A calibration method for surgical navigation tools
A calibration method and surgical navigation technology, which is applied in the calibration field of surgical navigation tools, can solve problems such as errors, irregular shapes, and limited optical navigation equipment, and achieve the effect of ensuring accuracy
Inactive Publication Date: 2019-06-25
SHENZHEN SMARTVIEW MEDICAL TECH CO LTD
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[0003] Patent CN201389080Y discloses a general standard module for surgical navigation equipment, however, the calibration module described in this patent can only be limited to optical navigation equipment, and cannot calibrate electromagnetic navigation equipment
In addition, when the module calibrates the main axis, it is necessary to manually place the tool in a fixed position. This method has great limitations. If the surgical instrument is large in size and irregular in shape, the direction of the sensor and the axis direction will deviate too much. Large, using this method will cause a large error
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[0016] In order to facilitate those of ordinary skill in the art to understand and implement the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the implementation examples described here are only used to illustrate and explain the present invention, and are not intended to limit this invention.
[0017] see as figure 1 As shown, this embodiment adopts the following calibration method:
[0018] 1), fix the tip at one point;
[0019] 2) Fix the point, turn the surgical instrument in any direction, and let the tracker sample the position and direction information of the surgical instrument at the same time;
[0020] 3) Calculate the position and error of the tip;
[0021] 4) Accept the error and end the calibration; or reject the error and re-calibrate;
[0022] 5) Fix the main shaft of the surgical instrument;
[0023] 6), rotate the surgical instr...
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The invention discloses a calibration method of a surgical navigation tool, and belongs to the field of surgical navigation. The calibration method includes the steps that 1, a tip is fixed to a point; 2, the point is fixed, a surgical instrument is rotated in any direction, and meanwhile the position and direction information of the surgical instrument is sampled through a tracker; 3, the position of the tip and an error are calculated; 4, the error is accepted, and calibration is finished; or the error is rejected, and calibration is carried out again; 5, the main axis of the surgical instrument is fixed; 6, the surgical instrument is rotated around the main axis, and meanwhile the position and the direction are sampled; 7, the direction of the main axis is calculated. According to the calibration method, rotation is carried out with the main axis as the rotating axis, sampling is carried out multiple times through a sensor, repeated calibration is carried out, and the accuracy of calibration is guaranteed; the calibration method is suitable for various six-freedom-of-degree navigation sensors and calibration of tips and axes of surgical instruments in various types, and meanwhile the calibration method can be compatible with any six-freedom-of-degree navigation tool.
Description
technical field [0001] The invention belongs to the field of surgical navigation, and in particular relates to a calibration method of a surgical navigation tool. Background technique [0002] As we all know, the size of tools produced by different surgical instrument manufacturers is very different. Usually, the shape, size, and position of the tracker of surgical navigation instruments are strictly defined. During the navigation process, the navigation system calculates the position and direction of the surgical instrument based on these precise information. However, this high degree of customization limits the widespread application of surgical navigation. There are many types of surgical instruments, and custom trackers for each are costly. [0003] Patent CN201389080Y discloses a general standard module for surgical navigation instruments. However, the calibration module described in this patent can only be limited to optical navigation equipment, and cannot calibrate...
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IPC IPC(8): A61B34/20A61B34/10
CPCA61B2562/00
Inventor 石海利李乐宁
Owner SHENZHEN SMARTVIEW MEDICAL TECH CO LTD