CN113855286A - Implant robot navigation system and method - Google Patents

Implant robot navigation system and method Download PDF

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Publication number
CN113855286A
CN113855286A CN202111122251.3A CN202111122251A CN113855286A CN 113855286 A CN113855286 A CN 113855286A CN 202111122251 A CN202111122251 A CN 202111122251A CN 113855286 A CN113855286 A CN 113855286A
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coordinate system
tool
tracer
patient
pose
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CN113855286B (en
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汪阳
房鹤
万安
崔小飞
田忠正
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Sichuan Fengzhun Robot Technology Co ltd
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Sichuan Fengzhun Robot Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
    • 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
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
    • A61C8/0089—Implanting tools or instruments

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Abstract

The invention provides a guidance system and a method for a tooth implantation robot, wherein the system comprises: the device comprises a controller, a mechanical arm, a surgical cutter, an optical locator, a tool tracer, a patient tracer and a cutter calibrator; the surgical knife and the tool tracer are fixedly arranged at the tail end of the mechanical arm; the patient tracer is secured to a non-dental implant tooth of a patient. Has the advantages that: the robot navigation system utilizes CT scanning image planning before the art to plant a tooth operation route and navigate, and in the navigation process, carry out real-time correction to planting tooth operation route, in addition, utilize optical positioning appearance tracking operation cutter's position and gesture, thereby guide the motion of mechanical arm, drive operation cutter reachs planting tooth route, can realize the accurate positioning of operation cutter position and direction, have the advantage of location accuracy, job stabilization, can guarantee the precision of operation, effectively reduce the requirement to doctor's operation, and reduce doctor's working strength.

Description

Implant robot navigation system and method
Technical Field
The invention belongs to the technical field of navigation and positioning of surgical robots, and particularly relates to a navigation system and a navigation method of a dental implant robot.
Background
The traditional dental implant surgery method comprises the following steps: before the operation is started, the tooth implantation condition needs to be subjected to perspective scanning, so that an operation scheme is formulated; then, during the operation, the doctor holds the scalpel by hand, and performs the operation by experience. This dental implant surgery method has the following problems: the doctor holds the scalpel by hand to perform the operation, the operation precision and the stability level are lower, and the precision of the operation cannot be ensured.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a navigation system and a navigation method for a tooth implantation robot, which can effectively solve the problems.
The technical scheme adopted by the invention is as follows:
the invention provides a guidance system for a dental implant robot, comprising: the device comprises a controller, a mechanical arm, a surgical cutter, an optical locator, a tool tracer, a patient tracer and a cutter calibrator; the surgical knife and the tool tracer are fixedly arranged at the tail end of the mechanical arm; the patient tracer is fixed on a non-implanted tooth of a patient;
wherein: the cutter calibrator comprises 4 optical positioning balls and a calibration hole; after the calibration hole of the cutter calibrator is sleeved at the tail end of the surgical cutter, the top point of the tail end of the surgical cutter coincides with the center point of the top end of the calibration hole, and the axial direction of the surgical cutter coincides with the axial direction of the calibration hole.
Preferably, the mechanical arm is a 6-degree-of-freedom cooperative mechanical arm and is arranged on the mechanical arm base; the robot base forms a robot base coordinate system { B }, the mechanical interface at the end of the robot is called TCP, and a robot TCP coordinate system { E }.
Preferably, the tool tracer comprises a rigid support, and 4 optical positioning balls are fixedly mounted on the rigid support.
Preferably, the patient tracer comprises a rigid support which is not easy to image in the CT image, one end of the rigid support of the patient tracer is fixed on the non-implanted tooth of the patient, and the other end of the rigid support of the patient tracer is provided with 9 titanium beads and 4 optical positioning balls.
The invention also provides a method of the dental implant robot navigation system, which comprises the following steps:
step S1, calibrating in advance to obtain a conversion matrix from a tool tracer coordinate system { T } to a mechanical arm TCP coordinate system { E }TTE：
Step S1.1, controlling a mechanical arm TCP to randomly move n poses to obtain the following n equations:
OTB＝OTT1·TTE·E1TB
OTB＝OTT2·TTE·E2TB
...
OTB＝OTTn·TTE·EnTB
wherein:
OTB: representing the transformation matrix from the coordinate system { O } of the optical position finder to the coordinate system { B } of the mechanical arm base, because the mechanical arm base and the optical position finder are fixed in the motion process of the mechanical arm TCP, the mechanical arm base and the optical position finder are not movedOTBIs always unchanged and is a known fixed value;
O T Ti1,2, n: when the representative mechanical arm TCP randomly moves to the ith pose, a conversion matrix from the optical position indicator coordinate system { O } to the tool tracer coordinate system { T } is obtained by the following method: when the mechanical arm TCP randomly moves to the ith pose, measuring and obtaining the three-dimensional position coordinates of each optical positioning ball on the tool tracer in an optical positioning instrument coordinate system { O } through the optical positioning instrument; and combining the three-dimensional position coordinates of each optical positioning ball on the known tool tracer under the coordinate system { T } of the tool tracer to obtain a conversion matrixOTTi；
TTE: transformation matrix representing tool tracer coordinate system { T } to mechanical arm TCP coordinate system { E }TTEIn machinesIn the process of the movement of the arm TCP,TTEthe value is fixed and unchanged and is to be evaluated;
Ei T B1,2, n: representing that a transformation matrix from a mechanical arm TCP coordinate system { E } to a mechanical arm base coordinate system { B } is a known value when the mechanical arm TCP randomly moves to the ith pose;
s1.2, solving an equation set formed by n equations by adopting a least square method to obtain a conversion matrix from a tool tracer coordinate system { T } to a mechanical arm TCP coordinate system { E }, wherein the conversion matrix is formed by using a method of calculating the equation setTTE；
Step S2, calibrating in advance to obtain the relative pose relationship between the surgical knife and the tool tracer, namely: obtaining the three-dimensional position coordinate Q of the vertex Q of the surgical knife end in the coordinate system { T } of the tool tracerTAnd the direction vector of the axis direction of the surgical tool in the tool tracer coordinate system { T }
Figure BDA0003277393680000031
