A surgical device relative position location system and method

Abstract

The application provides a surgical equipment relative position positioning system and method, and relates to the field of equipment measurement technology.The system is used for multiple surgical equipments, and comprises a laser device, a calibration device and a central processing device.The laser device is used for generating positioning light representing the direction of the surgical equipment.The calibration device is used for stopping the movement of the irradiation end point of the positioning light when the irradiation end point of the positioning light on any one of the surgical equipments coincides with the irradiation end point of the positioning light of a reference surgical equipment, and sending the movement angle information of the positioning light;the position of the irradiation end point of the positioning light of the reference surgical equipment is unchanged;and the central processing device is used for obtaining the relative angle relationship between the surgical equipment and the reference surgical equipment according to the movement angle information.The surgical equipment relative position positioning system of the application is not affected by environmental changes, the positioning light irradiation position is unrestricted and non-interfering, the relative angle relationship between the surgical equipments can be measured simply, quickly and accurately.

Description

Technical Field

[0001] This invention relates to the field of equipment measurement technology, and more specifically, to a surgical equipment relative position positioning system and method. Background Technology

[0002] In surgical medicine, some precise surgical operations need to be performed using medical equipment. Usually, multiple surgical robotic arms are mounted on surgical equipment such as surgical carts or bases. Since the surgical robotic arms rely on the relative position of each surgical cart or base when performing precise surgical operations, it is necessary to obtain the relative positions between the surgical equipment mounted on the surgical robotic arms to ensure the normal operation of the operation.

[0003] In existing technologies, it is usually necessary for staff to fix the relative position of the operating trolley or base and then measure each operating trolley or base. This process is cumbersome and easily affected by the environment. If there are many obstacles near the operating trolley or base or insufficient lighting around the operating trolley or base, it is inconvenient to measure the relative position of the operating trolley or base. Summary of the Invention

[0004] The technical problem solved by this invention is that when performing relative position detection on surgical equipment, the accuracy of relative position measurement is easily affected by environmental factors, leading to a decrease in accuracy.

[0005] This invention provides a surgical device relative position positioning system for multiple surgical devices. The surgical device relative position positioning system includes: a laser device, a calibration device, and a central processing unit. The laser device is disposed on each of the surgical devices, the calibration device is disposed on the laser device, and the calibration device is connected to the central processing unit.

[0006] The laser device is used to generate positioning light representing the direction of the surgical equipment;

[0007] The calibration device is used to stop the movement of the irradiation endpoint of the positioning light when the irradiation endpoint of the positioning light on any one of the surgical devices coincides with the irradiation endpoint of the surgical device used for reference, and to send the movement angle information of the positioning light.

[0008] Wherein, the position of the irradiation endpoint of the positioning light of the surgical device used for reference remains unchanged;

[0009] The central processing unit is used to obtain the relative angular relationship between the surgical device and the surgical device used for reference, based on the movement angle information.

[0010] Optionally, the calibration device includes: a rotation unit and an angle acquisition unit; the rotation unit is connected to the angle subunit;

[0011] The rotating unit is used to control the movement of the irradiation endpoint of the positioning light;

[0012] The angle acquisition unit is used to obtain the rotation angle of the surgical device based on the rotation of the irradiation endpoint of the positioning light, and use the rotation angle of the surgical device as the movement angle information of the positioning light.

[0013] Optionally, the surgical equipment relative position positioning system further includes: a starting position calibration device;

[0014] The starting position calibration device is used to control the irradiation endpoints of the positioning light of all surgical devices to coincide before acquiring the relative angular relationship between any of the surgical devices and the surgical device used for reference.

[0015] Optionally, the laser device is also used to emit two colors of positioning light, wherein each color represents the positive and negative directions of the surgical device, respectively.

[0016] Optionally, the calibration device is further configured to, when the irradiation endpoint of the positioning light of any one of the surgical devices coincides with the surgical irradiation endpoint of the surgical positioning light of the same color used for reference, stop the movement of the irradiation endpoint of the positioning light and send the movement angle information of the positioning light.

