A surgical instrument calibration system and method for navigating surgery

Abstract

The invention discloses a surgical instrument calibration system and method for navigating surgery. The calibration system includes a navigator, a calibration table, a calibration table reference mark, a surgical instrument reference mark, a computer and a display. When calibrating, only the surgical instrument is held and fixed on the standard position on the calibration table, the structural parameters of the calibration table are used, all the reference mark images of the surgical instrument and the calibration table are collected simultaneously by the navigation instrument at one time, andthe axial vector and the tip position of the surgical instrument are directly calculated by the geometric analysis algorithm software, the template position of the surgical instrument is recorded, and the calibration of the surgical instrument is completed. All parameters can be calibrated by this system in one time, which can greatly reduce the number of times of image acquisition, simplify thecalibration process, improve the accuracy and reliability of calibration, save time and labor, and make the whole calibration process with high efficiency and small error. The calibration process is simple and easy to operate, which can obviously reduce the risk of calibration failure and improve the success rate of calibration. The calibration table is simple in structure, accurate and reliable,and easy to manufacture and use.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to a surgical instrument calibration system for navigation surgery. In addition, the present invention also relates to a surgical instrument calibration method for navigating surgery. Background technique [0002] In recent years, in order to improve the accuracy and success rate of surgery, more and more navigation systems are used in surgery, which provide doctors with visual information of surgical sites and instruments during surgery, and perform instrument navigation and monitoring. In the process of surgical navigation, the actual operation of surgical instruments is still completed by the doctor. Therefore, this navigation system only plays an auxiliary role and belongs to passive image-guided surgery. [0003] In order to use the navigator to accurately track the surgical instruments with reference marks, it is necessary to establish the coordinate transformation relation...

AI Technical Summary

Problems solved by technology

However, since the calibration algorithm adopts a numerical approximation algorithm based on the principle of the least squares method, it is necessary to collect reference mark images many times to ensure the calibration accuracy, thus causing many unavoidable defects, such as: the tip and axis of the surgical instrument are separately calibrated, and repeated calibration is required. A large number of images are collected many times. In actual use, at least 17 images with all reference marks need to be collected. Since the rotation angle of the surgical instrument changes very little each time the image is collected, it is difficult to collect the image clearly, and repeated rework is often required. The process is time-consuming and labor-intensive, which greatly increases the uncertainty factor of calibration failure and wastes precious surgical time; in the tip calibration process, b...

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