Support device for a binocular vision system, binocular vision system and optical positioning system

Abstract

The application provides a supporting device for a binocular vision system, the binocular vision system comprising two cameras, the two cameras being suitable for collecting visual images of markers installed at a surgical site of a patient to locate a surgical position; the supporting device comprising: a connecting part, comprising a base and two flexible arms upwardly extending on opposite sides of the base, the base being installed on a bottom wall inside a housing of the binocular vision system to determine a relative position of the base relative to the bottom of the housing and being combined with the flexible arms to buffer mechanical vibration transmitted by the housing; and a supporting part, being installed on the two flexible arms and being clamped between the two flexible arms, the supporting part being configured to support and clamp a keel frame of the binocular vision system for installing the cameras to install the keel frame inside the housing and buffer mechanical vibration transmitted by the housing to the cameras.

Description

TECHNICAL FIELD

[0001] At least one embodiment of the present application relates to the field of optical positioning technology, in particular to a supporting device for a binocular vision system, a binocular vision system and an optical positioning system. BACKGROUND

[0002] The surgical navigation system is one of the most important subsystems in the surgical robot system, and its main function and significance lies in realizing spatial positioning and target guidance. Optical positioning navigation is the mainstream technology of current surgical navigation, among which the navigation equipment with binocular vision system based on infrared light has been widely applied in many fields of clinical surgery due to its high real-time performance and large field of view.

[0003] In the prior art, two cameras of the binocular vision system are usually supported by a keel with a small thermal expansion coefficient (about 10 -6 / K order) and large structural rigidity, so as to ensure that the two cameras respectively installed at both ends of the keel can maintain high thermal stability and structural stability in the face of temperature changes and working angle changes in the working state. The keel supporting the camera is generally fixed on the shell of the binocular vision system by a supporting device at both ends in a suspension type fixing scheme, aiming to avoid the influence of external environmental changes (temperature changes, movement, vibration, etc.) on the binocular vision system to the greatest extent.

[0004] Among them, the existing supporting device for the binocular vision system is usually a rubber shock-absorbing column composed of rubber and metal parts by bonding or other methods. The shock-absorbing and buffering function of the rubber shock-absorbing column is mainly realized by the elastic properties of the rubber material. Natural rubber has the characteristics of high elasticity and high strength, and can realize good shock-absorbing and buffering. The metal part realizes the fixation and connection of the rubber shock-absorbing column and the target component through the threaded surface processing.

[0005] However, in the design and construction process of the navigation equipment with binocular vision system applied in the field of clinical surgery, the existing supporting device is affected by the structural characteristics of the mutual connection of rubber and metal parts, and the manufacturing process is unstable, so that the error between the supporting devices manufactured in different batches is large, which affects the positioning accuracy of the binocular vision system. SUMMARY

[0006] Therefore, the present application provides a supporting device for a binocular vision system, which improves the stability of the manufacturing process of the supporting device, reduces the error between the supporting devices manufactured in different batches, and improves the positioning accuracy of the binocular vision system.

[0007] According to an embodiment of the present application, a support device for a binocular vision system is provided, the binocular vision system comprising two cameras adapted to capture visual images of markers mounted on a surgical site of a patient to locate a surgical position; the support device comprising: a connecting portion comprising a base and two flexible arms extending upwardly from opposite sides of the base, the base being mounted on a bottom wall inside a housing of the binocular vision system to buffer mechanical vibrations transmitted through the housing; and a supporting portion mounted on and clamped between the two flexible arms, the supporting portion being configured to support and clamp a keel frame of the binocular vision system for mounting the cameras, so as to mount the keel frame inside the housing and buffer mechanical vibrations transmitted by the housing to the cameras.

[0008] According to an embodiment of the present application, each of the flexible arms comprises a plurality of connecting segments, two planes in which two adjacent connecting segments are located are perpendicular to each other, so as to improve axial rigidity and radial flexibility of the flexible arms.

[0009] According to an embodiment of the present application, three planes in which three adjacent connecting segments of the flexible arms are located are perpendicular to each other, except for two connecting segments at two ends of the flexible arms.

[0010] According to an embodiment of the present application, the connecting segments are uniaxial flexible hinges.

