Length measuring method and device of mark block and electronic equipment
A technology of length measurement and marking blocks, which is applied in the field of medical robots, can solve the problems of positioning errors of surgical instruments, different lengths of marking blocks, and the inability to guarantee the effect of surgery, etc., and achieve the effect of guaranteeing the effect
Pending Publication Date: 2022-04-12
BEIJING DIACRID MEDICAL TECH
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Problems solved by technology
In order to achieve precise positioning of surgical instruments, the length of the marking block needs to be determined in advance, but due to the processing error of the marking block in the production process, the length of each marking block is actually not exactly the same
If there is an error in the length of the measured marker block, it will lead to an error in the positioning of the surgical instrument, so that the effect of the operation cannot be guaranteed
Method used
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[0039] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.
[0040] Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details being omitted, or other methods, devices, steps, etc. may be adopted. In other instances, well-known structures, methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present disclosure.
[0041] In addition, the terms "estimated", ...
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The invention provides a method and device for measuring the length of a marking block, electronic equipment and a surgical robot system.The marking block comprises a supporting piece and a marking body installed on the top, and the length of the marking block is the distance from the root of the supporting piece to the center of the marking body, the distance from the root of the supporting piece to the center of the marking body, and the distance from the root of the supporting piece to the center of the marking body. The method comprises the following steps: acquiring a plurality of three-dimensional space coordinates formed by the center of the mark body along with the movement of the mark block; performing curve fitting on the plurality of three-dimensional space coordinates to obtain a track curve formed by the movement of the center of the mark body in a three-dimensional space coordinate system so as to determine the center point of the plurality of three-dimensional space coordinates; according to the multiple three-dimensional space coordinates and the center points of the multiple three-dimensional space coordinates, the length of the marking block is determined, the length of the marking block is accurately determined, and therefore the operation effect is guaranteed.
Description
technical field [0001] The invention relates to the technical field of medical robots, in particular to a method and device for measuring the length of a marking block, electronic equipment, and a surgical robot system. Background technique [0002] Robots and other automation equipment have been widely used in the industrial field, showing obvious advantages in terms of operational flexibility, stability and accuracy. In order to solve the problems of insufficient precision, excessive radiation, large incisions, and operator fatigue in surgical operations, people began to discuss how to introduce robotic methods into surgical operations. treatment methods and systems. [0003] In order to support the completion of high-quality surgery, marker blocks (also called markers) are used for positioning of surgical instruments. In order to realize the precise positioning of the surgical instrument, the length of the marking blocks needs to be determined in advance, however, due t...
Claims
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Inventor 王宗涛耿冰肖森雄倪自强
Owner BEIJING DIACRID MEDICAL TECH