[0017] Optionally, the laser device is also used to emit four positioning lights, wherein the positioning lights of the same color are at a preset angle to each other.

[0018] Optionally, the calibration device is further configured to, when the irradiation endpoint of the positioning light of the same color of any surgical device coincides with the irradiation endpoint of the positioning light of the same color of the surgical device used for reference, stop the movement of the irradiation endpoint of the positioning light and send the movement angle information of the positioning light.

[0019] Optionally, the surgical device relative position positioning system further includes a vertical adjustment device, which is disposed on the laser device;

[0020] The vertical adjustment device is used to adjust the movement of the laser device in the vertical direction of the horizontal plane, thereby adjusting the movement of the positioning light in the direction perpendicular to the horizontal plane.

[0021] Optionally, the surgical device relative position positioning system further includes a power supply device, which is electrically connected to the laser device and is used to supply power to the laser device.

[0022] The present invention also provides a method for relative positioning of surgical equipment, wherein the method is used in a surgical equipment relative positioning system, the surgical equipment relative positioning system is used for multiple surgical equipment, and the method includes:

[0023] Generate a positioning light representing the orientation of the surgical device;

[0024] When the irradiation endpoint of the positioning light on any of the surgical devices coincides with the irradiation endpoint of the surgical device used for reference, the movement of the irradiation endpoint of the positioning light is stopped, and the movement angle information of the positioning light is sent.

[0025] Wherein, the position of the irradiation endpoint of the positioning light of the surgical device used for reference remains unchanged;

[0026] Based on the movement angle information, the relative angular relationship between the surgical device and the surgical device used for reference is obtained.

[0027] The surgical device relative position positioning system and method of the present invention, by setting a corresponding positioning light on each surgical device, allows the emitted positioning light to move or rotate as needed. When the illumination endpoint of the positioning light of the surgical device to be detected coincides with the illumination endpoint of the positioning light emitted by the surgical device used as a reference, the movement angle information of the positioning light is obtained, and the angle of rotation of the current surgical device relative to the surgical device used as a reference can be obtained, thereby obtaining the relative angular relationship between the two surgical devices. Since the positioning light is not affected by environmental interference, the illumination endpoint presented on the environmental object does not change. Therefore, during the process of adjusting the alignment of the illumination endpoints of the positioning light, it is not affected by environmental changes, and the illumination position of the positioning light is unrestricted and interference-free, realizing a simple, fast and accurate measurement of the relative angular relationship between surgical devices. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the surgical equipment relative position positioning system and the surgical equipment in an embodiment of the present invention;

[0029] Figure 2 This is a structural diagram of the surgical equipment relative position positioning system in an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the laser device emitting laser light in an embodiment of the present invention;

[0031] Figure 4This is a flowchart of the method for locating the relative position of surgical equipment in an embodiment of the present invention.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1-Surgical equipment relative position positioning system; 11-Calibration device; 111-Knob; 112-Encoder; 12-Laser emitter; 13-PCB board; 2-Surgical equipment. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Combination Figure 1 As shown, the present invention provides a surgical device relative position positioning system. The surgical device relative position positioning system 1 is used for multiple surgical devices 2. The surgical device relative position positioning system 1 is installed on the surgical device 2. The surgical device 2 can be a surgical trolley or a surgical base, serving as a carrier for carrying surgical instruments such as surgical robotic arms.

[0036] The surgical equipment relative position positioning system includes: a laser device, a calibration device, and a central processing unit. The laser device is installed on each of the surgical devices. In a preferred embodiment of the present invention, the laser device can be installed on the surgical device by means of a connecting rod. The calibration device is installed on the laser device and is connected to the central processing unit.

[0037] Combination Figure 2 As shown, in a preferred embodiment of the present invention, the calibration device 11 is connected to the laser device, i.e., the laser emitter 12, via a connecting rod, and the laser emitter 12 is connected to the central processing device, i.e., the PCB board, via an electrical connection.

[0038] The laser device is used to generate positioning light representing the direction of the surgical equipment;

[0039] Specifically, a laser device is a device that can emit laser light, and the emitted laser light is the positioning light.