[0011] According to an embodiment of the present application, the supporting portion comprises: a supporting segment, a clamping groove recessed downwardly being formed on the supporting segment to clamp the keel frame inside the clamping groove; and two flanges respectively formed on two ends of the supporting segment extending in a transverse direction, and adapted to be connected with distal ends of the two flexible arms of the connecting portion away from the base, so that the supporting segment is clamped between the two flexible arms.

[0012] According to an embodiment of the present application, the keel frame is substantially a cylinder, and the clamping groove is configured as a substantially arc-shaped groove.

[0013] According to an embodiment of the present application, the connecting portion and the supporting portion are integrally formed.

[0014] According to an embodiment of the present application, the connecting portion and the supporting portion are made of one of titanium alloy, invar steel and ceramic.

[0015] According to the embodiment of the present application, a binocular vision system is also provided, comprising: a housing; the support device as described in the above embodiments, the connecting part of the support device being mounted on the bottom wall inside the housing; a keel frame extending in a direction parallel to the bottom wall of the housing and being clamped inside the support part of the support device, so that the keel frame is mounted inside the housing via the support device; and two cameras respectively mounted on the two ends of the keel frame extending in the axial direction; wherein two openings allowing the two cameras to extend out are provided on the side wall of the housing perpendicular to the bottom wall.

[0016] According to the embodiment of the present application, an optical positioning system is also provided, comprising: a marker mounted on the surgical site of a patient; and the binocular vision system as described in the above embodiments, which is suitable for collecting visual images of the marker and obtaining three-dimensional coordinates of the marker in a reference coordinate system, and positioning the surgical site according to the three-dimensional coordinates of the marker in the reference coordinate system; the reference coordinate system is obtained by registering a coordinate system with the surgical site of the patient as the reference and a coordinate system with the binocular vision system as the reference.

[0017] According to the support device for the binocular vision system of the above embodiments of the present application, the connecting part comprising a base and two flexible arms upwardly extending on the opposite sides of the base is provided, the base is mounted on the bottom wall inside the housing of the binocular vision system, and the support part is mounted on the two flexible arms and clamped between the two flexible arms, so that the keel frame for mounting the camera is clamped on the support part to mount the keel frame inside the housing, and the mechanical vibration transmitted by the housing to the camera is buffered. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic diagram of the installation of the support device for the binocular vision system of the embodiment of the present application and the housing and the keel frame;

[0019] Figure 2 is a schematic diagram of the connecting part of the support device for the binocular vision system of the embodiment of the present application;

[0020] Figure 3 is a schematic diagram of the support part of the support device for the binocular vision system of the embodiment of the present application;

[0021] Figure 4 is a schematic diagram of the installation of the keel frame and the camera of the binocular vision system of the embodiment of the present application;

[0022] Figure 5 is a schematic diagram of the overall binocular vision system of the embodiment of the present application; and

[0023] Figure 6is a perspective view of an optical positioning system according to an embodiment of the present application.

[0024] in the figure:

[0025] 1 - connecting part;

[0026] 11 - flexible arm; 111 - connecting section;

[0027] 12 - base;

[0028] 2 - supporting part;

[0029] 21 - supporting section; 211 - clamping groove;

[0030] 22 - flange;

[0031] 3 - housing; 31 - bottom wall; 32 - side wall; 33 - opening;

[0032] 4 - keel frame;

[0033] 5 - camera; 51 - connecting piece;

[0034] 6 - marker. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application in combination with specific embodiments and with reference to the accompanying drawings.

[0036] According to the inventive concept of one aspect of the present application, there is provided a supporting device for a binocular vision system, the binocular vision system comprising two cameras adapted to capture visual images of markers installed at a surgical site of a patient to locate the surgical site; the supporting device comprising: a connecting part comprising a base and two flexible arms upwardly extending from opposite sides of the base, the base being installed on a bottom wall inside a housing of the binocular vision system to buffer mechanical vibrations transmitted through the housing; and a supporting part installed on and clamped between the two flexible arms, the supporting part being configured to support and clamp a keel frame of the binocular vision system for mounting the cameras, so as to mount the keel frame inside the housing to buffer mechanical vibrations transmitted from the housing to the cameras.

[0037] Figure 1 is a perspective view of an optical positioning system according to an embodiment of the present application. Figure 2 is a perspective view of an optical positioning system according to an embodiment of the present application. Figure 4 is a perspective view of an optical positioning system according to an embodiment of the present application. Figure 6 is a perspective view of an optical positioning system according to an embodiment of the present application.