S2.1, sleeving the cutter calibrator at the tail end of the surgical cutter, so that the top point of the tail end of the surgical cutter is superposed with the central point of the top end of the calibration hole of the cutter calibrator, and the axial direction of the surgical cutter is superposed with the axial direction of the calibration hole of the cutter calibrator;
s2.2, obtaining a conversion matrix from a tool tracer coordinate system { T } to an optical position indicator coordinate system { O } through an optical position indicatorTTOAnd a transformation matrix from the tool calibrator coordinate system { K } to the optical position finder coordinate system { O }KTO；
The specific method comprises the following steps: measuring and obtaining three-dimensional position coordinates of each optical positioning ball on the tool tracer in an optical positioning instrument coordinate system { O } through an optical positioning instrument; and combining the three-dimensional position coordinates of each optical positioning ball on the known tool tracer under the coordinate system { T } of the tool tracer to obtain a conversion matrixTTO；
Measuring and obtaining three-dimensional position coordinates of each optical positioning ball on the cutter calibrator under an optical positioning instrument coordinate system { O } through an optical positioning instrument; then combined with the known tool calibratorObtaining the three-dimensional position coordinates of each optical positioning ball under the coordinate system { K } of the tool calibrator to obtain a conversion matrixKTO；
S2.3, obtaining a conversion matrix from the coordinate system { K } of the tool calibrator to the coordinate system { T } of the tool tracer by adopting the following formulaKTT：
KTT＝KTO·(TTO)-1
S2.4, obtaining a three-dimensional position coordinate P of the top center point of the calibration hole of the cutter calibrator in a cutter calibrator coordinate system { K }KAnd the direction vector of the axis direction of the calibration hole of the tool calibrator in the tool calibrator coordinate system { K }
Figure BDA0003277393680000041
According to the following formula, three-dimensional position coordinates P of the center point of the top end of the calibration hole of the tool calibrator in the tool calibrator coordinate system { K }KAnd converting the coordinate into a tool tracer coordinate system { T }, and obtaining a three-dimensional position coordinate P of the top center point of the calibration hole in the tool tracer coordinate system { T }T：
Figure BDA0003277393680000042
According to the following formula, the direction vector of the axis direction of the calibration hole of the tool calibrator in the tool calibrator coordinate system { K }
Figure BDA0003277393680000043
Converting the direction vector into a tool tracer coordinate system { T }, and obtaining a direction vector of the axis direction of the calibration hole in the tool tracer coordinate system { T }
Figure BDA0003277393680000044
Figure BDA0003277393680000045
Wherein:
i is a 3 × 3 identity matrix;
s2.5, calibrating three-dimensional position coordinates P of the center point of the top end of the hole in a tool tracer coordinate system { T }TThree-dimensional position coordinate Q equal to surgical tool tip vertex Q in tool tracer coordinate system { T }T(ii) a Calibrating a direction vector of a hole axis direction in a tool tracer coordinate system { T }
Figure BDA0003277393680000046
Direction vector equal to the axial direction of the surgical tool in the tool tracer coordinate system { T }
Figure BDA0003277393680000047
Therefore, the relative pose relation between the surgical knife and the tool tracer is obtained through marking;
step S3, obtaining the transformation matrix from the coordinate system { C } of the CT scanner to the coordinate system { O } of the optical position finderCTO：
S3.1, scanning and imaging the tracer of the patient by using a CT scanner to enable the titanium beads of the tracer of the patient to be imaged in a CT image; analyzing the CT image to obtain the three-dimensional position coordinates of the titanium beads in a coordinate system { C } of a CT scanner;
s3.2, measuring and obtaining three-dimensional position coordinates of each optical positioning ball on the patient tracer in an optical positioning instrument coordinate system { O }, through an optical positioning instrument;
and step S3.3, because the three-dimensional position coordinates of the titanium bead of the patient tracer in the patient tracer coordinate system { S } and the three-dimensional position coordinates of each optical positioning ball of the patient tracer in the patient tracer coordinate system { S } are fixed values, combining the three-dimensional position coordinates of the titanium bead in the CT scanner coordinate system { C } and the three-dimensional position coordinates of each optical positioning ball of the patient tracer in the optical positioning instrument coordinate system { O } to obtain a conversion matrix from the CT scanner coordinate system { C } to the optical positioning instrument coordinate system { O }, wherein the three-dimensional position coordinates of each optical positioning ball of the patient tracer in the patient tracer coordinate system { C } are fixed valuesCTO；
Step 4, before the operation is started, the patient wears the patient tracer to carry out CT scanning to obtain a CT scannerThe dental implant image under the coordinate system { C } is analyzed and planned to obtain the entry point A of the dental implant path under the coordinate system { C } of the CT scannerCAnd direction of the path
Figure BDA0003277393680000051
The entry point A of the implant path under the coordinate system { C } of the CT scanner is determined by the following formulaCAnd direction of the path
Figure BDA0003277393680000052
Converting the coordinate system of the optical positioning instrument into the coordinate system { O }, and obtaining the entry point A of the dental implant path under the coordinate system { O } of the optical positioning instrumentOAnd direction of the path
Figure BDA0003277393680000053
Entry point A of dental implant path under the optical locator coordinate system { O }OAnd direction of the path
Figure BDA0003277393680000054
Simultaneously, the pose of the surgical knife target is obtained;
Figure BDA0003277393680000055
Figure BDA0003277393680000056
wherein:
i is a 3 × 3 identity matrix;
step 5, in the navigation process, measuring in real time to obtain the real-time pose of the surgical knife by an optical position finder by adopting the following method; the real-time pose of the surgical knife comprises a three-dimensional position coordinate Q of a tail end vertex Q of the surgical knife under an optical position finder coordinate system { O }, wherein the three-dimensional position coordinate Q is a three-dimensional position coordinate of the tail end vertex Q of the surgical knife under the optical position finder coordinate system { O }, andOand the direction vector of the axial line direction of the surgical tool under the coordinate system { O } of the optical positioning instrument
Figure BDA0003277393680000057
Comparing the real-time pose of the surgical tool with the target pose of the surgical tool to obtain the pose deviation of the surgical tool in the optical position indicator coordinate system { O }; and generating a control instruction for the mechanical arm according to the pose deviation of the surgical tool in the optical position indicator coordinate system { O }, and controlling the mechanical arm to drive the surgical tool to move towards the target pose of the surgical tool, so that the real-time pose of the surgical tool continuously approaches the target pose of the surgical tool.
