200845944 九、發明說明·· 【發明所屬之技術領域】 本發明是有關於一種機械手臂，且特別是有關於一種 應用機械手臂之定位方法。 【先前技術】 在習知的檢測技術中，醫師們需藉由影像檢查所得到 _ 之二維切片影像（如藉由電腦斷層掃瞄或磁振造影所得到 之二維切片影像），在自己心中想像目標物的位置。 著電|自Wf層掃瞒（C〇mputer t〇m〇graphy)科技的進 步，與影像處理（image processing)技術的創新，使透過專 業的影像處理所提供之二維切片影像（2]〇 slice image)越來 越精確又，f通著二維立體重構（3D reconstruction)及電腦 圖學技術水準的提昇，使這些二維切片影像得以疊合成三 、准心像資料，故醫生可藉由此三維影像資料而了解目標物 f 於^顱中的位置。但這種三維影像資料仍然僅能以自己的 =標系統來表示目標物的位置，因此醫生於手術或教學 、 ^對於手術裔械與目標物的相對位置仍然僅能憑經驗評 估，而無法準確得知。 【發明内容】 種定位方法，依此方 器械的位置。 種定位方法，其包含 因此本發明一方面就是在提供一 法可讓使用者獲知目標物相對於手術 根據本發明之一實施例，提出一 200845944 下列步驟：首先’對頭顱建立 標物於頭顱中之位置。接著，枓，用以提供目 #得手mu Λ機械手臂移動手術器械， 使付手術為械罪近頭顱。然後，一併偵 器械，以提供表面影像資料。最後，二術 表面以提供目標物相對於手術器械的位置。 ^月的另—方面就是在提供—種定位裝置，其可 供目標物相對於手術器械的位置。 〃 ^本發明之另—實_ ’提出—歡位裝置，其係 、組、機械手臂、偵測模組及疊合模組所組成。1 中，檢查模組是用來對頭顱建立三維影像資料，以提供目、 :物於：顱：之位置。機械手臂是用來移動手術器械，使 付手術益械靠近頭顱。债測模組是用來一併偵測頭顧表面 與手術器械，以提供表面影像資料。疊合模組則用來疊合 三維影像資料與表面影像資料，以提供目標物相對於 器械的位置。 ' 因此’本發明之定位方法及其裝置，可以讓醫生或使 用者得知目標物相對於手術器械的位置，而無須憑經驗猜 測。此外，由於目標物相對於手術器械的位置可以即時獲 知，因此以機械手臂自動完成手術將不再只是夢想。又 【實施方式】 以下將以圖示及詳細說明清楚說明本發明之精神，如 熟悉此技術之人員在瞭解本發明之實施例後，當可由本發 明所教示之技術，加以改變及修飾，其並不脫離本發明^ 200845944 精神與範圍。 的流=第:圖 U尸/Γ不’一種定位方法， 首先，對頭顱#fr _ 丟其可包含下列步驟： 之位置（步驟110)。接著，以_车辟徒供目仏物於頭顧中 鑽針、針或探、my ^ 械手#移動手術器械（例如： 然後，-=L 術器械靠近頭顱(步驟叫 料(步驟13。)，如此手術器械的位置將可以=!::影像資 實體座標來表示^後，疊合三維影像資料與料： 料，以提供目標物於實體座標上的位置（牛衫像貝' 來，由於手術器械與目標物的位置:;步：； 口=物相對於手術器械的位置將可確實獲知。 更，、體地§兄’使用者可於步驟13〇 械上安裝圓球，而此圓 在手術益 如此-來，使用者即可根手術器械的尖端。 m 術器械尖端在實體座標上的位置，而後續可=手 器械的尖端作為參考點。舉例來說，在疊合三維影像2 與表面影像資料後’使用者將可準確地獲知目標物相對於 手術器械尖端的位置。 根據以上所述，本實施例之定位方法可讓醫生或使用 者付知目標物相對於手欲干哭、沾7班 了瓦于術為械的位置，而無須憑經驗猜 測。此外’由於目標物相對於手術器械的位置可以即時庐 知，因此以機械手臂自動完成手術將不再只是夢想，以^ 將詳細描述如何以機械手臂導引手術器械至目標物。 200845944 ，照第2 ®，级讀照本發明—實_來導引手術 益械至目標物的流程^如圖所示，使定 器械於機械手臂之機械座標上的位置（步驟叫。更 ，、’此—㈣可決定手術㈣尖端於機械隸上的^置。 15G可依機械手臂的内建模組達成，使用者僅 安裝至機械手臂上，並執行内建模組的功能 t 接著’根據目標物相對於手術器械的位置，決定 物於機械座標上的位置（步驟⑽）。參照第3圖，纽干二 體座標與機械座標間的向量示意圖。如圖所示，在：維二 像資料105與表面影像資料103疊合後，目標物p及手: 為械的尖端T應可由表面影像㈣本身的實體座標N來表 不。在第3圖中，向量NP即表示目標物p在實體座標N 上的位置向量，而向量NT則表示手術器械的尖端、在奋 體座標N上的位置向量。另一方面，手術器械的尖端τ: 可由機械手臂的機械座標R來表示，例如第3圖之向量RT 即代表手術器械的尖端T在機械座標R上的位置向量。如 此一來’目標物P在機械座標R上的位置向量处可 式一得知： RP=NP-NT+RT……...... .................................. 蒼照第2圖，進入點於機械座標上的位置可在步驟 及步驟16〇之後決定（步驟170)β當然，步驟17〇亦可在牛 驟15〇及步驟16〇之前實施。其中，上述之進入點係錄 頭顱上，且在之後的步驟中，手術器械將透過此進入點鑽 200845944 者:直接將進，座標輪入機械手臂 端碰觸進入：定於頭顱上，再利用手術器械的尖 方位此用者可選擇實施步驟清，以調整手術器械的 =人使：手術器械的長度方向，和進入點與目標物的連 μ: f具體地說，使用者可先將機械手臂之工BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mechanical arm, and more particularly to a method of positioning a mechanical arm. [Prior Art] In the conventional detection technique, doctors need to obtain a two-dimensional slice image (such as a two-dimensional slice image obtained by computerized tomography or magnetic resonance imaging) obtained by image inspection. Imagine the location of the target. Power | The advancement of technology from the Wf layer sweeper (C〇mputer t〇m〇graphy), and the innovation of image processing technology, enabling two-dimensional slice images provided by professional image processing (2)〇 Slice image) is more and more accurate, and through the improvement of 3D reconstruction and computer graphics technology, these two-dimensional slice images can be combined into three, quasi-cardiac image data, so doctors can This 3D image data is used to understand the position of the target f in the skull. However, this kind of 3D image data can only represent the position of the target with its own standard system. Therefore, the relative position of the doctor in surgery or teaching, and the surgical machine and the target can still be evaluated only by experience, but cannot be accurate. Learned. SUMMARY OF THE INVENTION A positioning method is based on the position of the device. A positioning method, which comprises an aspect of the present invention, is to