[0038] According to the exemplary embodiments of the present application, referring to Figures 1-2 , Figure 4 and Figure 6 , a support device for a binocular vision system is provided. The binocular vision system comprises two cameras 5. The two cameras 5 are adapted to capture visual images of markers 6 mounted at a surgical site of a patient for locating the surgical site. The support device comprises a connecting part 1 and a supporting part 2. The connecting part 1 comprises a base 12 and two flexible arms 11 extending upwardly from opposite sides of the base 12. The base 12 is mounted on a bottom wall 31 inside a housing 3 of the binocular vision system to buffer mechanical vibrations transmitted through the housing 3. The supporting part 2 is mounted on and clamped between the two flexible arms 11. The supporting part 2 is configured to support and clamp a rail 4 of the binocular vision system for mounting the cameras 5, so as to mount the rail 4 inside the housing 3 and buffer mechanical vibrations transmitted by the housing 3 to the cameras 5.

[0039] In the present embodiment, the connecting part 1 comprising the base 12 and the two flexible arms 11 extending upwardly from opposite sides of the base 12 is provided. The base 12 is mounted on the bottom wall 31 inside the housing 3 of the binocular vision system. The supporting part 2 is mounted on and clamped between the two flexible arms 11. The rail 4 of the binocular vision system for mounting the cameras 5 is clamped on the supporting part 2, so as to mount the rail 4 inside the housing 3 and buffer mechanical vibrations transmitted by the housing 3 to the cameras 5.

[0040] In some exemplary embodiments, referring to Figure 2 , each flexible arm 11 comprises a plurality of connecting segments 111. Two planes in which two adjacent connecting segments 111 are located are perpendicular to each other, so as to improve the axial rigidity and the radial flexibility of the flexible arm 11.

[0041] In the present embodiment, the flexible arm 11 comprising the plurality of connecting segments 111 and the two planes in which two adjacent connecting segments 111 are located being perpendicular to each other has the advantages of simple structure, no hysteresis, small size and easy adjustment. On the one hand, the axial rigidity of the flexible arm 11 is improved to realize stable and accurate positioning. On the other hand, the radial flexibility of the flexible arm 11 is improved to compensate for the stress and deformation caused by the self-weight, vibration and thermal environment.

[0042] In some exemplary embodiments, referring to Figure 2 , three planes in which three adjacent connecting segments 111 are located are perpendicular to each other among the plurality of connecting segments 111 of the flexible arm 11 except the two connecting segments 111 located at the two ends.

[0043] Further, in the embodiment, the two connecting segments 111 at the two ends of the flexible arm 11 are configured as blocks with a substantially right trapezoidal cross section, and the remaining connecting segments 111 are configured as blocks with a substantially cuboid shape. Among them, the right angle side of the two connecting segments 111 at the two ends is used to connect with the adjacent connecting segment 111.

[0044] In some example embodiments, with reference to Figure 2 The connecting segment 111 is a single-axis flexible hinge.

[0045] It should be noted that in the embodiment, the single-axis flexible hinge is an elastic support with a simple structure and a relatively regular shape, which has a rotation center coinciding with the geometric center axis. Under torsional load, it produces rotary motion within a limited angle range around the rotation center, thereby transmitting motion and energy.

[0046] Figure 3 is a perspective view of a support part of a support device for a binocular vision system according to an embodiment of the application.

[0047] In some example embodiments, with reference to Figures 1-3 The support part 2 includes a support segment 21 and two flanges 22. The support segment 21 is formed with a downwardly recessed clamping groove 211 to clamp the keel frame 4 inside the clamping groove 211. The two flanges 22 are respectively formed at the two ends of the support segment 21 extending in the transverse direction, and are adapted to be connected with the ends of the two flexible arms 11 of the connecting part 1 away from the base 12, so that the support segment 21 is clamped between the two flexible arms 11.

