Can be represented by
PE＝B·PC1
It is calculated that the coordinates of the 4 markers 21 on the tracer 2 of this example in space at the end E of the robot are finally calculated.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical idea proposed by the present invention fall within the protection scope of the claims of the present invention. The technology not related to the invention can be realized by the prior art.
Claims (7)
1. A calibration method of a tracer on the tail end of a surgical navigation robot is characterized by comprising the following steps: directly reading the coordinates of a marker on a tracer at the tail end of the robot under an optical tracker coordinate system by using an optical tracker, and calculating the coordinates of the marker in a flange coordinate system space at the tail end of the robot by recording the coordinates of 3 different positions under the optical tracker coordinate system and a position transformation matrix of the robot;
the specific method comprises the following steps: presetting a coordinate system G of a robot base, a coordinate system E of a robot tail end flange and a coordinate system C of an optical tracker, wherein markers capable of reflecting infrared light are installed on the tracers, the number of the markers is n, n is more than or equal to 3, the tracers are fixed on the robot tail end flange, the robot is a 6-axis robot, and the method comprises the following steps:
step 1: fixing the robot, setting the direction of the z axis of the robot end flange coordinate system E to be consistent with or opposite to the direction of the z axis of the robot base coordinate system G, setting the direction of the 5 th axis of the robot to be the same as the direction of the y axis under the robot end flange coordinate system E, and marking the position of the marker relative to the robot base coordinate system G at the moment to be 0;
step 2: fixing the optical tracker such that the robot end flange is within a visible range of the optical tracker;
and step 3: rotating the 6 th axis theta angle of the robot to enable infrared light reflected by the rotated marker to be received by the optical tracker, marking the position of the marker relative to the robot base coordinate system G at the moment to be 1, and recording the coordinates of the marker in the optical tracker coordinate system C by using the optical tracker;
and 4, step 4: rotating the 6 th axis alpha of the robot by an angle so that infrared light reflected by the rotated marker can be received by the optical tracker, translating the robot end flange coordinate system E upwards or downwards by an L length along the Z axis, and keeping the moved position within the visible range of the optical tracker, wherein the position of the marker relative to the robot base coordinate system G at the moment is 2, and recording the coordinates of the marker in the optical tracker coordinate system C by the optical tracker;
and 5: returning to the position 1, rotating the 5 th axis beta of the robot by an angle so that the infrared light reflected by the marker can be received by the optical tracker, marking the position of the marker relative to the robot base coordinate system G at the moment as 3, and recording the coordinates of the marker in the optical tracker coordinate system C by the optical tracker;
step 6: and calculating the coordinates of the marker in the robot end flange coordinate system E space through the coordinates of the marker in the optical tracker coordinate system C recorded at the positions 1, 2 and 3 on the optical tracker and the position transformation matrix of the robot.
2. A method for calibrating a tracer according to claim 1, wherein: setting a coordinate transformation matrix of a robot tail end flange coordinate system E from a position 1 to a position 0 as
The matrix is a 4x4 homogeneous matrix, which is specifically expressed as:
3. a method for calibrating a tracer according to claim 1, wherein: setting a coordinate transformation matrix of a robot tail end flange coordinate system E from a position 2 to a position 1 as
Assuming that the offset of step 4 along the Z axis is a, if the offset direction is the same as the Z axis, a is L, and if the offset direction is opposite to the Z axis, a is L, the matrix is a 4x4 homogeneous matrix, which is specifically expressed as:
4. the method for calibrating a tracer according to claim 1, wherein: setting a coordinate transformation matrix of a robot tail end flange coordinate system E from a position 3 to a position 1 as
Assuming that the shortest distance from the center point of the end flange to the center line of the 5 th axis is b, unit mm, the matrix is a 4x4 homogeneous matrix, which is specifically shown as：
5. A method for calibrating a tracer according to claim 1, wherein: when the optical tracker is arranged at the position 1, a transformation matrix from the optical tracker coordinate system C to the robot end flange coordinate system E is B, and is represented as follows:
6. a method for calibrating a tracer according to claim 5, wherein: if the marker is a point P, the homogeneous coordinate read by the optical tracker at the position 1 is PC1＝[PC1x PC1y PC1z 1]TAt said position 2 the homogeneous coordinate read by the optical tracker is PC2＝[PC2x PC2y PC2z 1]TAt said position 3 the homogeneous coordinate read by the optical tracker is
PC3＝[PC3x PC3y PC3z 1]TThen, there are:
the two equations of the formulas (1) and (2) are written as a general expression, and are:
B·[x' y' z' 1]T＝A·B·[x y z 1]T (3)
where matrix A is represented as:
and carrying out matrix operation on the matrixes A and B, wherein the final result is as follows:
let matrix X ═ B11,B12,B13,B14,B21,B22,B23,B24,B31,B32,B33,B34]TThen, the result of the above matrix budget can be expressed as:
7. method for calibrating a tracer according to claim 6, characterized in that: substituting the variables in the formula (1) into the formula (3) specifically as follows:
[x' y' z' 1]T＝PC2＝[PC2x PC2y PC2z 1]T，
[x y z 1]T＝PC1＝[PC1x PC1y PC1z 1]T
by the formula (4), each marker on the tracer can obtain 3 equations, and if n markers exist, 3n equations can be obtained;