provide a method for allowing a user to know a target object relative to surgery. According to an embodiment of the present invention, a 200845944 step is presented: firstly, a target is built on the skull in the skull. The location. Then, 枓, to provide the target # mu Λ Λ mechanical arm to move the surgical instrument, so that the surgery is an insane close to the skull. Then, the device is detected together to provide surface image data. Finally, the second surface is provided to provide the position of the target relative to the surgical instrument. Another aspect of the month is the provision of a positioning device that provides the position of the target relative to the surgical instrument. 〃 ^The other embodiment of the present invention - the actual device is composed of a system, a group, a robot arm, a detection module and a stacking module. In the 1st, the inspection module is used to create a three-dimensional image of the skull to provide the purpose, the object: the position of the skull: The robotic arm is used to move the surgical instrument so that the surgical device is close to the skull. The debt test module is used to detect the surface of the head and the surgical instrument to provide surface image data. The overlay module is used to overlay 3D image data and surface image data to provide the position of the target relative to the instrument. The invention thus, the positioning method and apparatus thereof, allows the physician or user to know the position of the target relative to the surgical instrument without empirical guessing. In addition, since the position of the target relative to the surgical instrument can be immediately known, it is no longer just a dream to automate the operation with a robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS The spirit and scope of the present invention will be apparent from the following description of the embodiments of the invention. It does not depart from the spirit and scope of the invention ^ 200845944. Flow =: Figure U corpse / Γ not a kind of positioning method, first, the head #fr _ throwing it can include the following steps: position (step 110). Next, use the _ 车 徒 徒 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目 目), the position of the surgical instrument can be =!:: The image is represented by the physical coordinates, and then the 3D image data and material are superimposed to provide the position of the target on the physical coordinates (the cow's shirt is like a shell). Because the position of the surgical instrument and the target: step:; mouth = the position of the object relative to the surgical instrument will be known. Moreover, the body § brother 'user can install the ball in step 13 mechanically, and this The circle is so useful in surgery that the user can click on the tip of the surgical instrument. m The position of the instrument tip on the physical coordinate, and the subsequent can be the tip of the hand instrument as a reference point. For example, in a superimposed 3D image 2 After the surface image data, the user will be able to accurately know the position of the target relative to the tip of the surgical instrument. According to the above, the positioning method of the embodiment allows the doctor or the user to know the target and cry with respect to the hand.沾7班了瓦于术The position, without the need to guess by experience. In addition, because the position of the target relative to the surgical instrument can be immediately known, the automatic completion of the operation with the robotic arm will no longer be just a dream, and will describe in detail how to guide the operation with a robotic arm. From the device to the target. 