Preferably, in step 5, a control instruction for the mechanical arm is generated according to the pose deviation of the surgical tool, and the mechanical arm is controlled to drive the surgical tool to move towards the target pose of the surgical tool, specifically:
step 5.1, the pose deviation of the surgical knife in the optical position finder coordinate system { O }, including the three-dimensional position coordinate deviation delta QOAnd direction vector deviation
Figure BDA0003277393680000061
Step 5.2, obtaining a conversion matrix from the coordinate system { O } of the optical position finder to the coordinate system { K } of the cutter calibratorOTK(ii) a Wherein, the coordinate system { K } of the tool calibrator is completely the same as the coordinate system of the tool; thus obtaining a conversion matrix from the coordinate system { O } of the optical position finder to the coordinate system { F } of the toolOTF；
According to the transformation matrix from the coordinate system { O } of the optical position finder to the coordinate system { F } of the toolOTFConverting the pose deviation of the surgical knife in the optical position finder coordinate system { O } into the pose deviation of the surgical knife in the knife coordinate system { F };
step 5.3, according to the relative pose relation between the surgical knife and the tool tracer obtained by pre-calibration in the step S2, converting the pose deviation of the surgical knife in the knife coordinate system { F } into the pose deviation of the surgical knife in the tool tracer coordinate system { T };
step 5.4, calibrating the transformation matrix from the tool tracer coordinate system { T } to the mechanical arm TCP coordinate system { E } in advance according to the step S1TTETo display the operation knife on the toolThe pose deviation of the tracker coordinate system { T } is converted into the pose deviation of the surgical tool in the mechanical arm TCP coordinate system { E };
and 5.5, generating a control instruction for the mechanical arm according to the pose deviation of the surgical tool in the TCP coordinate system { E } of the mechanical arm, and controlling the mechanical arm to drive the surgical tool to move towards the target pose of the surgical tool.
Preferably, the method further comprises the following steps:
and 6, updating the pose of the surgical knife target obtained in the step 4 in real time in the navigation process, namely: entry point A of dental implant path under optical locator coordinate system { O }OAnd direction of the path
Figure BDA0003277393680000071
Preferably, step 6 specifically comprises:
6.1, measuring in real time through an optical position finder to obtain the real-time pose of each optical positioning ball on the patient tracer in an optical position finder coordinate system { O };
6.2, converting the real-time pose of each optical positioning ball on the patient tracer under the coordinate system { O } of the optical positioning instrument into the real-time pose of each optical positioning ball on the patient tracer under the coordinate system { S } of the patient tracer according to a conversion matrix from the coordinate system { O } of the optical positioning instrument to the coordinate system { S } of the patient tracer;
6.3, converting the real-time pose of each optical positioning ball on the patient tracer under the patient tracer coordinate system { S } into the real-time pose of each optical positioning ball on the patient tracer under the CT scanner coordinate system { C } according to the conversion matrix from the patient tracer coordinate system { S } to the CT scanner coordinate system { C };
6.4, because the relative pose relationship between the patient teeth and the patient tracer is fixed, converting the real-time pose of each optical positioning ball on the patient tracer under the coordinate system { C } of the CT scanner into the real-time pose of the patient teeth under the coordinate system { C } of the CT scanner;
the real-time pose of the patient's tooth under the CT scanner coordinate system { C } is the entry point of the dental implant pathA previous value and a path direction current value; comparing the current values of the entry point and the path direction of the dental implant path with the current value of the path direction, and planning in the step 4 to obtain the entry point A of the dental implant path under the coordinate system { C } of the CT scannerCAnd direction of the path
Figure BDA0003277393680000072
If the positions of the head of the patient are consistent, the head position of the patient is not changed in the operation process, and the target pose of the surgical knife does not need to be updated; otherwise, the real-time pose of the patient tooth under the CT scanner coordinate system { C } is adopted to update the pose of the surgical knife target.
The invention provides a navigation system and a method of a tooth implantation robot, which have the following advantages:
the invention provides a tooth implantation robot navigation system and a method, wherein the robot navigation system plans a tooth implantation operation path for navigation by using a preoperative CT scanning image, and corrects the tooth implantation operation path in real time in the navigation process, and in addition, an optical positioning instrument is used for tracking the position and the posture of an operation cutter, so that a mechanical arm is guided to move, the operation cutter is driven to reach the tooth implantation path, the accurate positioning of the position and the direction of the operation cutter can be realized, the system and the method have the advantages of accurate positioning and stable work, the precision of the operation can be ensured, the requirement on the operation of a doctor is effectively reduced, and the working intensity of the doctor is reduced.
Drawings
Fig. 1 is a structural diagram of a guidance system of a dental implant robot provided by the invention;
FIG. 2 is a schematic view of a tool tracer;
FIG. 3 is a schematic view of a patient tracer;
FIG. 4 is a schematic view of a tool calibrator.
Wherein:
1 represents a tool tracer; 2 represents a surgical knife; 3 represents a robot arm; 4 represents a patient tracer; 5 represents an optical locator; 6 represents a tool calibrator;
4-1 represents an optical locating sphere on a patient tracer;
4-2 represents titanium beads on a patient tracer;
6-1 represents an optical positioning ball on the tool calibrator;
and 6-2 represents a calibration hole on the tool calibrator.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a tooth implantation robot navigation system and a method, wherein the robot navigation system plans a tooth implantation operation path for navigation by utilizing a preoperative CT scanning image, and corrects the tooth implantation operation path in real time in the navigation process, and in addition, an optical positioning instrument is utilized to track the position and the posture of an operation cutter, so that a mechanical arm is guided to move, the operation cutter is driven to reach the tooth implantation path, the accurate positioning of the position and the direction of the operation cutter can be realized, the advantages of accurate positioning and stable work are realized, the accuracy of the operation can be ensured, the requirement on the operation of a doctor is effectively reduced, and the working intensity of the doctor is reduced.