[0040] The calibration device is used to stop the movement of the irradiation endpoint of the positioning light when the irradiation endpoint of the positioning light on any one of the surgical devices coincides with the irradiation endpoint of the surgical device used for reference, and to send the movement angle information of the positioning light.

[0041] Wherein, the position of the irradiation endpoint of the positioning light of the surgical device used for reference remains unchanged;

[0042] Specifically, a three-dimensional coordinate system can be established using the laser device of the surgical equipment, with the XY plane as the horizontal plane and the Z axis as the axis perpendicular to the horizontal plane. The emitting endpoint of the positioning light can be used as the origin of the three-dimensional coordinate system. In a preferred embodiment of the invention, the positioning light can be rotated in the XY plane by means of a knob or turntable. When the irradiation endpoint of the positioning light of any surgical equipment is projected onto an object in the surrounding environment and coincides with the irradiation endpoint of the positioning light of the reference surgical equipment, it represents the relative angle between the surgical equipment and the reference surgical equipment. At this time, it is necessary to send the movement angle information of the positioning light on the surgical equipment, wherein the movement angle information can be the rotation angle of the positioning light.

[0043] The central processing unit is used to obtain the relative angular relationship between the surgical device and the surgical device used for reference, based on the movement angle information.

[0044] Specifically, the relative angular position of the two surgical devices is determined based on the rotation angle of the positioning light, and the relative pose of the two surgical devices is obtained. If the surgical devices are equipped with surgical instruments such as surgical robotic arms, the relative pose between the two surgical instruments can be obtained.

[0045] The surgical device relative position positioning system of the present invention sets a corresponding positioning light on each surgical device, so that the emitted positioning light can be moved or rotated as needed. When the illumination endpoint of the positioning light of the surgical device to be detected coincides with the illumination endpoint of the positioning light emitted by the reference surgical device, the movement angle information of the positioning light is obtained, and the angle of rotation of the surgical device relative to the reference surgical device can be obtained, thereby obtaining the relative angular relationship between the two surgical devices. Since the positioning light is not affected by environmental interference, the illumination endpoint presented on the environmental object does not change. Therefore, during the process of adjusting the alignment of the illumination endpoints of the positioning light, it is not affected by environmental changes, and the illumination position of the positioning light is unrestricted and interference-free, realizing a simple, fast and accurate measurement of the relative angular relationship between surgical devices.

[0046] In this embodiment of the invention, the calibration device includes: a rotation unit and an angle acquisition unit; the rotation unit is connected to the angle acquisition unit;

[0047] The rotating unit is used to control the movement of the irradiation endpoint of the positioning light;

[0048] The angle acquisition unit is used to obtain the rotation angle of the surgical device based on the rotation of the irradiation endpoint of the positioning light, and use the rotation angle of the surgical device as the movement angle information of the positioning light.

[0049] In this embodiment, the rotation unit is used to control the rotation of the positioning light in the XY plane, so that the irradiation endpoint of the positioning light on the object in the environment rotates around the origin in the horizontal plane; the angle acquisition unit is used to obtain the rotation angle of the irradiation endpoint of the positioning light by the angle rotated by the rotation unit, as the movement angle information.

[0050] Combination Figure 2 As shown, in a preferred embodiment of the present invention, the rotation unit is a knob 111, used for rotating the cross laser around the origin, the angle acquisition unit is an encoder 112, and the laser device is a laser emitter 12. The rotation of the laser emitter 12 is controlled by the knob 111, and at the same time, the gear of the encoder 112 is driven to rotate by the gear. Thus, the encoder 112 calculates the rotation angle of the knob 111, thereby obtaining the rotation angle of the irradiation end point of the positioning light, which is used as the movement angle information of the positioning light.

[0051] The surgical device relative position positioning system of the present invention obtains the rotation angle of the rotation unit through the angle acquisition unit, and uses the rotation angle of the rotation unit as the rotation angle of the positioning light, so as to realize the real-time acquisition of the positioning light angle and obtain the rotation angle of the positioning light conveniently and quickly.