200845944, according to the second ®, the reading of the present invention - the actual process of guiding the surgical device to the target object ^ as shown in the figure, the position of the device on the mechanical coordinate of the mechanical arm ( The steps are called. More, 'this—(4) can determine the position of the surgery (4) on the mechanical arm. 15G can be achieved according to the internal modeling group of the robot arm, the user is only installed on the robot arm, and the internal modeling group is executed. The function t then 'determines the position of the object on the mechanical coordinate according to the position of the target relative to the surgical instrument (step (10)). Referring to Fig. 3, the vector diagram between the coordinates of the New Zealand and the mechanical coordinate. After the dimension image 105 and the surface image data 103 are superimposed, the target object p and the hand: the tip T of the machine should be represented by the physical coordinate N of the surface image (4) itself. In Fig. 3, NP is the position vector of the target p on the physical coordinate N, and the vector NT is the tip of the surgical instrument, the position vector on the target N. On the other hand, the tip of the surgical instrument τ: the mechanical machine that can be mechanically The coordinate R indicates that, for example, the vector RT of Fig. 3 represents the position vector of the tip T of the surgical instrument on the mechanical coordinate R. Thus, the position vector of the target P on the mechanical coordinate R can be known as: RP=NP-NT+RT................................................ According to Fig. 2, the position of the entry point on the mechanical coordinate can be determined after the step and the step 16 (step 170). Of course, the step 17 can also be carried out before the step 15 and the step 16〇. Wherein, the above entry point is recorded on the skull, and in the following step, the surgical instrument will pass through the entry point drill 200845944: directly into, the coordinate wheel enters the mechanical arm end and touches into: set on the skull, and then reuse The sharp position of the surgical instrument can be selected by the user to adjust the surgical device to adjust the length of the surgical instrument: the length direction of the surgical instrument, and the connection point to the target. μ: Specifically, the user can first mechanically Arm work
二 =器械的尖端’接著再選擇調整手術器械的俯仰 角（叫、滾轉角（R〇11)與偏航角（Yaw)盆中之二， 使得手術器械的長度方向，和進人點與目標物的連線重：。 产物’利㈣械手臂將手術器械透過進人點導引至目 病灶)，如此即可進行相關的手術操作，例如: :創手術或其它利用針管工具進行的手術。應瞭解到 =並不限於醫療上的應用，本實施例的方法亦可應用於 二目關的領域(例如：病理教學或學術研究），習知技藝者 §視實際需要彈性選擇本發明的實施方式。 功攻以下將詳述本發明之非限制性實例，以說明本發明的 百先製作一頭顱假體，並於頭顱假體上的不同位置以 圓木桿設置四個形狀正確的塑_球，其中圓木桿的尖端 係位於塑膠圓球的球心。然後，沿著一固定方向連續對此 頭顧假體進行電_層掃描，以提供複數個三維切片影 像。接著，利用影像處理技術來疊合這些二維切片影像， 以建立二維影像資料，如此即可獲得塑膠圓球之球心（換言 9 200845944 -械端)在頭顱假體上的位置。然後，先將手術 供表面影像資料1著，疊合上述之表面 與，維影像資料，以提供塑膠圓球球心(換言之， 木梓的大鳊）相對於手術器械的位置。 俨„、： 了則:式機械手臂能否順利地將手術器械導引至圓木 干穴^，载者先將圓球與塑膠圓球拆卸下來，並在頭顧 假體上任意選擇進入點， 、 丹便用棧械手臂導引手術器械， 使侍手術ϋ械料料料人點㈣木桿料端，詳細步 ^如弟2 ®所示’在此不再贅述之。惟在本實射，測試 丄、擇以、’π機械座標橫軸(換言之’ X軸)旋轉的俯仰角(換 1之W角）’及繞機械座標垂直軸（換言之，ζ軸）旋轉的偏 航角（換言之’ R角），調整手術器械的方位，使得手術器械 的長度方向，和進入點與圓木桿尖端的連線重合。