Referring to fig. 1, the present invention provides a guidance system for a dental implant robot, comprising: the device comprises a controller, a mechanical arm, a surgical cutter, an optical locator, a tool tracer, a patient tracer and a cutter calibrator; the surgical knife and the tool tracer are fixedly arranged at the tail end of the mechanical arm; the patient tracer is fixed on a non-implanted tooth of a patient;
referring to fig. 4, the tool calibrator includes 4 optical locating balls and a calibration hole; after the calibration hole of the cutter calibrator is sleeved at the tail end of the surgical cutter, the top point of the tail end of the surgical cutter coincides with the center point of the top end of the calibration hole, and the axial direction of the surgical cutter coincides with the axial direction of the calibration hole. Coordinates of the optical positioning ball under the coordinate system { K } of the tool calibrator and coordinates P of the center point of the top end of the calibration hole under the coordinate system { K } of the tool calibratorKAnd the direction vector of the axis direction of the calibration hole under the coordinate system { K } of the tool calibrator
Figure BDA0003277393680000091
And calibrating in advance.
The mechanical arm is a 6-freedom-degree cooperative mechanical arm and is arranged on the mechanical arm base; the robot base forms a robot base coordinate system { B }, the mechanical interface at the end of the robot is called TCP, and a robot TCP coordinate system { E }. The conversion relation between the mechanical arm TCP coordinate system { E } and the mechanical arm base coordinate system { B }, namely the pose of the mechanical arm TCP can be read in real time through the controller. In the motion process of the mechanical arm, the mechanical arm base coordinate system { B } is fixed and unchanged, and the mechanical arm TCP coordinate system { E } changes along with the motion of the mechanical arm.
Referring to fig. 2, the tool tracer includes a rigid support on which 4 optical locating balls are fixedly mounted. The coordinates of the 4 optical locating balls under the tool tracer coordinate system { T } are calibrated in advance. During the motion of the arm, the tool tracer coordinate system { T } changes with the arm motion.
Referring to fig. 3, the patient tracer includes a rigid support that is not easily imaged in CT images, and one end of the rigid support of the patient tracer is fixed to the patient's non-implanted tooth, and the other end is fitted with 9 titanium beads and 4 optical positioning balls.
In one embodiment, titanium beads on a patient tracer can be imaged in a CT image, a patient tracer coordinate system { S } can be established based on the titanium beads, and coordinates of 4 optical positioning balls under the patient tracer coordinate system { S } are calibrated in advance; through the measurement of the CT scanner on the titanium beads and the measurement of the optical positioning ball by the optical positioning instrument, a conversion matrix between a coordinate system { C } of the CT scanner and a coordinate system { O } of the optical positioning instrument can be obtained through the conversion calculation of the coordinate systemCTO。
In one embodiment, the optical position finder can obtain coordinates of the optical positioning ball under a coordinate system { O } of the optical position finder through measurement, and then the optical position finder can obtain a conversion matrix between a coordinate system { T } of the tool tracer and a coordinate system { O } of the optical position finder, a conversion matrix between a coordinate system { S } of the patient tracer and a coordinate system { O } of the optical position finder, and a conversion matrix between a coordinate system { K } of the tool tracer and a coordinate system { O } of the optical position finder through measurement of the optical positioning ball on the tool tracer, the patient tracer and the tool calibrator and through coordinate system conversion calculation.
The invention also provides a method of the dental implant robot navigation system, which comprises the following steps:
step S1, calibrating in advance to obtain a conversion matrix from a tool tracer coordinate system { T } to a mechanical arm TCP coordinate system { E }TTENamely the relative pose relationship between the mechanical arm TCP and the tool tracer.
Step S1.1, controlling a mechanical arm TCP to randomly move n poses, for example, 10 poses, and obtaining the following n equations:
OTB＝OTT1·TTE·E1TB
OTB＝OTT2·TTE·E2TB
...
OTB＝OTTn·TTE·EnTB
wherein:
OTB: representing the transformation matrix from the coordinate system { O } of the optical position finder to the coordinate system { B } of the mechanical arm base, because the mechanical arm base and the optical position finder are fixed in the motion process of the mechanical arm TCP, the mechanical arm base and the optical position finder are not movedOTBIs always unchanged and is a known fixed value;
O T Ti1,2, n: when the representative mechanical arm TCP randomly moves to the ith pose, a conversion matrix from the optical position indicator coordinate system { O } to the tool tracer coordinate system { T } is obtained by the following method: when the mechanical arm TCP randomly moves to the ith pose, measuring and obtaining the three-dimensional position coordinates of each optical positioning ball on the tool tracer in an optical positioning instrument coordinate system { O } through the optical positioning instrument; combining the three-dimensional position coordinates of each optical positioning ball on the known tool tracer under the coordinate system { T } of the tool tracerTo obtain a transformation matrixOTTi；
TTE: transformation matrix representing tool tracer coordinate system { T } to mechanical arm TCP coordinate system { E }TTEIn the process of the motion of the TCP of the mechanical arm,TTEthe value is fixed and unchanged and is to be evaluated;
Ei T B1,2, n: when the mechanical arm TCP randomly moves to the ith pose, a conversion matrix from the mechanical arm TCP coordinate system { E } to the mechanical arm base coordinate system { B } is a known value and can be read by a controller;
s1.2, solving an equation set formed by n equations by adopting a least square method to obtain a conversion matrix from a tool tracer coordinate system { T } to a mechanical arm TCP coordinate system { E }, wherein the conversion matrix is formed by using a method of calculating the equation setTTE；
Step S2, calibrating in advance to obtain the relative pose relationship between the surgical knife and the tool tracer, namely: obtaining the three-dimensional position coordinate Q of the vertex Q of the surgical knife end in the coordinate system { T } of the tool tracerTAnd the direction vector of the axis direction of the surgical tool in the tool tracer coordinate system { T }
Figure BDA0003277393680000111
S2.1, sleeving the cutter calibrator at the tail end of the surgical cutter, so that the top point of the tail end of the surgical cutter is superposed with the central point of the top end of the calibration hole of the cutter calibrator, and the axial direction of the surgical cutter is superposed with the axial direction of the calibration hole of the cutter calibrator;
