CN115831341B - Self-adaptive registration system and method for surgical navigation - Google Patents
Self-adaptive registration system and method for surgical navigation Download PDFInfo
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Abstract
The invention belongs to the technical field of operation positioning navigation, and discloses a self-adaptive registration system and a self-adaptive registration method for operation navigation. The invention only needs to register once under the condition that the optical tool array does not displace, the subsequent optical navigation camera moves, the system can automatically perform self-adaptive registration, the operation is convenient and quick, and the operation efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of surgical positioning navigation, and particularly relates to a self-adaptive registration system and a method for surgical navigation.
Background
In an operation navigation system adopting an optical navigation camera, such as a CT operation navigation system, accurate registration of a CT coordinate system and an optical navigation camera coordinate system (namely, establishing a corresponding relation between the CT coordinate system and the optical navigation camera coordinate system) is a precondition of playing a navigation role. Registration methods include preoperative registration and intra-operative registration. The common intraoperative registration method is that a mark point which can be identified by both optics and images is placed on a patient for intraoperative registration; the common preoperative registration method is that an optical navigation camera is fixed near an image acquisition device such as a CT machine, the visual field of the optical navigation camera faces the direction of a CT hole, and a registration reference plate is placed on a CT bed. The optical navigation camera acquires the coordinates of a first marking component (optical marking ball) on the registration reference board under the coordinate system of the optical navigation camera, and then the second marking component (developable positioning ball under CT) on the registration reference board is scanned by CT. The first marking member and the second marking member may or may not overlap. Registration software identifies the center of the sphere located by the second marker component in the scanned CT image, thereby obtaining the coordinates of the sphere in the CT coordinate system. According to the known spatial relationship between the optical marking ball and the developing positioning ball during processing, registration software can calculate a conversion matrix of the optical navigation camera coordinate system and the CT coordinate system through a least square method and other algorithms, and registration of the CT coordinate system and the optical navigation camera coordinate system is completed. After registration is completed, the registration reference plate can be removed, and in the operation process, navigation software can determine the corresponding position in the CT scanning image according to the image position shot by the optical navigation camera, so that the operation navigation is realized.
This pre-operative registration method requires that the post-registration optical navigation camera position be fixed relative to the CT position. If the position of the optical navigation camera changes relative to the CT machine, the registration reference plate needs to be replaced, the CT machine scans the second marking component again, and the optical navigation camera recognizes the first marking component again for re-registration. Because the operating room space is not plentiful and other devices such as anesthesia ventilators, ablation devices, monitoring devices, etc. need to be placed, the optical navigation camera is not usually mounted fixedly. Optical navigation cameras often need to be fixed to a movable gantry trolley. The optical navigation camera trolley and the robot trolley are stored in corners of an operating room in normal times, and are pushed out to be used when navigation is needed. Such that re-registration is required before each operation. This requires a re-registration operation, especially if the camera position is moved by accident during surgery. The registration process is usually time-consuming (usually includes the procedures of positioning registration reference plate, image scanning and registration verification, etc.), which takes up valuable time for the operation and causes inconvenience.
Disclosure of Invention
The invention aims to provide a self-adaptive registration system and a self-adaptive registration method for surgical navigation, which are used for solving the technical problem that an optical navigation camera needs to be registered again after moving.
In order to solve the technical problems, the specific technical scheme of the self-adaptive registration system and the method for surgical navigation is as follows:
the utility model provides a self-adaptation registration system of operation navigation, includes optical navigation camera, registration reference board and calculation module, calculation module and image collector, optical navigation camera communication connection, the first registration of completion is joined in marriage to image collector, optical navigation camera, registration reference board and calculation module, the system includes optical instrument, optical instrument is fixed to be set up on the image collector casing, optical instrument has 3 at least, and a plurality of optical instruments form optical instrument array, and when the system carries out first image collector coordinate system and optical navigation camera coordinate system registration, optical navigation camera scans optical instrument array simultaneously and acquires optical instrument array initial coordinate and save, when optical navigation camera takes place to remove, optical navigation camera acquires the new coordinate of optical instrument array in optical navigation camera, calculation module calculates the displacement matrix of new coordinate system according to the initial coordinate of optical instrument array when first registration, calculates the conversion matrix of optical navigation camera coordinate system relative to image collector coordinate system again according to the displacement matrix, realizes the self-adaptation registration when the optical navigation camera registration post-location change when adopting the operation registration mode.
