Surgical instrument calibration system and calibration method for navigation surgery

Abstract

The invention discloses a navigation surgical instrument calibration system and a calibration method. The calibration system includes a navigator, a calibration platform, a calibration platform reference mark, a surgical instrument reference mark, a computer, and a display. During calibration, only the surgical instrument needs to be held and fixed on the calibration platform. Using the structural parameters of the calibration table, use the navigator to collect all the reference mark images of the surgical instrument and the calibration table at the same time, and directly calculate the axial vector and tip position of the surgical instrument through the geometric analysis algorithm software, and record The template position of the surgical instrument is used to complete the calibration of the surgical instrument. This system can complete the calibration of all parameters by collecting an image once, which can greatly reduce the number of image acquisitions, simplify the calibration process, improve the accuracy and reliability of the calibration, and save time and effort in the entire calibration process, with high efficiency and small errors; calibration process action It is simple and easy to operate, which can significantly reduce the risk of calibration failure and improve the success rate of calibration; the calibration table has a simple structure, is accurate and reliable, and is 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, because the surgical instrument needs to be shaken around a point on the top of the pit to collect images, in fact the tip of the instrument There are shape errors and sliding errors in the pits, which cannot always be fixed at one point, which will affect the calibration accuracy of the tip, and then affect the accuracy of the subsequent axial calibration (requires the calibration result of the tip as the initial condition); multiple acquisitions of images also bring The risk of accidental movement of the calibration table, although the error can be removed through a dynamic reference, the resulting system error and calculation error cannot be avoided; the calibration algorithm is complex; in addition, the calibration table has a complex structure, heavy weight, difficult to manufacture, and expensive Expensive, which has a great impact on the wide-scale promotion and use of navigation systems

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