s2.2, obtaining a conversion matrix from a tool tracer coordinate system { T } to an optical position indicator coordinate system { O } through an optical position indicatorTTOAnd a transformation matrix from the tool calibrator coordinate system { K } to the optical position finder coordinate system { O }KTO；
The specific method comprises the following steps: measuring and obtaining three-dimensional position coordinates of each optical positioning ball on the tool tracer in an optical positioning instrument coordinate system { O } through an optical positioning instrument; combining three optical locating balls on the known tool tracer under the coordinate system { T } of the tool tracerDimensional position coordinates to obtain a transformation matrixTTO；
Measuring and obtaining three-dimensional position coordinates of each optical positioning ball on the cutter calibrator under an optical positioning instrument coordinate system { O } through an optical positioning instrument; and combining the three-dimensional position coordinates of each optical positioning ball on the known tool calibrator under the coordinate system { K } of the tool calibrator to obtain a conversion matrixKTO；
S2.3, obtaining a conversion matrix from the coordinate system { K } of the tool calibrator to the coordinate system { T } of the tool tracer by adopting the following formulaKTT：
KTT＝KTO·(TTO)-1
S2.4, obtaining a three-dimensional position coordinate P of the top center point of the calibration hole of the cutter calibrator in a cutter calibrator coordinate system { K }KAnd the direction vector of the axis direction of the calibration hole of the tool calibrator in the tool calibrator coordinate system { K }
Figure BDA0003277393680000121
According to the following formula, three-dimensional position coordinates P of the center point of the top end of the calibration hole of the tool calibrator in the tool calibrator coordinate system { K }KAnd converting the coordinate into a tool tracer coordinate system { T }, and obtaining a three-dimensional position coordinate P of the top center point of the calibration hole in the tool tracer coordinate system { T }T：
Figure BDA0003277393680000122
According to the following formula, the direction vector of the axis direction of the calibration hole of the tool calibrator in the tool calibrator coordinate system { K }
Figure BDA0003277393680000123
Converting the direction vector into a tool tracer coordinate system { T }, and obtaining a direction vector of the axis direction of the calibration hole in the tool tracer coordinate system { T }
Figure BDA0003277393680000124
Figure BDA0003277393680000125
Wherein:
i is a 3 × 3 identity matrix;
s2.5, calibrating three-dimensional position coordinates P of the center point of the top end of the hole in a tool tracer coordinate system { T }TThree-dimensional position coordinate Q equal to surgical tool tip vertex Q in tool tracer coordinate system { T }T(ii) a Calibrating a direction vector of a hole axis direction in a tool tracer coordinate system { T }
Figure BDA0003277393680000126
Direction vector equal to the axial direction of the surgical tool in the tool tracer coordinate system { T }
Figure BDA0003277393680000131
Therefore, the relative pose relation between the surgical knife and the tool tracer is obtained through marking;
step S3, obtaining the transformation matrix from the coordinate system { C } of the CT scanner to the coordinate system { O } of the optical position finderCTO：
S3.1, scanning and imaging the tracer of the patient by using a CT scanner to enable the titanium beads of the tracer of the patient to be imaged in a CT image; analyzing the CT image to obtain the three-dimensional position coordinates of the titanium beads in a coordinate system { C } of a CT scanner;
s3.2, measuring and obtaining three-dimensional position coordinates of each optical positioning ball on the patient tracer in an optical positioning instrument coordinate system { O }, through an optical positioning instrument;
and step S3.3, combining the three-dimensional position coordinates of the titanium beads of the patient tracer in the coordinate system { S } of the CT scanner and the three-dimensional position coordinates of each optical positioning ball of the patient tracer in the coordinate system { S } of the patient tracer with known fixed values, wherein the three-dimensional position coordinates of the titanium beads in the coordinate system { C } of the CT scanner and the three-dimensional position coordinates of each optical positioning ball of the patient tracer in the optical positioning instrumentObtaining the three-dimensional position coordinate under the coordinate system { O } to obtain the conversion matrix from the coordinate system { C } of the CT scanner to the coordinate system { O } of the optical position finderCTO；
Step 4, before the operation is started, the patient wears the patient tracer to carry out CT scanning to obtain a dental implant image under the coordinate system { C } of the CT scanner, and the dental implant image is analyzed and planned to obtain an entry point A of a dental implant path under the coordinate system { C } of the CT scannerCAnd direction of the path
Figure BDA0003277393680000132
The entry point A of the implant path under the coordinate system { C } of the CT scanner is determined by the following formulaCAnd direction of the path
Figure BDA0003277393680000133
Converting the coordinate system of the optical positioning instrument into the coordinate system { O }, and obtaining the entry point A of the dental implant path under the coordinate system { O } of the optical positioning instrumentOAnd direction of the path
Figure BDA0003277393680000134
Entry point A of dental implant path under the optical locator coordinate system { O }OAnd direction of the path
Figure BDA0003277393680000135
Simultaneously, the pose of the surgical knife target is obtained;
Figure BDA0003277393680000136
Figure BDA0003277393680000137
wherein:
i is a 3 × 3 identity matrix;
step 5, in the navigation process, measuring in real time to obtain the real-time pose of the surgical knife by an optical position finder by adopting the following method; wherein the surgical knife is in real time poseComprises three-dimensional position coordinates Q of the vertex Q of the tail end of the surgical knife under the coordinate system { O } of the optical positioning instrumentOAnd the direction vector of the axial line direction of the surgical tool under the coordinate system { O } of the optical positioning instrument
Figure BDA0003277393680000141
Comparing the real-time pose of the surgical tool with the target pose of the surgical tool to obtain the pose deviation of the surgical tool in the optical position indicator coordinate system { O }; and generating a control instruction for the mechanical arm according to the pose deviation of the surgical tool in the optical position indicator coordinate system { O }, and controlling the mechanical arm to drive the surgical tool to move towards the target pose of the surgical tool, so that the real-time pose of the surgical tool continuously approaches the target pose of the surgical tool.