Further, each optical tool is respectively distributed at different positions on the casing of the image collector, and any three optical tools are not in a straight line.
Furthermore, the optical tool body is a rigid base, at least 3 reflective marks are arranged on the optical tool, the distances between the reflective marks are not equal in pairs, and the polygonal graph formed by connecting the reflective marks cannot be a rotationally symmetrical graph.
Further, the optical tool is provided with an alignment mark, the alignment mark is a pair of stickers, the stickers are provided with alignment marks, one of the alignment marks is stuck to the surface of the optical tool, the other alignment mark is stuck to the shell of the image collector, and the alignment marks are aligned and placed and used for checking and indicating whether the optical tool and the shell are moved.
Further, fixed mounting has casing displacement detector on image acquisition device's the casing, casing displacement detector includes control circuit board and battery, the battery is for control circuit board provides required power, control circuit board includes main control module, wireless communication module, sensing module and warning suggestion module, wireless communication module, sensing module, warning suggestion module are connected with the main control module electricity, main control module is used for controlling other each module work, sensing module is displacement sensor, wireless communication module is used for establishing casing displacement detector and monitor terminal's wireless communication, the warning suggestion module is used for providing displacement warning when the dismouting or whole position move take place for the casing.
Further, the optical navigation camera is a binocular optical camera; the image collector is a CT machine, a nuclear magnetic resonance machine or a CBCT machine.
The invention also discloses a self-adaptive registration method, which comprises the following steps:
step 1: the image collector, the optical navigation camera, the registration reference plate and the calculation module are matched to finish first registration, and a conversion matrix M from a medical image coordinate system to a camera coordinate system is obtained, wherein the matrix is a 4x4 transfer matrix;
step 2: recording the three-dimensional coordinates of all optical tools of the optical tool array on the image collector under the optical navigation camera coordinate system at the moment,
wherein n represents the number of optical tools;
step 3: when the optical navigation camera moves, the optical navigation camera acquires three-dimensional new coordinates of all optical tools of the optical tool array after the camera position moves,
；
step 4: defining a distance between three-dimensional coordinate points (a, b):
wherein, point a represents the initial coordinates of the optical tool array, and point b represents the coordinates of the optical tool array after the optical navigation camera is moved;
step 5: calculating displacement matrix of optical tool array by optimization algorithm
So that
Minimum, thereby obtaining a transfer matrix from the image collector to the new camera coordinate system
；
Step 6: the self-adaption re-registration is completed, and the calculation module obtains according to the re-registration
And converting the target point in the medical image coordinate into an optical navigation camera coordinate system, thereby performing intra-operative navigation.
The self-adaptive registration system and method for surgical navigation have the following advantages: the invention is characterized in that the optical tool array is fixedly arranged on the image collector and used as a self-adaptive registration reference, a setting program is built in the calculation module, the position of the optical tool array is fixed under normal conditions, once the optical navigation camera moves, the calculation module can calculate a displacement matrix after change according to the reference position of the optical tool array, so that the optical tool array is automatically re-registered, the optical tool array is only required to be registered once under the condition that the optical tool array does not displace, the subsequent optical navigation camera moves, the system can automatically perform self-adaptive registration, the system is convenient and quick, the optical tool array is not required to be re-registered for multiple times, the optical navigation camera can be automatically registered when being used in the same day and moved to a storage position, and the optical tool array can be automatically registered when being moved to a working position in the next day. Meanwhile, through the design of the shape of the optical tool and the design of the movement mark, whether the single optical tool moves relative to the machine shell or not can be accurately identified; set up casing displacement detector on image acquisition device, detect when image acquisition device casing takes place whole displacement, remind the staff to need register again, guaranteed the accuracy of registering.