[0052] In this embodiment of the invention, the surgical equipment relative position positioning system further includes: a starting position calibration device;

[0053] The starting position calibration device is used to control the irradiation endpoints of the positioning light of all surgical devices to coincide before acquiring the relative angular relationship between any of the surgical devices and the surgical device used for reference.

[0054] In this embodiment, the irradiation endpoints of the positioning lights of all surgical devices are aligned by adjusting the starting position calibration device. During this process, the angle of the positioning light adjusted by the rotation unit does not change, that is, the rotation unit does not participate in the control of the positioning light. In a preferred embodiment of the present invention, the starting position calibration device can realize pitch and roll small-angle rotation to complete the translation of the laser device. Generally, a draggable joint is used for control, and the position change value of the laser device is obtained. The direction angle and position relationship of the laser device relative to the surgical equipment can then be obtained.

[0055] The surgical equipment relative position positioning system of the present invention, through a starting position calibration device, ensures that each surgical equipment is in a uniform and fixed position, which facilitates the acquisition of relative angle relationships if the surgical equipment changes subsequently.

[0056] In this embodiment of the invention, the laser device is also used to emit positioning light of two colors, wherein each color represents the positive and negative directions of the surgical device, respectively.

[0057] In this embodiment, since each surgical device has a direction, the positioning light representing the surgical device should also indicate the direction of each surgical device. Therefore, the laser device emits positioning light of two colors, representing the positive and negative directions of the surgical device. In the preferred embodiment of the present invention, a red laser is used as the positive positioning light of the surgical device, and a green laser is used as the negative positioning light of the surgical device.

[0058] The surgical device relative position positioning system of the present invention uses positioning light of different colors to represent the positioning light of the surgical devices. Therefore, it can not only obtain the relative angle between each surgical device, but also the relative direction of each surgical device.

[0059] In this embodiment of the invention, the calibration device is further configured to, when the irradiation endpoint of the positioning light of any surgical device coincides with the surgical irradiation endpoint of the surgical positioning light of the same color used for reference, stop the movement of the irradiation endpoint of the positioning light and send the movement angle information of the positioning light.

[0060] In this embodiment, the positioning lights of the same color from the two surgical devices are overlapped to obtain the angle position. The rotation angle of the rotating unit is obtained at this position, thereby obtaining the movement angle information of the positioning light.

[0061] The surgical device relative position positioning system of the present invention obtains the rotation angle of the surgical device relative to a reference surgical device by aligning the irradiation endpoints of positioning lights of the same color, thereby obtaining the relative angular relationship between the two surgical devices.

[0062] In this embodiment of the invention, the laser device is also used to emit four positioning lights, wherein the positioning lights of the same color are at a preset angle to each other.

[0063] In this embodiment, the laser device emits four positioning beams, wherein positioning beams of the same color are spaced at a preset angle, combined with... Figure 3As shown, in a preferred embodiment of the present invention, the four positioning lights emitted by the laser device are distributed in a cross shape in the XY plane, and the positioning lights are divided into red and green, where R represents red positioning light and G represents green positioning light, representing the positive and negative directions of the surgical device, respectively, and the positioning lights of the same color are at a 90° right angle to each other.

[0064] The surgical device relative position positioning system of the present invention uses two positioning lights of the same color to reduce the difficulty of aligning the irradiation endpoints and improve the accuracy of detection.

[0065] In this embodiment of the invention, the calibration device is further configured to, when the irradiation endpoint of the positioning light of the same color of any surgical device coincides with the irradiation endpoint of the positioning light of the same color of the surgical device used for reference, stop the movement of the irradiation endpoint of the positioning light and send the movement angle information of the positioning light.

[0066] In this embodiment, the irradiation endpoints of the same color positioning light of each surgical device are aligned by the calibration device. When the two positioning lights of the same color are aligned with the irradiation endpoints of the same color positioning light of the reference surgical device, the reading angle position is achieved. At this time, the angle rotated by the rotating unit can be read, that is, the relative angle position between the surgical device and the reference surgical device, and the relative angle relationship can be obtained.