As a specific embodiment, in this step, a control instruction for the mechanical arm is generated according to the pose deviation of the surgical tool, and the mechanical arm is controlled to drive the surgical tool to move toward the target pose of the surgical tool, specifically:
step 5.1, the pose deviation of the surgical knife in the optical position finder coordinate system { O }, including the three-dimensional position coordinate deviation delta QOAnd direction vector deviation
Figure BDA0003277393680000142
Step 5.2, obtaining a conversion matrix from the coordinate system { O } of the optical position finder to the coordinate system { K } of the cutter calibratorOTK(ii) a Wherein, the coordinate system { K } of the tool calibrator is completely the same as the coordinate system of the tool; thus obtaining a conversion matrix from the coordinate system { O } of the optical position finder to the coordinate system { F } of the toolOTF；
According to the transformation matrix from the coordinate system { O } of the optical position finder to the coordinate system { F } of the toolOTFConverting the pose deviation of the surgical knife in the optical position finder coordinate system { O } into the pose deviation of the surgical knife in the knife coordinate system { F };
step 5.3, according to the relative pose relation between the surgical knife and the tool tracer obtained by pre-calibration in the step S2, converting the pose deviation of the surgical knife in the knife coordinate system { F } into the pose deviation of the surgical knife in the tool tracer coordinate system { T };
step 5.4, calibrating the transformation matrix from the tool tracer coordinate system { T } to the mechanical arm TCP coordinate system { E } in advance according to the step S1TTEConverting the pose deviation of the surgical knife in a tool tracer coordinate system { T } into the pose deviation of the surgical knife in a mechanical arm TCP coordinate system { E };
and 5.5, generating a control instruction for the mechanical arm according to the pose deviation of the surgical tool in the TCP coordinate system { E } of the mechanical arm, and controlling the mechanical arm to drive the surgical tool to move towards the target pose of the surgical tool.
In addition, still include:
and 6, updating the pose of the surgical knife target obtained in the step 4 in real time in the navigation process, namely: entry point A of dental implant path under optical locator coordinate system { O }OAnd direction of the path
Figure BDA0003277393680000151
8. The method of a robotic navigation system for dental implants according to claim 7, wherein step 6 is specifically:
6.1, measuring in real time through an optical position finder to obtain the real-time pose of each optical positioning ball on the patient tracer in an optical position finder coordinate system { O };
6.2, converting the real-time pose of each optical positioning ball on the patient tracer under the coordinate system { O } of the optical positioning instrument into the real-time pose of each optical positioning ball on the patient tracer under the coordinate system { S } of the patient tracer according to a conversion matrix from the coordinate system { O } of the optical positioning instrument to the coordinate system { S } of the patient tracer;
6.3, converting the real-time pose of each optical positioning ball on the patient tracer under the patient tracer coordinate system { S } into the real-time pose of each optical positioning ball on the patient tracer under the CT scanner coordinate system { C } according to the conversion matrix from the patient tracer coordinate system { S } to the CT scanner coordinate system { C };
6.4, because the relative pose relationship between the patient teeth and the patient tracer is fixed, converting the real-time pose of each optical positioning ball on the patient tracer under the coordinate system { C } of the CT scanner into the real-time pose of the patient teeth under the coordinate system { C } of the CT scanner;
the real-time pose of the patient tooth under the CT scanner coordinate system { C } is the entry point current value and the path direction current value of the implant tooth path; comparing the current values of the entry point and the path direction of the dental implant path with the current value of the path direction, and planning in the step 4 to obtain the entry point A of the dental implant path under the coordinate system { C } of the CT scannerCAnd direction of the path
Figure BDA0003277393680000161
If the positions of the head of the patient are consistent, the head position of the patient is not changed in the operation process, and the target pose of the surgical knife does not need to be updated; otherwise, the real-time pose of the patient tooth under the CT scanner coordinate system { C } is adopted to update the pose of the surgical knife target.
Therefore, in the invention, if the head position of the patient changes in the operation process, the dental implant path under the optical positioning instrument coordinate system { O } can be updated according to the real-time pose of the dental implant of the patient, and the tool target pose can be recalculated.
The invention provides a dental implantation robot navigation system and a method, which convert a dental implantation path and the pose of a surgical cutter to the coordinate system of an optical locator for navigation through coordinate system conversion, guide a mechanical arm to drive the surgical cutter to move and provide efficient and accurate dental implantation surgical navigation.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.

Claims (8)

1. A dental implant robot navigation system, comprising: the device comprises a controller, a mechanical arm, a surgical cutter, an optical locator, a tool tracer, a patient tracer and a cutter calibrator; the surgical knife and the tool tracer are fixedly arranged at the tail end of the mechanical arm; the patient tracer is fixed on a non-implanted tooth of a patient;
wherein: the cutter calibrator comprises 4 optical positioning balls and a calibration hole; after the calibration hole of the cutter calibrator is sleeved at the tail end of the surgical cutter, the top point of the tail end of the surgical cutter coincides with the center point of the top end of the calibration hole, and the axial direction of the surgical cutter coincides with the axial direction of the calibration hole.
2. The guidance system for a dental implant robot according to claim 1, wherein the robot arm is a 6-degree-of-freedom cooperative robot arm provided on a robot arm base; the robot base forms a robot base coordinate system { B }, the mechanical interface at the end of the robot is called TCP, and a robot TCP coordinate system { E }.
3. The guidance system of claim 1, wherein the tool tracer comprises a rigid frame, and wherein the rigid frame is fixedly provided with 4 optical positioning balls.
4. The robotic implant navigation system as recited in claim 1, wherein the patient tracer includes a rigid support that is not easily imaged in CT images, the rigid support of the patient tracer having one end fixed to the patient's non-implanted tooth and the other end carrying 9 titanium beads and 4 optical positioning balls.
5. A method of a robotic dental implant navigation system according to any one of claims 1 to 4, comprising the steps of:
step S1, calibrating in advance to obtain a conversion matrix from a tool tracer coordinate system { T } to a mechanical arm TCP coordinate system { E }TTE：
Step S1.1, controlling a mechanical arm TCP to randomly move n poses to obtain the following n equations:
OTB＝OTT1·TTE·E1TB
OTB＝OTT2·TTE·E2TB
...