Drawings
FIG. 1 is a schematic diagram of an overall application of an adaptive registration system of the present invention;
FIG. 2 is a schematic diagram of an optical tool according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a second embodiment of an optical tool according to the present invention;
FIG. 4 is a schematic view of a third embodiment of an optical tool according to the present invention;
FIG. 5 is a schematic diagram of a housing displacement detector module according to the present invention;
FIG. 6 is a schematic circuit diagram of a housing displacement detector module of the present invention;
the figure indicates: 1. an image collector; 11. a CT gantry; 12. a CT bed; 2. registering a reference plate; 21. a first marking member; 22. a second marking member; 3. an optical navigation camera; 4. an optical tool array; 41. an optical tool; 411. branching; 42. a reflective marker; 43. an alignment mark; 5. and a housing displacement detector.
Detailed Description
For a better understanding of the objects, structures and functions of the present invention, a surgical navigation adaptive registration system and method of the present invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, an existing adaptive registration system for surgical navigation includes an optical navigation camera 3, a registration reference board 2, and a calculation module. The computing module is an industrial personal computer running control software. The computing module is in communication connection with the image collector 1 and the optical navigation camera 3, and the image collector 1, the optical navigation camera 3, the registration reference plate 2 and the computing module self-adaptive registration system are matched to finish first registration.
The image collector can be a CT machine, a nuclear magnetic resonance machine or a CBCT machine which are commonly used in operations.
The optical navigation camera 3 may be a near infrared binocular optical camera or a visible light binocular camera.
The present invention is described by taking a CT machine as an example, and the CT machine comprises a CT frame 11 and a CT bed 12. The registration reference plate 2 has a first marking member 21 and a second marking member 22 thereon. The first marker member 21 is a marker that can be recognized by the optical navigation camera, preferably the first marker member is a plurality of optical marker balls, the second marker member 22 is a marker that can be recognized by CT images, and preferably the second marker 22 is a developing and positioning ball. The first marking member 21 and the second marking member 22 may be physically separated or physically overlapped, and the physical overlap may be achieved by coating the metal developing ball with a reflective material. The visual field of the optical navigation camera 3 faces to the hole direction of the CT stand 11, the registration reference plate 2 is placed on the CT bed 12 when registered, and the optical navigation camera can be removed after the registration is completed.
The self-adaptive registration system for surgical navigation of the present invention further comprises an optical tool array 4, wherein the optical tool array 4 is fixedly arranged on the casing of the CT frame 11 facing the optical navigation camera 3, the optical tool array 4 comprises at least 3 optical tools 41, each optical tool 41 has the same size and shape, and is respectively distributed at different positions on the casing of the CT frame 11, so that all the optical tools 41 cannot be on the same straight line in order to obtain spatial reference positions of different orientations. In order to facilitate the optical navigation camera 3 to identify the optical tools 41 at different positions to determine whether the camera position is changed, the polygon pattern formed by connecting all the optical tools 41 cannot be a rotationally symmetrical pattern.
At the time of first registration, the optical navigation camera 3 simultaneously acquires the first marker member 21 on the registration reference plate 2 and the optical tool array 4 under the camera coordinate system, and simultaneously the CT machine scans the second marker member 22 on the registration reference plate 2. The calculation module identifies the positioning ball in the scanned CT image, thereby obtaining the coordinates of the positioning ball under the CT coordinate system. According to the known spatial relationship between the first marker component 21 and the second marker component 22 during processing, the calculation module can calculate the transformation matrix of the optical navigation camera coordinate system and the CT coordinate system, so as to complete the first registration. At this time, the registration reference plate 2 may be removed.
Because the position of the optical tool array 4 is fixed, when the optical navigation camera 3 moves, the optical navigation camera 3 obtains the new coordinate of the optical tool array 4 in the optical navigation camera 3, a preset calculation program is arranged in the calculation module, the displacement matrix of the new coordinate system can be automatically calculated according to the initial coordinate of the optical tool array 4 when the optical tool array is registered for the first time, and the conversion matrix of the camera coordinate system relative to the CT coordinate system is recalculated according to the displacement matrix, so that the position self-adaptive registration in the optical navigation camera operation is realized.
The optical tool 41 is used as a positioning reference point, and the position of the optical tool 41 is fixed and cannot be moved, so that the optical tool 41 body is a rigid base, has certain rigidity and is not easy to deform. The bottom of the rigid base is provided with a self-adhesive sticker which is used for being fixed on a CT machine. The optical tool 41 has at least 3 reflective marks 42 thereon, and the reflective marks 42 may be reflective balls or reflective stickers, preferably reflective stickers. The distances between the reflective marks 42 are not equal to each other, and the polygonal pattern formed by connecting the reflective marks 42 cannot be a rotationally symmetrical pattern. Preferably, the pitch between the reflective markers 42 is not equal to the pitch before registering the first marker component 21 on the reference plate 2 for classification recognition by the optical navigation camera 3.