[0067] The surgical device relative position positioning system of the present invention uses two positioning lights of the same color to position the surgical device for reference, so that the determination of the coincidence of the irradiation endpoint has a dual standard, which improves the positioning accuracy, while also having a foolproof design to reduce the positioning difficulty.

[0068] In this embodiment of the invention, the surgical device relative position positioning system further includes a vertical adjustment device, which is disposed on the laser device;

[0069] The vertical adjustment device is used to adjust the movement of the laser device in the vertical direction of the horizontal plane, thereby adjusting the movement of the positioning light in the direction perpendicular to the horizontal plane.

[0070] In this embodiment, the vertical adjustment device can vary depending on the placement of the surgical equipment, and the alignment device system can be adjusted to allow the positioning light to complete the vertical translation.

[0071] The surgical device relative position positioning system of the present invention improves the flexibility of the laser device and makes it easier to adjust the positioning light to achieve the target position.

[0072] In this embodiment of the invention, the surgical device relative position positioning system further includes a power supply device, which is electrically connected to the laser device and is used to supply power to the laser device.

[0073] In this embodiment, the laser device is powered by a power supply device, combined with... Figure 2 As shown, in a preferred embodiment of the present invention, the power supply device is a PCB board 13, which is used to provide power to the laser device, i.e., the laser emitter.

[0074] The surgical device relative position positioning system of the present invention provides power to the laser power supply, which facilitates the identification of the positioning light and subsequent positioning.

[0075] Combination Figure 4 As shown, the present invention also provides a method for relative positioning of surgical equipment. This method is used in a surgical equipment relative positioning system, which is used for multiple surgical devices. The method includes:

[0076] S1: Generate a positioning light representing the direction of the surgical device;

[0077] S2: When the irradiation endpoint of the positioning light on any of the surgical devices coincides with the irradiation endpoint of the surgical device used for reference, stop the movement of the irradiation endpoint of the positioning light and send the movement angle information of the positioning light.

[0078] Wherein, the position of the irradiation endpoint of the positioning light of the surgical device used for reference remains unchanged;

[0079] S3: Based on the movement angle information, obtain the relative angle relationship between the surgical device and the surgical device used for reference.

[0080] By setting a corresponding positioning light on each surgical device, the emitted positioning light can be moved or rotated as needed. When the illumination endpoint of the positioning light of the surgical device under test coincides with the illumination endpoint of the positioning light emitted by the surgical device used as a reference, the movement angle information of the positioning light is obtained. Thus, the angle of rotation of the surgical device relative to the surgical device used as a reference can be obtained, and the relative angular relationship between the two surgical devices can be obtained. Since the positioning light is not affected by environmental interference, the illumination endpoint presented on the environmental object will not change. Therefore, during the process of adjusting the alignment of the illumination endpoints of the positioning light, it will not be affected by environmental changes, and the illumination position of the positioning light is unlimited and interference-free, realizing a simple, fast and accurate measurement of the relative angular relationship between surgical devices.

[0081] The surgical device relative position positioning method of the present invention sets a corresponding positioning light on each surgical device, so that the emitted positioning light can be moved or rotated as needed. When the irradiation endpoint of the positioning light of the surgical device to be detected coincides with the irradiation endpoint of the positioning light emitted by the surgical device used as a reference, the movement angle information of the positioning light is obtained, and the angle of rotation of the surgical device relative to the surgical device used as a reference can be obtained, thereby obtaining the relative angle relationship between the two surgical devices. Since the positioning light is not affected by environmental interference, the irradiation endpoint presented on the environmental object does not change. Therefore, in the process of adjusting the irradiation endpoint of the positioning light to coincide, it is not affected by environmental changes, and the irradiation position of the positioning light is unrestricted and uninterrupted, realizing a simple, fast and accurate measurement of the relative angle relationship between surgical devices.