下表一 係列出手術器械定位的試驗結果，其中表—所列之座標值 機械座標之座標值〇 ----—_—Second = the tip of the instrument' then chooses to adjust the pitch angle of the surgical instrument (called the yaw angle, the roll angle (R〇11) and the yaw angle (Yaw), so that the length of the surgical instrument, and the entry point and target The connection weight of the object: The product 'Li (4) arm guides the surgical instrument through the entry point to the target lesion), so that the relevant surgical operation can be performed, for example: a surgical operation or other operation using a needle tool. It should be understood that = not limited to medical applications, the method of the present embodiment can also be applied to the field of dimorphism (for example, pathology teaching or academic research), and the skilled artisan § flexibly selects the implementation of the present invention according to actual needs. the way. The following non-limiting examples of the present invention will be described in detail to illustrate the preparation of a skull prosthesis of the present invention, and four correctly shaped plastic spheres are arranged on the round rods at different positions on the skull prosthesis. The tip of the round rod is located at the center of the plastic ball. Then, the head-fake prosthesis is continuously electrically scanned in a fixed direction to provide a plurality of three-dimensional slice images. Then, the image processing technology is used to superimpose the two-dimensional slice images to establish two-dimensional image data, so that the position of the center of the plastic ball (in other words 9 200845944 - mechanical end) on the skull prosthesis can be obtained. Then, the surgical surface image data is first placed, and the surface and the image data are superimposed to provide the position of the plastic ball center (in other words, the big raft of the raft) relative to the surgical instrument.俨„,: :: The mechanical arm can smoothly guide the surgical instrument to the round hole ^, the carrier first disassembles the ball and the plastic ball, and arbitrarily selects the entry point , Dan will use the arm of the stack to guide the surgical instruments, so that the surgical equipment and materials are ordered (4) wood rod ends, detailed steps ^ as shown in the brother 2 ® 'will not be repeated here. Shoot, test 丄, select, 'π mechanical coordinate horizontal axis (in other words 'X axis) rotation pitch angle (change 1 W angle)' and yaw angle around the mechanical coordinate vertical axis (in other words, ζ axis) In other words, 'R angle', adjust the orientation of the surgical instrument so that the length direction of the surgical instrument, and the line connecting the entry point to the tip of the log rod. The following table shows the test results of the positioning of the surgical instrument, the table - listed The coordinate value of the coordinate value of the mechanical coordinate 〇-----_-
表一手術器械定位的試驗結果 如表一所示，若依照本發明之上述實施例來導？丨手術 200845944 器械’其定位誤差均可在1 _9 mm以下，且其平均定位誤差 僅 1·7 mm 〇 參第4圖’其緣示依照本發明一實施例之定位裝置 的功能方塊圖。如圖所示，一種定位裝置係由檢查模組 310、機械手臂320、偵測模組330及疊合模組340所組成。 其中，檢查模組310是用來對頭顱建立三維影像資料，以 提供目標物於頭顱中的位置。機械手臂32〇是用來移動手 術器械，使得手術器械靠近頭顱。摘測模組33〇是用來一 併偵測頭顱表面與手術器械，以提供表面影像資料，如此 手術器械的位置將可以表面影像資料之實體座標來表示。 疊合模組340則用來疊合三維影像資料與表面影像資料， 以提供目標物於實體座標上的位置。如此一來，由於手術 益械與目標物的位置均可以實體座標來表示，因此目標物 相對於手術器械的位置將可確實獲知。 參妝第5圖，其繪示依照本發明一實施例之檢查模組 的功能方塊圖。在本實施例中，上述之檢查模組31〇更可 包含電腦斷層掃描設備312及影像處理模組314。其中，電 腦斷層掃描σ又備3 12是用來沿著一固定方向連續對頭顧實 施電腦斷層掃描，以提供複數個二維切片影像。而影像處 里模、、且3 14貝彳電性連接電腦斷層掃描設備3丨2，用來疊合這 些二維切片影像成為三維影像資料。 參fe第6圖，其繪示依照本發明另一實施例之檢查模 組的功能方塊圖。在第6圖巾，檢查模組31G係可由磁振 造影設備316及影像處理模組所組成。其中，磁振造 200845944 影設備316是用來沿著-固定方向連續對頭顱實施磁振造 影以提供複數個二維切片影像。而影像處理模組3丨8則電 性連接磁振造影設備316,用來疊合這些二維切片影像成為 三維影像資料。 ’ ‘ 此外，第4圖之偵測模組33〇可為任意型式的非接觸 债測設備’例如：雷射掃描設備或電荷輕合元件伽吻 C〇Uple Device ; CCD)。應瞭解至,】，此上所舉之债測模址僅Table 1 Test results of surgical instrument positioning As shown in Table 1, according to the above embodiment of the present invention,丨 Surgery 200845944 The instrument's positioning error can be below 1 _9 mm, and its average positioning error is only 1.7 mm. 