OTB＝OTTn·TTE·EnTB
wherein:
OTB: representing the transformation matrix from the coordinate system { O } of the optical position finder to the coordinate system { B } of the mechanical arm base, because the mechanical arm base and the optical position finder are fixed in the motion process of the mechanical arm TCP, the mechanical arm base and the optical position finder are not movedOTBIs always unchanged and is a known fixed value;
OTTi1,2, n: when the representative mechanical arm TCP randomly moves to the ith pose, a conversion matrix from the optical position indicator coordinate system { O } to the tool tracer coordinate system { T } is obtained by the following method: when the mechanical arm TCP randomly moves to the ith pose, measuring and obtaining the three-dimensional position coordinates of each optical positioning ball on the tool tracer in an optical positioning instrument coordinate system { O } through the optical positioning instrument; and combining the three-dimensional position coordinates of each optical positioning ball on the known tool tracer under the coordinate system { T } of the tool tracer to obtain a conversion matrixOTTi；
TTE: transformation matrix representing tool tracer coordinate system { T } to mechanical arm TCP coordinate system { E }TTEIn the process of the motion of the TCP of the mechanical arm,TTEthe value is fixed and unchanged and is to be evaluated;
EiTB1,2, n: representing that a transformation matrix from a mechanical arm TCP coordinate system { E } to a mechanical arm base coordinate system { B } is a known value when the mechanical arm TCP randomly moves to the ith pose;
s1.2, solving an equation set formed by n equations by adopting a least square method to obtain a conversion matrix from a tool tracer coordinate system { T } to a mechanical arm TCP coordinate system { E }, wherein the conversion matrix is formed by using a method of calculating the equation setTTE；
Step S2, calibrating in advance to obtain the relative pose relationship between the surgical knife and the tool tracer, namely: obtaining the three-dimensional position coordinate Q of the vertex Q of the surgical knife end in the coordinate system { T } of the tool tracerTAnd the direction vector of the axis direction of the surgical tool in the tool tracer coordinate system { T }
Figure FDA0003277393670000021
S2.1, sleeving the cutter calibrator at the tail end of the surgical cutter, so that the top point of the tail end of the surgical cutter is superposed with the central point of the top end of the calibration hole of the cutter calibrator, and the axial direction of the surgical cutter is superposed with the axial direction of the calibration hole of the cutter calibrator;
s2.2, obtaining a conversion matrix from a tool tracer coordinate system { T } to an optical position indicator coordinate system { O } through an optical position indicatorTTOAnd a transformation matrix from the tool calibrator coordinate system { K } to the optical position finder coordinate system { O }KTO；
The specific method comprises the following steps: measuring and obtaining three-dimensional position coordinates of each optical positioning ball on the tool tracer in an optical positioning instrument coordinate system { O } through an optical positioning instrument; and combining the three-dimensional position coordinates of each optical positioning ball on the known tool tracer under the coordinate system { T } of the tool tracer to obtain a conversion matrixTTO；
Measuring and obtaining three-dimensional position coordinates of each optical positioning ball on the cutter calibrator under an optical positioning instrument coordinate system { O } through an optical positioning instrument; and combining the three-dimensional position coordinates of each optical positioning ball on the known tool calibrator under the coordinate system { K } of the tool calibrator to obtain a conversion matrixKTO；
S2.3, obtaining a conversion matrix from the coordinate system { K } of the tool calibrator to the coordinate system { T } of the tool tracer by adopting the following formulaKTT：
KTT＝KTO·(TTO)-1
Step S2.4, obtaining a cutter calibratorThree-dimensional position coordinate P of the center point of the top end of the calibration hole in the coordinate system { K } of the tool calibratorKAnd the direction vector of the axis direction of the calibration hole of the tool calibrator in the tool calibrator coordinate system { K }
Figure FDA0003277393670000031
According to the following formula, three-dimensional position coordinates P of the center point of the top end of the calibration hole of the tool calibrator in the tool calibrator coordinate system { K }KAnd converting the coordinate into a tool tracer coordinate system { T }, and obtaining a three-dimensional position coordinate P of the top center point of the calibration hole in the tool tracer coordinate system { T }T：
Figure FDA0003277393670000032
According to the following formula, the direction vector of the axis direction of the calibration hole of the tool calibrator in the tool calibrator coordinate system { K }
Figure FDA0003277393670000033
Converting the direction vector into a tool tracer coordinate system { T }, and obtaining a direction vector of the axis direction of the calibration hole in the tool tracer coordinate system { T }
Figure FDA0003277393670000034
Figure FDA0003277393670000035
Wherein:
i is a 3 × 3 identity matrix;
s2.5, calibrating three-dimensional position coordinates P of the center point of the top end of the hole in a tool tracer coordinate system { T }TThree-dimensional position coordinate Q equal to surgical tool tip vertex Q in tool tracer coordinate system { T }T(ii) a Calibrating a direction vector of a hole axis direction in a tool tracer coordinate system { T }
Figure FDA0003277393670000041
Direction vector equal to the axial direction of the surgical tool in the tool tracer coordinate system { T }
Figure FDA0003277393670000042
Therefore, the relative pose relation between the surgical knife and the tool tracer is obtained through marking;
step S3, obtaining the transformation matrix from the coordinate system { C } of the CT scanner to the coordinate system { O } of the optical position finderCTO：
S3.1, scanning and imaging the tracer of the patient by using a CT scanner to enable the titanium beads of the tracer of the patient to be imaged in a CT image; analyzing the CT image to obtain the three-dimensional position coordinates of the titanium beads in a coordinate system { C } of a CT scanner;
s3.2, measuring and obtaining three-dimensional position coordinates of each optical positioning ball on the patient tracer in an optical positioning instrument coordinate system { O }, through an optical positioning instrument;
and step S3.3, because the three-dimensional position coordinates of the titanium bead of the patient tracer in the patient tracer coordinate system { S } and the three-dimensional position coordinates of each optical positioning ball of the patient tracer in the patient tracer coordinate system { S } are fixed values, combining the three-dimensional position coordinates of the titanium bead in the CT scanner coordinate system { C } and the three-dimensional position coordinates of each optical positioning ball of the patient tracer in the optical positioning instrument coordinate system { O } to obtain a conversion matrix from the CT scanner coordinate system { C } to the optical positioning instrument coordinate system { O }, wherein the three-dimensional position coordinates of each optical positioning ball of the patient tracer in the patient tracer coordinate system { C } are fixed valuesCTO；
Step 4, before the operation is started, the patient wears the patient tracer to carry out CT scanning to obtain a dental implant image under the coordinate system { C } of the CT scanner, and the dental implant image is analyzed and planned to obtain an entry point A of a dental implant path under the coordinate system { C } of the CT scannerCAnd direction of the path
Figure FDA0003277393670000043
The entry point of the implant path under the CT scanner coordinate system { C } is determined by the following formulaACAnd direction of the path
Figure FDA0003277393670000044
Converting the coordinate system of the optical positioning instrument into the coordinate system { O }, and obtaining the entry point A of the dental implant path under the coordinate system { O } of the optical positioning instrumentOAnd direction of the path
Figure FDA0003277393670000045
Entry point A of dental implant path under the optical locator coordinate system { O }OAnd direction of the path
Figure FDA0003277393670000051
Simultaneously, the pose of the surgical knife target is obtained;
Figure FDA0003277393670000052
Figure FDA0003277393670000053
wherein:
i is a 3 × 3 identity matrix;
step 5, in the navigation process, measuring in real time to obtain the real-time pose of the surgical knife by an optical position finder by adopting the following method; the real-time pose of the surgical knife comprises a three-dimensional position coordinate Q of a tail end vertex Q of the surgical knife under an optical position finder coordinate system { O }, wherein the three-dimensional position coordinate Q is a three-dimensional position coordinate of the tail end vertex Q of the surgical knife under the optical position finder coordinate system { O }, andOand the direction vector of the axial line direction of the surgical tool under the coordinate system { O } of the optical positioning instrument
Figure FDA0003277393670000054
Comparing the real-time pose of the surgical tool with the target pose of the surgical tool to obtain the pose deviation of the surgical tool in the optical position indicator coordinate system { O }; and generating a control instruction for the mechanical arm according to the pose deviation of the surgical tool in the optical position indicator coordinate system { O }, and controlling the mechanical arm to drive the surgical tool to move towards the target pose of the surgical tool, so that the real-time pose of the surgical tool continuously approaches the target pose of the surgical tool.
