A calibration method for a tracer on the end of a surgical navigation robot
A calibration method and surgical navigation technology, which is applied to the calibration of the tracker on the end of the surgical navigation robot. The field of position calibration of the markers installed on the end tracker of the surgical navigation robot can solve the problem of the position of the end tracker of the surgical navigation robot. Difficult to measure and other problems, to achieve the effect of easy promotion, simple operation, and improved accuracy
Active Publication Date: 2022-05-10
江苏逸动医疗设备有限公司
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[0007] The present invention aims at the problem that the position of the terminal tracer of the surgical navigation robot is difficult to measure at present, and provides a method for calibrating the terminal tracer of the surgical navigation robot, which can accurately calibrate the coordinates of the terminal tracer of the surgical navigation robot without expensive instruments
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[0048] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0049] like Figure 1-Figure 3 As shown, this example provides a method for calibrating a tracer on the end of a surgical navigation robot. The optical tracker is used to directly read the coordinates of the robot end tracer in the optical tracker coordinate system. Coordinates under the optical tracker, calculate the coordinates of the robot end tracker under the robot end.
[0050] 1 is the robot, 2 is the tracer, 3 is the optical tracker, 11 is the robot base, 12 is the robot end flange, 13 is the fifth axis of the robot, 14 is the sixth axis of the robot, and 21 is the marker. The tracer 2 is fixed on the end flange 12 of the robot, and there are four markers 21 on the tracer 2. The optical tracker 3 can read the coordinates of the markers 21 on the tracer 2.
[0051] The coordinate system of the robot base 11 is preset as G, the ...
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A method for calibrating a tracker on the end of a surgical navigation robot, belonging to the field of medical assistance technology, uses an optical tracker to directly read the coordinates of the tracker at the end of the robot in the optical tracker coordinate system, and records three different positions in The coordinates under the optical tracker are used to calculate the coordinates of the robot end tracker under the robot end. This method can accurately calculate the coordinates of the marker without using professional measuring instruments, avoiding errors caused by machining accuracy , the accuracy of the whole surgical navigation system is improved, the method is simple to operate, low in cost, and easy to popularize.
Description
technical field [0001] The invention belongs to the technical field of medical assistance, and relates to a method for calibrating a tracer on the end of a surgical navigation robot, in particular to the position calibration of a marker installed on the end tracer of a surgical navigation robot. Background technique [0002] With the widespread application of minimally invasive surgery in recent years and the increasing requirements for the positioning accuracy of instruments or implants during surgery, assisted positioning or surgical navigation systems based on medical image guidance have made great progress. [0003] This type of system is generally divided into several major components: CTCB machine, optical tracker and navigation robot; CTCB machine is used to create three-dimensional medical images, the optical tracker tracks the position of the robot and the patient through a specific tracker, and the navigation robot is used to complete the final Operation. In order...
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IPC IPC(8): A61B34/20A61B34/30
CPCA61B34/20A61B34/30A61B2034/2068A61B2034/2055A61B2034/305
Inventor 罗丹周振宇周子涵
Owner 江苏逸动医疗设备有限公司