第 第 4 FIG. 4 shows the functional block diagram of the positioning device according to an embodiment of the present invention. As shown, a positioning device is composed of an inspection module 310, a robot arm 320, a detection module 330, and a stacking module 340. The inspection module 310 is configured to create three-dimensional image data on the skull to provide a position of the target in the skull. The robotic arm 32 is used to move the surgical instrument so that the surgical instrument is close to the skull. The metrology module 33 is used to detect the surface of the skull and the surgical instrument to provide surface image data, such that the position of the surgical instrument can be represented by the physical coordinates of the surface image data. The superimposing module 340 is used to superimpose the three-dimensional image data and the surface image data to provide the position of the object on the physical coordinates. In this way, since the position of the surgical device and the target can be expressed by physical coordinates, the position of the target relative to the surgical instrument can be surely known. Fig. 5 is a functional block diagram of an inspection module in accordance with an embodiment of the present invention. In this embodiment, the inspection module 31 can further include a computer tomography device 312 and an image processing module 314. Among them, the CT scan σ is further used to perform a computed tomography scan on a continuous direction in a fixed direction to provide a plurality of two-dimensional slice images. The image is located in the modulo, and the 3 14 彳 is electrically connected to the computed tomography apparatus 3 丨 2, which is used to superimpose these two-dimensional slice images into three-dimensional image data. Referring to Figure 6, there is shown a functional block diagram of a test module in accordance with another embodiment of the present invention. In the sixth figure, the inspection module 31G can be composed of a magnetic resonance imaging device 316 and an image processing module. Among them, the magnetic vibration generation 200845944 shadow device 316 is used to continuously perform magnetic vibration imaging on the skull along the fixed direction to provide a plurality of two-dimensional slice images. The image processing module 3丨8 is electrically connected to the magnetic resonance imaging device 316 for superimposing the two-dimensional slice images into three-dimensional image data. ‘ ‘ In addition, the detection module 33〇 of FIG. 4 can be any type of non-contact debt measuring device, such as a laser scanning device or a charge-collecting component, CCD. It should be understood that,], the debt test site mentioned here is only
為例示，並非用以限制本發明，偵測模組亦可為其它適當 的偵測設備，習知技藝者當視實際需要彈性選擇偵測模: 的實施方式。 參照第7圖’其繪示依照本發明一實施例之圓球與手 術器械的位置示意圖。在本實施例中，使用者可於偵測頭 顧之表面與手術器械322時，在手術器械322上安裝圓球 324，而此圓球324的球心約位於手術器械322的尖端丁。 如此一來，使用者即可根據表面影像資料而準確地得知手 術器械尖端T在實體座標上的位置，而後續步驟亦可以手 術器械的尖端T作為參考點。舉例來說，在疊合三維影像 資料與表面影像資料後，使用者將可準確地獲知目標物相 對於手術器械尖端T的位置。 參…、第8圖’其綠示依照本發明另一實施例之定位裝 置的功月b方塊圖。在本實施例中，檢查模組3丨〇、偵測模組 330與$合模組34〇均與上述實施例相同，在此不再贅述 之。在第8圖中，上述之定位裝置更可包含器械位置決定 換組350,用以決定手術器械於機械手臂之機械座標上的位 12 200845944 置。更具體地說，此—器械位置決定模組⑽可決定手術 ㈣尖端於機械座標上的位置。此外，器械位置決定模組 可内％於機械手臂320中，使用者僅需將手術器械安裝 至機械w上，並執行器械位置決定模組35G即可。For example, it is not intended to limit the present invention, and the detection module may be other suitable detection devices, and the skilled artisan may flexibly select the detection mode according to actual needs. Referring to Fig. 7, a schematic view of the position of the ball and the surgical instrument in accordance with an embodiment of the present invention is shown. In this embodiment, the user can mount the ball 324 on the surgical instrument 322 when the surface of the head and the surgical instrument 322 are detected, and the center of the ball 