[0082] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0083] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A surgical device relative position positioning system, characterized in that, The relative position positioning system for surgical devices, applicable to multiple surgical devices, includes: a laser device, a calibration device, a central processing unit, and a starting position calibration device. The calibration device includes a rotation unit. The laser device is disposed on each of the surgical devices. The calibration device is disposed on the laser device and connected to the central processing unit. The laser device is used to generate positioning light representing the direction of the surgical equipment; The calibration device is configured to stop the movement of the irradiation endpoint of the positioning light when the irradiation endpoint of the positioning light on any of the surgical devices coincides with the irradiation endpoint of the surgical device used for reference, and to send the movement angle information of the positioning light; wherein the position of the irradiation endpoint of the positioning light of the surgical device used for reference remains unchanged. The rotating unit is used to control the rotation of the positioning light horizontal plane, including controlling the positioning light to rotate around the emitting end point of the positioning light in the horizontal plane; The central processing unit is used to obtain the relative angular relationship between the surgical device and the surgical device used for reference, based on the movement angle information. The starting position calibration device is used to control the irradiation endpoints of the positioning light of all surgical devices to coincide before acquiring the relative angular relationship between any of the surgical devices and the surgical device used for reference.

2. The surgical equipment relative position positioning system according to claim 1, characterized in that, The calibration device further includes: an angle acquisition unit; the rotation unit is connected to the angle acquisition unit; The rotating unit is also used to control the movement of the irradiation endpoint of the positioning light; The angle acquisition unit is used to obtain the rotation angle of the surgical device based on the rotation of the irradiation endpoint of the positioning light, and use the rotation angle of the surgical device as the movement angle information of the positioning light.

3. The surgical equipment relative position positioning system according to claim 1, characterized in that, The laser device is also used to emit two colors of positioning light, wherein each color represents the positive and negative directions of the surgical device, respectively.

4. The surgical equipment relative position positioning system according to claim 3, characterized in that, The calibration device is further configured to, when the irradiation endpoint of the positioning light of any surgical device coincides with the surgical irradiation endpoint of the surgical positioning light of the same color used for reference, stop the movement of the irradiation endpoint of the positioning light and send the movement angle information of the positioning light.

5. The surgical equipment relative position positioning system according to claim 4, characterized in that, The laser device is also used to emit four positioning lights, wherein the positioning lights of the same color are at a preset angle to each other.

6. The surgical equipment relative position positioning system according to claim 5, characterized in that, The calibration device is further configured to, when the irradiation endpoint of the positioning light of the same color of any surgical device coincides with the irradiation endpoint of the positioning light of the same color of the surgical device used for reference, stop the movement of the irradiation endpoint of the positioning light and send the movement angle information of the positioning light.

7. The surgical equipment relative position positioning system according to claim 1, characterized in that, The surgical equipment relative position positioning system also includes a vertical adjustment device, which is mounted on the laser device; The vertical adjustment device is used to adjust the movement of the laser device in the vertical direction of the horizontal plane, thereby adjusting the movement of the positioning light in the direction perpendicular to the horizontal plane.

8. The surgical equipment relative position positioning system according to claim 1, characterized in that, The surgical equipment relative position positioning system also includes a power supply device, which is electrically connected to the laser device and is used to supply power to the laser device.

9. A method for relative positioning of surgical equipment, characterized in that, Based on the surgical equipment relative position positioning system as described in any one of claims 1-8, the surgical equipment relative position positioning method includes: A positioning light representing the direction of the surgical equipment is generated by a laser device; When the irradiation endpoint of the positioning light on any of the surgical devices coincides with the irradiation endpoint of the surgical device used for reference, the calibration device stops the movement of the irradiation endpoint of the positioning light and sends the movement angle information of the positioning light; wherein, the position of the irradiation endpoint of the positioning light of the surgical device used for reference remains unchanged; The rotation of the positioning light horizontal plane is controlled by the rotation unit of the calibration device, including controlling the positioning light to rotate around the emission endpoint of the positioning light in the horizontal plane; The central processing unit obtains the relative angular relationship between the surgical device and the surgical device used for reference based on the movement angle information; Before acquiring the relative angular relationship between any of the surgical devices and the surgical device used for reference, the starting position calibration device controls the irradiation endpoints of the positioning lights of all the surgical devices to coincide.

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