when the variables in equation (2) are substituted into equation (3), 3n equations can be similarly obtained, there are 6n equations in total, and the unknown variable is only X ═ 2 [, ]B11,B12,B13,B14,B21,B22,B23,B24,B31,B32,B33,B34]T(ii) a Obtaining the value of X through singular value decomposition to obtain the value of a matrix B, and obtaining the homogeneous coordinate P of the marker in a robot end flange coordinate system EE＝[PEx PEy PEz 1]Can be calculated by the formula:
PE＝B·PC1。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110262892.2A CN113040910B (en) | 2021-03-11 | 2021-03-11 | Calibration method of tracer on tail end of surgical navigation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110262892.2A CN113040910B (en) | 2021-03-11 | 2021-03-11 | Calibration method of tracer on tail end of surgical navigation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113040910A CN113040910A (en) | 2021-06-29 |
| CN113040910B true CN113040910B (en) | 2022-05-10 |
Family
ID=76511823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110262892.2A Active CN113040910B (en) | 2021-03-11 | 2021-03-11 | Calibration method of tracer on tail end of surgical navigation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113040910B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114948211A (en) * | 2022-06-28 | 2022-08-30 | 南京普爱医疗设备股份有限公司 | Tracking device and self-compensation tracking method for orthopedic surgery robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109925055A (en) * | 2019-03-04 | 2019-06-25 | 北京和华瑞博科技有限公司 | Totally digitilized total knee replacement surgical robot system and its simulation operation method |
| CN111803211A (en) * | 2020-07-13 | 2020-10-23 | 北京大学口腔医学院 | Jaw positioning system and method for maxillofacial surgery |
| CN111956325A (en) * | 2020-07-01 | 2020-11-20 | 北京和华瑞博医疗科技有限公司 | Accurate positioning device, method and system for medical instrument |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10499997B2 (en) * | 2017-01-03 | 2019-12-10 | Mako Surgical Corp. | Systems and methods for surgical navigation |
| CN107028659B (en) * | 2017-01-23 | 2023-11-28 | 新博医疗技术有限公司 | Surgical navigation system and navigation method under guidance of CT image |
| CN109974584B (en) * | 2019-04-12 | 2020-03-20 | 山东大学 | Calibration system and calibration method for auxiliary laser osteotomy robot |
| CN110101452A (en) * | 2019-05-10 | 2019-08-09 | 山东威高医疗科技有限公司 | A kind of optomagnetic integrated positioning navigation method for surgical operation |
| CN111227935A (en) * | 2020-02-20 | 2020-06-05 | 中国科学院长春光学精密机械与物理研究所 | Surgical robot navigation positioning system |
-
2021
- 2021-03-11 CN CN202110262892.2A patent/CN113040910B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109925055A (en) * | 2019-03-04 | 2019-06-25 | 北京和华瑞博科技有限公司 | Totally digitilized total knee replacement surgical robot system and its simulation operation method |
| CN111956325A (en) * | 2020-07-01 | 2020-11-20 | 北京和华瑞博医疗科技有限公司 | Accurate positioning device, method and system for medical instrument |
| CN111803211A (en) * | 2020-07-13 | 2020-10-23 | 北京大学口腔医学院 | Jaw positioning system and method for maxillofacial surgery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113040910A (en) | 2021-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3254621B1 (en) | 3d image special calibrator, surgical localizing system and method | |
| US12011230B2 (en) | Calibration method and device for dental implant navigation surgery, and tracking method and device for dental implant navigation surgery | |
| CN108742841B (en) | Tool real-time positioning device of multi-position tracker | |
| CN109077822A (en) | A kind of the dentistry plantation mobile phone calibration system and method for view-based access control model measurement | |
| CN113524201B (en) | Active adjusting method and device for pose of mechanical arm, mechanical arm and readable storage medium | |
| CN110547872A (en) | Operation navigation registration system | |
| CN113040910B (en) | Calibration method of tracer on tail end of surgical navigation robot | |
| CN106580473A (en) | Operation appliance calibration method applied to operation navigation system | |
| CN112932667A (en) | Special positioning scale for three-dimensional image, operation navigation system and positioning method thereof | |
| CN112581544B (en) | Camera calibration method without public view field based on parameter optimization | |
| CN112006776A (en) | Surgical navigation system and registration method thereof | |
| CN114224489A (en) | Trajectory tracking system for surgical robot and tracking method using the same | |
| US11986253B2 (en) | Movable tracker system | |
| CN116942314A (en) | Positioning method and system for mixing optical positioning and mechanical positioning | |
| Tauscher et al. | High-accuracy drilling with an image guided light weight robot: autonomous versus intuitive feed control | |
| Eilers et al. | Navigated, robot assisted drilling of a minimally invasive cochlear access | |
| CN114782546B (en) | Eye-marking relation calibration method for cascade stereoscopic vision system slave eye equipment | |
| CN115813556A (en) | Surgical robot calibration method and device, surgical robot and storage medium | |
| TWI735390B (en) | Method for real-time positioning compensation of image positioning system and image positioning system capable of real-time positioning compensation | |
| CN113771096A (en) | Method and device for processing pose information of mechanical arm | |
| CN114209433A (en) | Surgical robot navigation positioning method and device | |
| Vagdargi et al. | Robot-assisted ventriculoscopic 3D reconstruction for guidance of deep-brain stimulation surgery | |
| CN112697091A (en) | Tracking scanning system, calibration method and measurement method of relay tracker | |
| CN117323008A (en) | Method for calibrating and positioning ear-nose-throat surgical instrument under ear-nose-throat electromagnetic navigation system | |
| CN113349931B (en) | Focus registration method for high-precision operation navigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220919 Address after: 3rd Floor, Building 12, No. 933 Yonghe Road, Qinzao Street, Chongchuan District, Nantong City, Jiangsu Province 226007 Patentee after: Jiangsu Yidong Medical Equipment Co.,Ltd. Address before: 210012 402, 4th floor, building B, No.18, ningshuang Road, Yuhuatai District, Nanjing City, Jiangsu Province Patentee before: Nanjing Yidong Intelligent Technology Co.,Ltd. |