324 is located at the tip end of the surgical instrument 322. In this way, the user can accurately know the position of the tip T of the surgical instrument on the physical coordinate based on the surface image data, and the subsequent step can also use the tip T of the surgical instrument as a reference point. For example, after superimposing the 3D image data and the surface image data, the user can accurately know the position of the target relative to the tip T of the surgical instrument. Fig. 8 is a block diagram showing the power month b of the positioning device according to another embodiment of the present invention. In this embodiment, the inspection module 3, the detection module 330, and the combination module 34 are the same as those in the above embodiment, and will not be described again. In Fig. 8, the positioning device described above may further include a device position determining group 350 for determining the position of the surgical instrument on the mechanical coordinate of the robot arm 12 200845944. More specifically, the instrument position determining module (10) determines the position of the surgical tip (4) on the mechanical coordinate. In addition, the device position determining module can be included in the robot arm 320. The user only needs to attach the surgical instrument to the machine w and execute the instrument position determining module 35G.
另外，第8圖之定位裝置亦可包含目標物位置決定模 一 60及進人點位置決定模組3川。其中，目標物位置決定 核組360係根據目標物相對於手術器械的位置，決定目桿 物於機械座標上的位置。進入點位置決定模組37〇則用以 決定進入點於機械座標上的位置。上述之進人點係位於頭 顱上，且在之後的步驟中’手術器械將透過此進入點鑽進 頭顱内，再到達目標點。 此外，使用者可安裝調整模組39〇於定位裝置中，以 調整手術器械的方位，使得手術器械的長度方向，和進入 點與目標物的連線重合。然後，湘導引模組驅使機 ，手臂32G導引手術器械，使得手術器械透過進入點至目 標物（例如：病灶）’如此即可進行相關的手術操作，例如. 微創手術或其它利用針管卫具進行的手術。應瞭解到，本 發明並不限於醫療上的應用，本實施例的裝置亦可應用於 其他相關的領域（例如：病理教學或學術研究），習知技藝者 ^視灵際需要彈性選擇本發明的實施方式。 上述之影像處理模組314/318、疊合模組34〇、目桿物 位置決定模組360、器械位置決定模組35〇、進入點位^決 疋模組370、導引模組380及調整模組390，其實施方式^ 選擇為軟體程式或是硬體電路。而且，此七者當視當時設 13 200845944 計與需要彈性地選擇其適用的實施方式，並不需要全為軟 體程式或是全為硬體電路，得部分為軟體程式或部份為硬 體電路。 此外’上述之機械手臂32〇可為任何可定義座標點、 方位角及具中^的機械手臂。本實施例係以以贿LR Mate 2_B小背隙型六軸機械手臂來實施機械手臂32〇,但 此並不限制本發明’習知技藝者亦可選擇其它適合的裝置 來取代之。 雖然本發明已以實施例揭露如上，然其並非用以限定 本發明，任何熟習此技藝者，在不脫離本發明之精神和範 圍内，當可作各種之更動與潤飾，因此本發明之保護範圍 當視後附之申請專利範圍所界定者為準。 【圖式簡單說明】 為讓本發明之上述和其他目的、特徵、優點與實施例 能更明顯易懂，所附圖式之詳細說明如下： 第1圖係繪示依照本發明一實施例之定位方法的流程 圖。 第2圖係繪示依照本發明一實施例來導引手術器械至 目標物的流程圖。 第3圖係繪示實體座標與機械座標間的向量示意圖。 第4圖係繪示依照本發明一實施例之定位裝置的功能 方塊圖。 14 200845944 第5圖係繪示依照本發明一實施例之檢查模組的功能 方塊圖。 第6圖係繪示依照本發明另一實施例之檢查模組的功 能方塊圖。 第7圖係繪示依照本發明一實施例之圓球與手術器械 的位置示意圖。 第8圖係緣示依照本發明另一實施例之定位裝置的功 能方塊圖。 【主要元件符號說明】 110〜190 :步驟 103 :表面影像資料 105 :三維影像資料 3 10 :檢查模組In addition, the positioning device of Fig. 8 may also include a target position determining mode 60 and a entering point determining module. Among them, the target position determination nuclear group 360 determines the position of the target on the mechanical coordinate according to the position of the target relative to the surgical instrument. The entry point position determination module 37 is used to determine the position of the entry point on the mechanical coordinate. The above-mentioned entry point is located on the skull, and in the subsequent steps, the surgical instrument will drill into the skull through this entry point and reach the target point. In addition, the user can install the adjustment module 39 in the positioning device to adjust the orientation of the surgical instrument such that the length direction of the surgical instrument and the line connecting the entry point to the target coincide. Then, the Xiang guide module drives the machine, and the arm 32G guides the surgical instrument so that the surgical instrument can perform the relevant surgical operation through the entry point to the target