Optical tool embodiment one:
as shown in fig. 2, in order to indicate the displacement of the optical tool 41, the optical tool 41 is designed to have a non-rotationally symmetrical structure, and when the optical tool 41 rotates, the naked eye can recognize the change of the shape and position, thereby readjusting and registering. In this embodiment, the optical tool 41 is designed with at least 3 branches 411 of different directions, preferably 4. Each of the branches 411 is unequal in length and is fixed in a designated direction when the optical tool 41 is fixed, so as to facilitate recognition of a possible displacement. Each of the branches 411 has a reflective marking 42 at its end, and the reflective marking 42 may be a reflective ball or a reflective sticker, preferably a reflective sticker. Preferably, the distance between each retroreflective marker 42 is not equal.
Optical tool embodiment two:
however, the visual recognition is not precise, as shown in fig. 3, in order to more precisely indicate the displacement of the optical tool 41, the present invention also provides another scheme for indicating the displacement of the optical tool 41, in this embodiment, the optical tool 41 may have any shape, and a plurality of reflective marks 42 are provided on the optical tool 41, and the distances between the reflective marks 42 are not equal for the classification recognition of the optical navigation camera 3. The optical tool 41 is provided with alignment marks 43, preferably at least 2 alignment marks 43, at least 2 of the plurality of alignment marks not being in the same direction for alignment in different directions. Each alignment mark 43 has a pair of stickers with alignment marks, one on the surface of the optical tool 41 and one on the CT machine housing, the alignment marks may be any pattern that can be aligned, and in the embodiment of the present invention, the alignment marks are two opposite arrows, and when the two arrows are aligned, it indicates that the optical tool 41 is not moved, and if one pair of arrows is not aligned, the surface optical tool 41 is offset. The alignment mark 43 can more intuitively reflect the displacement of the optical tool 41, so that the operator can find the adjustment.
Optical tool embodiment three:
the visual recognition accuracy is not high, the alignment mark needs to be observed in a short distance, and the third embodiment combines the first embodiment with the second embodiment to achieve a double indication function and has a more accurate recognition function. As shown in fig. 4, the optical tool 41 has 4 branches 411 in different directions, each of which has a different length 411, and is fixed in a specified direction when the optical tool 41 is fixed, so that possible displacement can be recognized. Each branch 411 terminates with a retroreflective marker 42, with at least 2 branches 411 having alignment marks 43 thereon.
Although the above embodiments can identify the position change of the reference frame array 4, the CT machine sometimes needs to be disassembled for maintenance, and once the casing is disassembled for maintenance, the reference frame array 4 is difficult to be completely consistent with the original spatial position, which results in poor positioning accuracy. In order to solve the problem, the invention is characterized in that the shell displacement detector 5 is fixedly arranged at the bottom of the shell of the CT machine, as shown in figure 5, the shell displacement detector 5 comprises a control circuit board and a lithium battery, and the lithium battery provides a required power supply for the control circuit board. The control circuit board comprises a main control module, a wireless communication module, a sensing module, a key module and an alarm prompt module, wherein the wireless communication module, the sensing module, the key module and the alarm prompt module are electrically connected with the main control module, and the main control module is used for controlling the work of other modules. The sensing module is a displacement sensor, and the displacement sensor is preferably a mercury switch. The wireless communication module is used for establishing wireless communication between the casing displacement detector 5 and the monitoring terminal, and is preferably a bluetooth communication module. The key module is used for starting, pausing and resetting the casing displacement detector 5. The alarm prompting module can be an audible and visual alarm and comprises an LED lamp and a voice module. At ordinary times, the main control module is in a dormant state, the shell of the CT machine moves due to external force, the mercury switch is connected to generate an interrupt signal, the main control module is awakened after receiving the interrupt signal, and the main control module controls the alarm prompt module to send out a shell position change alarm prompt. And the wireless communication module sends a shell position change warning to an external monitoring host. The user is reminded that the whole casing has moved and re-registration is needed to improve the accuracy. A schematic circuit diagram of the housing displacement detector module is shown in fig. 6.
