A reference frame coordinate system retrieval method and a reference frame coordinate system retrieval device
A reference frame and coordinate system technology, applied in the medical field, can solve problems such as surgical failure
Active Publication Date: 2020-06-23
BEIJING HURWA ROBOT MEDICAL TECH CO LTD
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Problems solved by technology
[0003] This application provides a method for retrieving the reference frame coordinate system and a reference frame coordinate system retrieving device to solve the problem in related technologies that if the relative displacement between the reference frame and the bone occurs, the operation will fail.
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[0066] The embodiments will be described in detail hereinafter, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following examples do not represent all implementations consistent with this application. These are merely examples of systems and methods consistent with aspects of the present application as recited in the claims.
[0067] see figure 1 , figure 1 It is a flow chart of a reference frame coordinate system retrieval method provided by this application. like figure 1 shown, including the following steps:
[0068] Step 101, during the operation, after determining that the relative position of the reference frame and the bone has changed, moving the reference frame to the target position of the bone, and fixing the probe to the bone according ...
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The invention relates to a reference frame coordinate system retrieval method and a reference frame coordinate system retrieval device. The method includes: during a surgery, determining the change ofa relative position of a reference frame and a bone, and moving the reference frame to a target position of the bone, and in the case of fixing the probe to a verification point on the bone accordingto the target posture, determining a first coordinate system corresponding to the reference frame located at the target position of the bone; determining a second coordinate system corresponding to the probe fixed on the verification point on the bone according to the target posture; acquiring the correspondence relationship of the first coordinate system according to the first coordinate systemand the second coordinate system; according to a first coordinate system correspondence relationship, a second coordinate system correspondence relationship stored in advance, and the first coordinatesystem, and determining an initial coordinate system corresponding to the reference frame before the relative position of the reference frame and the bone is changed. The initial coordinate system corresponding to the reference frame before the relative position of the reference frame and the bone is changed can be retrieved, so that the surgery can be continued.
Description
technical field [0001] The present application relates to the field of medical technology, in particular to a method for retrieving a reference frame coordinate system and a device for retrieving a reference frame coordinate system. Background technique [0002] In orthopedic surgery, the reference frame can be fixed on the bone, and the relationship between the reference frame and the bone can be established through the registration operation, so as to track the reference frame to perform the bone positioning operation. However, if there is a relative displacement between the reference frame and the bone due to collision or looseness, the positioning effect will be seriously affected. If re-registration is desired, some of the structures used for registration have been removed at this point. For example, parts of the bones have been sawed off. Since the remaining anatomy may be incomplete or less informative, the re-registration may fail and the procedure may fail. There...
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IPC IPC(8): A61B34/20A61B90/00
CPCA61B34/20A61B90/39A61B2034/2068A61B2090/3983
Inventor 李书纲张晓峰郭双双陈鑫
Owner BEIJING HURWA ROBOT MEDICAL TECH CO LTD