object (for example, a lesion), for example, minimally invasive surgery or other use of a needle tube. Surgery performed on the guard. It should be understood that the present invention is not limited to medical applications, and the apparatus of the present embodiment can also be applied to other related fields (for example, pathological teaching or academic research), and the skilled artisan needs to flexibly select the present invention. Implementation. The above image processing module 314/318, the stacking module 34〇, the target position determining module 360, the device position determining module 35〇, the entry point determining module 370, the guiding module 380 and The adjustment module 390 is implemented as a software program or a hardware circuit. Moreover, the seven are considered to be 13 200845944 and need to flexibly choose the applicable implementation method, and do not need to be all software programs or all hardware circuits, and some are software programs or partially hardware circuits. . In addition, the above-mentioned robot arm 32 can be any mechanical arm that can define a coordinate point, an azimuth angle, and a middle. In the present embodiment, the robot arm 32 is implemented by bribing the LR Mate 2_B small backlash type six-axis robot arm, but this does not limit the present invention. Those skilled in the art may also select other suitable devices instead. Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention, and the present invention can be modified and retouched without departing from the spirit and scope of the present invention. The scope is subject to the definition of the scope of the patent application attached. BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features, advantages and embodiments of the present invention will become more <RTIgt; Flow chart of the positioning method. 2 is a flow chart showing the guiding of a surgical instrument to a target in accordance with an embodiment of the present invention. Figure 3 is a vector diagram showing the relationship between physical coordinates and mechanical coordinates. Figure 4 is a block diagram showing the function of a positioning device in accordance with an embodiment of the present invention. 14 200845944 FIG. 5 is a functional block diagram of an inspection module in accordance with an embodiment of the present invention. Figure 6 is a block diagram showing the function of an inspection module in accordance with another embodiment of the present invention. Figure 7 is a schematic view showing the position of a sphere and a surgical instrument in accordance with an embodiment of the present invention. Figure 8 is a block diagram showing the function of a positioning device in accordance with another embodiment of the present invention. [Main component symbol description] 110~190: Step 103: Surface image data 105: 3D image data 3 10: Inspection module
3 12 ·電腦斷層掃描設備 3 14 ·影像處理模組 3 1 β :磁振造影設備 318 :影像處理模組 3 20 ·機械手臂 322 :手術器械 324 :圓球 3 3 0 :偵測模組 340 :疊合模組 15 200845944 3 5 0 : Is械位置決定模組 360 :目標物位置決定模組 370 :進入點位置決定模組 380 :導引模組 390 :調整模組 N :實體座標 R :機械座標 P :目標物 T :尖端 NP :向量 NT :向量 RP :向量 RT :向量 163 12 · Computer tomography equipment 3 14 · Image processing module 3 1 β : Magnetic resonance imaging equipment 318 : Image processing module 3 20 · Robot arm 322 : Surgical instrument 324 : Ball 3 3 0 : Detection module 340 :Overlay module 15 200845944 3 5 0 : Is device position determining module 360 : target position determining module 370 : entry point position determining module 380 : guiding module 390 : adjusting module N : physical coordinate R : Mechanical coordinate P: target T: tip NP: vector NT: vector RP: vector RT: vector 16