6. The method of a guidance system for a dental implant robot according to claim 5, wherein in step 5, a control command for the robotic arm is generated according to the pose deviation of the surgical tool, and the robotic arm is controlled to drive the surgical tool to move towards the target pose of the surgical tool, specifically:
step 5.1, the pose deviation of the surgical knife in the optical position finder coordinate system { O }, including the three-dimensional position coordinate deviation delta QOAnd direction vector deviation
Figure FDA0003277393670000055
Step 5.2, obtaining a conversion matrix from the coordinate system { O } of the optical position finder to the coordinate system { K } of the cutter calibratorOTK(ii) a Wherein, the coordinate system { K } of the tool calibrator is completely the same as the coordinate system of the tool; thus obtaining a conversion matrix from the coordinate system { O } of the optical position finder to the coordinate system { F } of the toolOTF；
According to the transformation matrix from the coordinate system { O } of the optical position finder to the coordinate system { F } of the toolOTFConverting the pose deviation of the surgical knife in the optical position finder coordinate system { O } into the pose deviation of the surgical knife in the knife coordinate system { F };
step 5.3, according to the relative pose relation between the surgical knife and the tool tracer obtained by pre-calibration in the step S2, converting the pose deviation of the surgical knife in the knife coordinate system { F } into the pose deviation of the surgical knife in the tool tracer coordinate system { T };
step 5.4, calibrating the transformation matrix from the tool tracer coordinate system { T } to the mechanical arm TCP coordinate system { E } in advance according to the step S1TTEConverting the pose deviation of the surgical knife in a tool tracer coordinate system { T } into the pose deviation of the surgical knife in a mechanical arm TCP coordinate system { E };
and 5.5, generating a control instruction for the mechanical arm according to the pose deviation of the surgical tool in the TCP coordinate system { E } of the mechanical arm, and controlling the mechanical arm to drive the surgical tool to move towards the target pose of the surgical tool.
7. The method of a robotic navigation system for a dental implant of claim 5, further comprising:
and 6, updating the pose of the surgical knife target obtained in the step 4 in real time in the navigation process, namely: entry point A of dental implant path under optical locator coordinate system { O }OAnd direction of the path
Figure FDA0003277393670000061
8. The method of a robotic navigation system for dental implants according to claim 7, wherein step 6 is specifically:
6.1, measuring in real time through an optical position finder to obtain the real-time pose of each optical positioning ball on the patient tracer in an optical position finder coordinate system { O };
6.2, converting the real-time pose of each optical positioning ball on the patient tracer under the coordinate system { O } of the optical positioning instrument into the real-time pose of each optical positioning ball on the patient tracer under the coordinate system { S } of the patient tracer according to a conversion matrix from the coordinate system { O } of the optical positioning instrument to the coordinate system { S } of the patient tracer;
6.3, converting the real-time pose of each optical positioning ball on the patient tracer under the patient tracer coordinate system { S } into the real-time pose of each optical positioning ball on the patient tracer under the CT scanner coordinate system { C } according to the conversion matrix from the patient tracer coordinate system { S } to the CT scanner coordinate system { C };
6.4, because the relative pose relationship between the patient teeth and the patient tracer is fixed, converting the real-time pose of each optical positioning ball on the patient tracer under the coordinate system { C } of the CT scanner into the real-time pose of the patient teeth under the coordinate system { C } of the CT scanner;
real-time pose of patient tooth under CT scanner coordinate system { C }Namely the current value of the entry point and the current value of the path direction of the dental implant path; comparing the current values of the entry point and the path direction of the dental implant path with the current value of the path direction, and planning in the step 4 to obtain the entry point A of the dental implant path under the coordinate system { C } of the CT scannerCAnd direction of the path
Figure FDA0003277393670000071
If the positions of the head of the patient are consistent, the head position of the patient is not changed in the operation process, and the target pose of the surgical knife does not need to be updated; otherwise, the real-time pose of the patient tooth under the CT scanner coordinate system { C } is adopted to update the pose of the surgical knife target.
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CN117204951A (en) * 2023-09-22 2023-12-12 上海睿触科技有限公司 Operation positioning navigation equipment based on X-rays and positioning realization method thereof
CN117204951B (en) * 2023-09-22 2024-04-30 上海睿触科技有限公司 Operation positioning navigation equipment based on X-rays and positioning realization method thereof
CN117137626A (en) * 2023-10-30 2023-12-01 北京三博脑科医院有限公司 Noninvasive registration method for neurosurgery robot
CN117137626B (en) * 2023-10-30 2024-04-12 北京三博脑科医院有限公司 Noninvasive registration method for neurosurgery robot

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