[0048] In the embodiment, the support part 2 is used to support and clamp the keel frame 4, and is connected with the ends of the two flexible arms 11 of the connecting part 1 away from the base 12, so as to realize the stable connection between the keel frame 4 and the connecting part 1. Among them, the support part 2 adopts the same titanium alloy or indium steel and other low thermal expansion coefficient metal materials or low thermal expansion coefficient ceramics as the connecting part 1, aiming to match the lower thermal expansion coefficient of the keel frame 4 and the connecting part 1, so that the support device can still ensure high structural stability even when facing temperature changes, where the temperature change refers to a temperature gradient change of about 10℃ in the working environment under extreme operating conditions. Due to the matching thermal expansion coefficients between the structures of the keel frame 4, the support part 2 and the connecting part 1, the structural stability is still very high.

[0049] It should be noted that in the present embodiment, the two flanges 22 of the support part 2 are respectively provided with first threaded holes, the ends of the two flexible arms 11 of the connecting part 1 away from the base 12 are respectively provided with second threaded holes matched with the two first threaded holes, and the two flanges 22 of the support part 2 are respectively screwed with the two flexible arms 11 of the connecting part 1 to jointly constitute the support device. Further, the support device is screwed with the shell 3 through the threaded holes provided on the side of the base 12 of the connecting part 1 facing the bottom wall 31 of the shell 3, so as to be installed on the shell 3. And the keel frame 4 is screwed with the support part 2 through the threaded holes provided at the bottom of the clamping groove 211 of the support section 21 of the support part 2, so as to be installed and clamped inside the clamping groove 211.

[0050] The support device is integrally made of a metal material or ceramic material with a low coefficient of thermal expansion, and is screwed between the keel frame 4 and the shell 3. Through the flexible structure and flexible characteristics of the support device, the vibration transmitted through the shell 3 is buffered, and the thermal stability is also ensured due to the extremely low coefficient of thermal expansion of the material used.

[0051] In the present embodiment, as shown in Figures 1-3 , the base 12 and the two flexible arms 11 form a substantially isosceles trapezoid, and the outer side of the support section 21 is substantially an isosceles trapezoid matched with the inner side of the connecting part 1, so that in the case that the support part 2 is installed on the connecting part 1, the opposite two outer walls of the support section 21 are clamped between the two flexible arms 11.

[0052] In some example embodiments, referring to Figure 1 and Figure 3 , the keel frame 4 is substantially a cylinder, and the clamping groove 211 is configured as a substantially arc-shaped groove.

[0053] In some example embodiments, the connecting part 1 and the support part 2 are integrally formed.

[0054] In some example embodiments, the connecting part 1 and the support part 2 are made of one of titanium alloy, indium steel, and ceramic.

[0055] In the present embodiment, the connecting part 1 and the support part 2 are made of a metal material or ceramic material with a low coefficient of thermal expansion, such as titanium alloy or indium steel, which greatly improves the structural stability of the support device against temperature changes in the working process.

[0056] In detail, the metal material with a low coefficient of thermal expansion, such as titanium alloy and indium steel, has a coefficient of thermal expansion of about 10 -6 / K, compared with the existing support device. Since the existing support device is a rubber shock absorbing column composed of rubber and metal parts through bonding or other methods, the coefficient of thermal expansion of rubber is generally 10-4 ~10 -3 / K order of magnitude, so that in the process of work, in the face of temperature changes, the volume or length of the rubber will be more than 100 times the titanium alloy or indium steel. Thus, the support device made of titanium alloy or indium steel and other low thermal expansion coefficient metal materials has strong mechanical properties (buffering vibration and other loads) and strong structural thermal stability.

[0057] Figure 5 is the overall stereoscopic schematic diagram of the binocular vision system of the embodiment of the present application.

[0058] According to the exemplary embodiments of the present application, referring to Figure 1 and Figures 4-5 , a binocular vision system is provided, comprising a shell 3, the support device described in the above embodiments, a keel frame 4 and two cameras 5. The connecting part 1 of the support device is installed on the bottom wall 31 inside the shell 3. The keel frame 4 extends in a direction parallel to the bottom wall 31 of the shell 3 and is clamped inside the support part 2 of the support device, so that the keel frame 4 is installed inside the shell 3 through the support device. The two cameras 5 are respectively installed at the two ends of the keel frame 4 extending in the axial direction. Among them, the side wall 32 of the shell 3 perpendicular to the bottom wall 31 is provided with two openings 33 allowing the two cameras 5 to extend out. Among them, the camera 5 is connected with the end of the keel frame 4 extending in the axial direction through the connecting piece 51.

