Automatic tracking and positioning method for surgical instrument in large visual field

A surgical instrument and automatic tracking technology, applied in the field of surgical navigation, can solve the problems of inability to locate surgical instruments in a large range, and the effective field of view of the binocular vision system is small, so as to achieve automatic tracking and positioning, and solve the effect of small effective field of view.

Inactive Publication Date: 2015-07-01
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide an automatic tracking and positioning method for surgical instruments under a large field of view. The problem of surgical instruments has realized the automatic tracking and positioning of surgical instruments in a large field of view, which has important application value in the field of surgical navigation

Method used

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  • Automatic tracking and positioning method for surgical instrument in large visual field
  • Automatic tracking and positioning method for surgical instrument in large visual field
  • Automatic tracking and positioning method for surgical instrument in large visual field

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Embodiment

[0022] Such as figure 1 As shown, the automatic tracking and positioning method of the surgical instrument under the large field of view of the present invention is realized through the following steps:

[0023] (1) Fix the binocular vision system to the moving end of the upper part of the robotic arm. Initialize the position of the mechanical arm. In order to simplify the subsequent coordinate calculations, the center of the upper shaft A of the robotic arm is located directly above the center of the lower shaft B. The binocular vision system consists of two near-infrared cameras and brackets that fix their positions. The optical axis of the camera is horizontal to the ground, and the center of the line connecting the two cameras is on the same vertical line as the center of the rotation axis A and B of the mechanical arm. figure 1 shown. Take the center point of the rotation axis A as the origin, take the direction connecting the two cameras as the X axis, and take the ver...

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Abstract

The invention discloses an automatic tracking and positioning method for a surgical instrument in a large visual field. The automatic tracking and positioning method comprises the following steps of 1 using a mechanical arm to control motions of a binocular vision system to obtain the large visual field and automatically tracking the surgical instrument in the large visual field, 2 determining the space position of the binocular vision system according to the position relation of a steering engine of the mechanical arm, and 3 positioning the surgical instrument through space coordinate transformation. The problem that the binocular vision system is small in effective visual field and cannot position the surgical instrument in a wide-range mode is effectively solved, and the automatic tracking and positioning method has the advantages of achieving automatic tracking and positioning of the surgical instrument in the large visual field and the like.

Description

technical field [0001] The invention relates to a surgical navigation technology, in particular to an automatic tracking and positioning method for surgical instruments in a large field of view. Background technique [0002] Optical positioning equipment in surgical navigation is generally fixed on a bracket by two fixed-focus cameras to form a fixed effective field of view. Surgical instruments must move within the effective field of view of the cameras to be positioned. This is an important factor affecting the use of optical positioning technology. [0003] At present, the wide-angle lens is mainly used in the binocular vision system to obtain a large field of view, but the image obtained by the wide-angle lens is greatly distorted, and the calculation error of the three-dimensional coordinates of the surgical instrument will also increase accordingly. In addition, for the same CCD pixel, if the wide-angle lens captures a larger scene, the pixels occupied by the same obj...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B19/00
CPCA61B5/061
Inventor 杨荣骞关沛峰林钦永司璇肖伟虎陈秀文
Owner SOUTH CHINA UNIV OF TECH
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