The computing module is internally provided with registration software, and the registration software is used for realizing the self-adaptive registration after the optical navigation camera 3 moves. The self-adaptive registration method of the invention comprises the following steps:
step 1: the registration reference plate 2 is placed on the CT bed 12, the CT frame 11 scans the registration reference plate 2, the optical navigation camera 3 acquires the coordinate A of the first marking component on the registration reference plate 2, the calculation module imports the CT image of the registration reference plate 2, identifies the coordinate B of the second marking component on the registration reference plate 2, calibrates the coordinate systems of the CT and the camera according to the corresponding relation of the spatial positions of the first marking component 21 and the second marking component 22 when the registration reference plate 2 is processed, and obtains a transformation matrix M from the CT coordinate system to the camera coordinate system, wherein the matrix is a transfer matrix of 4x 4.
Step 2: simultaneously with step 1, recording the position of the optical tool array 4 on the hole of the CT frame 11 under the coordinate system of the optical navigation camera 3 at the momentThere are three-dimensional coordinates of the optical tool 41,
where n represents the number of optical tools 41.
Step 3: when the optical navigation camera 3 sends the movement, the optical navigation camera 3 is aligned near the entrance to the CT gantry, the three-dimensional coordinates of all the optical tools 41 of the optical tool array 4 after the movement are recorded,
。
step 4: defining a distance between three-dimensional coordinate points (a, b):
where point a represents the initial coordinates of the optical tool array 4 and point b represents the coordinates of the optical tool array 4 after the optical navigation camera 3 has been moved.
Step 5: calculating the displacement matrix Z of the optical tool array 4 by an optimization algorithm so that
Minimum, thereby obtaining a transfer matrix of the CT machine to a new camera coordinate system
. The optimization algorithm can use, but is not limited to, the existing algorithm such as LM (Levenberg-Marquardt), L-BFGS-B, etc.
Step 6: the re-registration is completed, and the calculation module is used for calculating the information according to the following conditions
And converting the target point in the medical image coordinate into an optical navigation camera coordinate system, thereby performing intra-operative navigation.
The device only needs to register once under the condition that the optical tool array 4 does not displace, the subsequent optical navigation camera moves, the system can automatically perform preoperative self-adaptive registration, the device is convenient and quick, re-registration is not needed for multiple uses, the optical navigation camera can be automatically registered when the optical tool array 4 is moved to a storage position in the day of use, and compared with the operation that the optical tool array is required to perform re-scanning registration before each use, the device greatly saves the working time and improves the operation efficiency.
It will be understood that the invention has been described in terms of several embodiments, and that various changes and equivalents may be made to these features and embodiments by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (6)
1. The self-adaptive registration system for surgical navigation comprises an optical navigation camera (3), a registration reference plate (2) and a calculation module, wherein the calculation module is in communication connection with an image collector (1) and the optical navigation camera (3), the image collector (1), the optical navigation camera (3), the registration reference plate (2) and the calculation module are matched to finish first registration, the self-adaptive registration system is characterized by comprising optical tools (41), the optical tools (41) are fixedly arranged on a shell of the image collector (1), the optical tools (41) are at least provided with 3, each optical tool (41) has the same size and shape, are respectively distributed at different positions on the shell of the image collector (1), all the optical tools (41) cannot be on the same straight line, a polygonal graph formed by connecting all the optical tools (41) cannot be a rotationally symmetrical graph, a plurality of optical tools (41) form an optical tool array (4), when the system performs first registration of the image collector coordinate system and the optical navigation camera coordinate system, the optical navigation camera (3) simultaneously scans the optical tool array (4) to obtain initial optical coordinates and stores the optical coordinates of the optical tools (4) in the optical camera array (3), when the optical navigation camera (4) is moved in the optical navigation camera array (3), the calculation module automatically calculates a displacement matrix of a new coordinate system according to initial coordinates of the optical tool array (4) during first registration, and recalculates a conversion matrix of the optical navigation camera coordinate system relative to the image collector coordinate system according to the displacement matrix, so that self-adaptive registration during post-registration position change of the optical navigation camera (3) during pre-operation registration working mode is realized.