[0059] It should be noted that in the present embodiment, the two cameras 5 are installed on the side of the shell 3 facing the marker 6, so that during the operation of the binocular vision system, the two cameras 5 can face the marker 6 installed on the patient's surgical site to collect the visual image of the marker 6.

[0060] According to the exemplary embodiments of the present application, referring to Figure 6 , an optical positioning system is provided, comprising a marker 6 and the binocular vision system described in the above embodiments. The marker 6 is installed on the patient's surgical site. The binocular vision system described in the above embodiments is suitable for collecting the visual image of the marker 6 and obtaining the three-dimensional coordinates of the marker 6 in the reference coordinate system, and positioning the surgical position according to the three-dimensional coordinates of the marker 6 in the reference coordinate system. The reference coordinate system is obtained by registering the coordinate system based on the patient's surgical site and the coordinate system based on the binocular vision system.

[0061] In the present embodiment, the optical positioning system is a non-contact measuring device, which is widely used in surgical navigation systems due to its convenience, reliability and high precision in actual use. Among them, the application process of the optical positioning system is:

[0062] Firstly, the two cameras 5 of the binocular vision system collect images of the marker 6 installed on the patient's surgical site; then, the mapping (generally sub-pixel) of the marker 6 on the two-dimensional image is extracted, and the extracted results are stereoscopic matched to determine the affiliation of each sub-pixel coordinate, and obtain the three-dimensional coordinates of the marker 6 in the coordinate system with the patient's surgical site as the reference; then, the three-dimensional coordinates of the marker 6 in the reference coordinate system are calculated in combination with the coordinate system with the binocular vision system as the reference and the established imaging model; finally, the positioning of the surgical instrument needle tip is realized according to the rigid relationship between the marker 6 and the surgical instrument needle tip.

[0063] The optical navigation device generally includes a high-precision optical positioning system and a software module for driving the high-precision optical positioning system. The optical positioning system generally includes a binocular vision system with two cameras 5 and a marker 6. In addition, the optical positioning system also includes a driven or passive driver for driving the binocular vision system to change position and angle, and a medical image workstation for displaying the positioning results. During the positioning process using the optical positioning system, the stability of the two cameras 5 in the binocular vision system is required to be extremely high, and relative displacement or vibration will cause large errors, thereby affecting the surgical precision.

[0064] The support device for the binocular vision system of the present embodiment optimizes and innovates the support device required for fixing the keel frame 4 with the two cameras 5 mounted thereon to the shell 3, greatly improves the ability of the binocular vision system to resist the influence of changes in external environmental temperature and vibration during the working process, and improves the stability of the binocular vision system in operation.

[0065] The existing support device for binocular vision system relies on rubber shock column to realize damping effect, which has defects such as unstable process, higher overall thermal expansion coefficient and the like, and has a greater negative impact on the structural stability of the optical positioning system. The embodiment discloses a support device, which is provided with a connecting part 1 comprising a base 12 and two flexible arms 11 upwardly extending on opposite sides of the base 12, the base 12 is installed on the bottom wall 31 inside the shell 3 of the binocular vision system, and the support part 2 is installed on the two flexible arms 11 and is clamped between the two flexible arms 11, so that the keel frame 4 for installing the camera 5 is clamped on the support part 2 to install the keel frame 4 inside the shell 3. Wherein, each flexible arm 11 comprises a plurality of connecting segments 111, each connecting segment 111 has a substantially flat cuboid or square shape, and the two planes on which the adjacent two connecting segments 111 are perpendicular to each other, so as to improve the axial stiffness and radial flexibility of the flexible arm 11, and to realize the damping and buffering of the mechanical vibration transmitted from the shell 3 to the camera 5. Further, the connecting part 1 and the support part 2 are made of low thermal expansion coefficient metal materials such as titanium alloy or indium steel, or low thermal expansion coefficient ceramics, which can well avoid the influence of environmental temperature and improve the structural stability of the support device against temperature changes in the working process.

[0066] The support device for binocular vision system has the following advantages:

[0067] 1. The connecting part 1 comprises a base 12 and two flexible arms 11 upwardly extending on opposite sides of the base 12, the base 12 is installed on the bottom wall 31 inside the shell 3 of the binocular vision system, each flexible arm 11 comprises a plurality of connecting segments 111, and the two planes on which the adjacent two connecting segments 111 are perpendicular to each other, so as to improve the ability of the binocular vision system to resist the influence of external vibration in the working process.