2. The adaptive registration system according to claim 1, wherein the optical tool (41) body is a rigid base, the optical tool (41) has at least 3 reflective marks (42), distances between the reflective marks (42) are not equal, and a polygonal pattern formed by connecting the reflective marks (42) cannot be a rotationally symmetrical pattern.
3. The adaptive registration system according to claim 1, wherein the optical tool (41) has an alignment mark (43), the alignment mark (43) is a pair of stickers, the stickers have alignment marks thereon, one of the stickers is attached to the surface of the optical tool (41) and the other is attached to the housing of the image collector (1), and the alignment marks are aligned and placed for checking indication of whether the optical tool is moved relative to the housing.
4. The self-adaptive registration system according to claim 1, wherein a casing displacement detector (5) is fixedly installed on a casing of the image collector (1), the casing displacement detector (5) comprises a control circuit board and a battery, the battery provides a required power supply for the control circuit board, the control circuit board comprises a main control module, a wireless communication module, a sensing module and an alarm prompting module, the wireless communication module, the sensing module and the alarm prompting module are electrically connected with the main control module, the main control module is used for controlling other modules to work, the sensing module is a displacement sensor, the wireless communication module is used for establishing wireless communication between the casing displacement detector (5) and a monitoring terminal, and the alarm prompting module is used for providing displacement alarm when the casing is disassembled or moved in an integral position.
5. The adaptive registration system according to claim 1, characterized in that the optical navigation camera (3) is a binocular optical camera; the image collector (1) is a CT machine, a nuclear magnetic resonance machine or a CBCT machine.
6. An adaptive registration method of an adaptive registration system according to any one of claims 1 to 5, comprising the steps of:
step 1: the image collector (1), the optical navigation camera (3), the registration reference plate (2) and the calculation module are matched to finish first registration, and a conversion matrix M from a medical image coordinate system to a camera coordinate system is obtained, wherein the matrix is a 4x4 transfer matrix;
step 2: recording the three-dimensional coordinates of all the optical tools (41) of the optical tool array (4) on the image collector (1) under the optical navigation camera coordinate system at the moment,
wherein n represents the number of optical tools (41);
step 3: when the optical navigation camera (3) moves, the optical navigation camera (3) acquires three-dimensional new coordinates of all optical tools (41) of the optical tool array (4) after the camera position moves,
；
step 4: defining a distance between three-dimensional coordinate points (a, b):
wherein, the point a represents the initial coordinates of the optical tool array (4), and the point b represents the coordinates of the optical tool array (4) after the optical navigation camera (3) moves;
step 5: calculating a displacement matrix of the optical tool array (4) by an optimization algorithm
So that->
Minimum, thereby obtaining a transfer matrix of the image collector to the new camera coordinate system>
；
Step 6: the self-adaption re-registration is completed, and the calculation module obtains according to the re-registration
And converting the target point in the medical image coordinate into an optical navigation camera coordinate system, thereby performing intra-operative navigation. />
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| CN111281540A (en) * | 2020-03-09 | 2020-06-16 | 北京航空航天大学 | Real-time visual navigation system based on virtual-actual fusion in minimally invasive surgery of orthopedics department |
| CN115578320A (en) * | 2022-09-18 | 2023-01-06 | 上海由格医疗技术有限公司 | Full-automatic space registration method and system for orthopedic surgery robot |
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| CN109785955A (en) * | 2018-12-25 | 2019-05-21 | 襄阳市第一人民医院（襄阳市肿瘤医院） | A kind of computer based neurosurgery diagnosis and treatment control system and method |
| US20230081244A1 (en) * | 2021-04-19 | 2023-03-16 | Globus Medical, Inc. | Computer assisted surgical navigation system for spine procedures |
| CN113925609A (en) * | 2021-09-16 | 2022-01-14 | 浙江伽奈维医疗科技有限公司 | CT coordinate and navigation camera registration device in operation |
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| CN111281540A (en) * | 2020-03-09 | 2020-06-16 | 北京航空航天大学 | Real-time visual navigation system based on virtual-actual fusion in minimally invasive surgery of orthopedics department |
| CN115578320A (en) * | 2022-09-18 | 2023-01-06 | 上海由格医疗技术有限公司 | Full-automatic space registration method and system for orthopedic surgery robot |
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