[0068] 2. The connecting part 1 and the support part 2 jointly constitute the support device, and realize stable and reliable connection of the keel frame 4 and the shell 3.

[0069] 3. The support device can be processed by using various materials such as metal, ceramic and composite material, and rigid material is used to realize flexible support, so as to increase process stability, repeatability and flexibility in the application of binocular vision system and optical positioning system.

[0070] 4. When the support device is processed by using low thermal expansion coefficient materials such as titanium alloy and indium steel, it has high structural stability in the working process when facing the change of external environmental temperature, and can improve the positioning accuracy and stability of the binocular vision system and the optical positioning system when facing the change of external temperature.

[0071] The above-described specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application, and it should be understood that the above-described specific embodiments are merely examples of the present application and are not intended to limit the present application, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A support device for a binocular vision system, said binocular vision system comprising two cameras (5), both of said cameras (5) being adapted to acquire visual images of markers (6) mounted on a patient's surgical site, in order to locate the surgical site; The support device comprises: a connecting part (1) comprising a base (12) and two flexible arms (11) extending upward from opposite sides of the base (12), the base (12) being mounted on a bottom wall (31) inside a housing (3) of the binocular vision system to buffer mechanical vibration transmitted through the housing (3); and a support part (2) mounted on and clamped between the two flexible arms (11), the support part (2) being configured to support and clamp a keel frame (4) of the binocular vision system for mounting the camera (5) so as to mount the keel frame (4) inside the housing (3) and buffer mechanical vibration transmitted by the housing (3) to the camera (5). Each of the flexible arms (11) comprises a plurality of connecting segments (111), and two planes in which two adjacent connecting segments (111) are located are perpendicular to each other, so as to improve axial rigidity and radial flexibility of the flexible arm (11).

2. The support device for a binocular vision system of claim 1, wherein, Three planes in which three adjacent connecting segments (111) are located are perpendicular to each other, except for two connecting segments (111) at two ends of the flexible arm (11).

3. The support device for a binocular vision system of claim 2, wherein, The connecting segment (111) is a single-axis flexible hinge.

4. The support device for a binocular vision system according to any one of claims 2-3, wherein, The support part (2) comprises:

5. The support device for a binocular vision system of claim 1, wherein, a support segment (21) on which a clamping groove (211) recessed downward is formed to clamp the keel frame (4) inside the clamping groove (211); and two flanges (22) respectively formed at two ends of the support segment (21) extending in a transverse direction, and adapted to be connected with ends of the two flexible arms (11) of the connecting part (1) away from the base (12) respectively, so that the support segment (21) is clamped between the two flexible arms (11). The keel frame (4) is substantially a cylinder, and the clamping groove (211) is configured as a substantially arc-shaped groove.

6. The support device for a binocular vision system of claim 5, wherein, The connecting part (1) and the support part (2) are integrally formed.

7. The support device for a binocular vision system of claim 1, wherein, The connecting part (1) and the support part (2) are made of one of titanium alloy, invar steel and ceramic.

8. The support device for a binocular vision system of claim 1, wherein, 9. A binocular vision system comprising: a housing (3); the support device according to any one of claims 1-8, a connecting part (1) of the support device being mounted on a bottom wall (31) inside the housing (3); a keel frame (4) extending in a direction parallel to the bottom wall (31) of the housing (3) and clamped inside a support part (2) of the support device, so that the keel frame (4) is mounted inside the housing (3) through the support device; and two cameras (5) respectively mounted at two ends of the keel frame (4) extending in an axial direction; wherein a side wall (32) of the housing (3) perpendicular to the bottom wall (31) is provided with two openings (33) allowing the two cameras (5) to extend out.

10. An optical positioning system comprising: a marker (6) mounted at a surgical site of a patient; and ​ ​ ​ The binocular vision system of claim 9 is adapted to collect a visual image of the marker (6) and obtain three-dimensional coordinates of the marker (6) in a reference coordinate system, and position a surgical site according to the three-dimensional coordinates of the marker (6) in the reference coordinate system. The reference coordinate system is obtained by registering a coordinate system with the patient's surgical site as a reference and a coordinate system with the binocular vision system as a reference.

Images