An angle calibration tracer

Abstract

The present application discloses an angle calibration tracer, which includes: a main body, a tracer chip and a positioning metal arranged in the main body; the main body is used to fix itself on the target device; the tracer chip includes an angle measurement module and a transceiver module; the angle measurement module is used to measure the angle of the target device; the transceiver module is used to upload the angle to the upper processor; the positioning metal includes at least three positioning metals, and the at least three positioning metals are fixed relative to the position of the tracer chip and are used to mark the position of the tracer chip. The tracer of the present application is used to calibrate the angle change of the target device. By connecting the tracer to the surgical instrument, the position and angle of the surgical instrument in the imaging coordinate system can be calibrated. This is so that it can be used in the imaging device to ensure the precise control of the angle of the surgical instrument during the operation after the imaging is received.

Description

[0001] This application is a divisional application of application number 202411052715.1.

[0002] Patent application number is 202411052715.1: the application date is 2024-08-02, and the name is "An angle calibration tracer, system and tracer". Technical Field

[0003] The present application relates to the field of medical equipment, and in particular, to an angle calibration tracer. Background Art

[0004] During interventional surgery, it's often necessary to capture the position of surgical instruments within the human body to precisely control them and ensure they reach their target location. However, due to factors such as radiation exposure and the limited space available on the operating table, real-time imaging during surgery is not possible, necessitating calibration of surgical instruments. Current surgical positioning and navigation systems require precise spatial displacement information, requiring expensive optical, infrared, or millimeter-wave positioning systems. Therefore, a new angle tracker is needed to detect angle changes within the imaging system and ensure precise angle control of surgical instruments during imaging. Summary of the Invention

[0005] In order to solve the above technical problems, the present application provides an angle calibration tracer, which is combined with the tracer to realize imaging recognition and angle calibration of surgical instruments. After successful calibration, even if the imaging device moves or the angle changes, the angle of the surgical instrument in the imaging coordinate system can be automatically corrected without the need for recalibration.

[0006] Specifically, the technical solution of this application is as follows:

[0007] In a first aspect, the present application discloses an angle calibration tracer, comprising a main body, a tracer chip and a positioning metal disposed in the main body;

[0008] The main body is used to fix itself on the target device;

[0009] The tracer chip includes an angle measurement module and a transceiver module; the angle measurement module is used to measure the angle of the target device; the transceiver module is used to upload the angle to the upper processor;

[0010] The positioning metal includes at least three positioning metals, and the at least three positioning metals are fixed relative to the position of the tracer chip and are used to mark the position of the tracer chip.

[0011] In some embodiments, the body is a hollow structure for nesting the tracer on the target device.

[0012] In other embodiments, the body includes at least one side surface for attaching a tracer to the target device.

[0013] In some implementations, the angle measurement module measures the angle of the target device based on the principle of electromagnetic induction or a measurement method based on an inertial field.

[0014] In some embodiments, the positioning metal is used to provide directional characteristic data to indicate the position of the tracer chip within the tracer body;

[0015] The directional characteristic data includes: an intersection vector group, a quaternion, or a rotation angle formed by the positioning metal in a coordinate system with the tracer chip as the origin.

[0016] In some embodiments, the intersection vector group formed by the connection between at least three positioning metals is orthogonal.

[0017] In some embodiments of the present application, a method of using the angle calibration tracer is as follows: a first tracer is fixedly mounted on a surgical instrument;

[0018] The first tracer is used to measure a first angle of the surgical instrument in the first coordinate system; wherein the first coordinate system takes the position of the first tracer chip in the first tracer as the origin.

[0019] When an imaging device scans the surgical instrument with the first tracer;

[0020] The positioning metal in the first tracer is also used to calibrate a first conversion relationship between the first coordinate system and the imaging coordinate system; the imaging coordinate system has the imaging center point of the imaging device as its origin and the length, width, and height directions of the imaging device as its axes;

[0021] The first angle and the first conversion relationship are used to obtain a second angle of the surgical instrument in an imaging coordinate system.

[0022] In some other embodiments of the present application, another way of using the angle calibration tracer is as follows: at least one second tracer is fixedly mounted on an imaging device;

[0023] The at least one second tracer is used to measure an angular change of the imaging coordinate system in the second coordinate system before and after the imaging device moves;

[0024] The second coordinate system takes the position of the second tracer chip in the second tracer as an origin.

[0025] The angle variation is used to calibrate a second conversion relationship between the imaging coordinate system and the moved imaging coordinate system;

[0026] The second conversion relationship is used to correct the first conversion relationship;

[0027] The first angle and the corrected first conversion relationship are further used to obtain a second angle of the surgical instrument in the imaging coordinate system after the movement.

[0028] Compared with the prior art, this application has at least one of the following beneficial effects:

[0029] 1. This application provides an angle calibration tracer. Its unique design allows it to be fixed to a target device for calibration, accurately reflecting the target device's angle changes. A positioning metal is used to mark the position of the tracer chip to establish the tracer coordinate system.

[0030] 2. The angle calibration algorithm provided in this application connects a tracer to a surgical instrument to provide feedback on angle data, calibrating the position and angle of the surgical instrument in the imaging coordinate system. This algorithm is then used by the imaging device to ensure precise angular control of the surgical instrument during surgery after receiving the image. It can also generate a navigation path based on the current posture of the surgical instrument to assist in maneuvering the surgical instrument to the target point, thereby improving surgical success rates and reducing surgical risks.

[0031] 3. The angle calibration algorithm provided in this application connects another set of tracers to the imaging device to feedback the posture information of the current position of the mobile CBCT device. The data is transmitted to the computer to calculate the angle difference from the initial calibration. By using two sets of angle measurement devices to establish a permanent connection between the imaging coordinate system and the surgical instrument coordinate system in a one-time calibration during admission and debugging, the real-time unification of the angle coordinate system can be achieved. The cost is very low and it no longer relies on the calibration of optical or other equipment before surgery. It can also achieve the guidance of surgical instruments. It saves the cost of expensive optical positioning instruments and the time spent on preoperative calibration. Doctors do not need to scan the angle sensor for calibration before each operation, nor do they need to recalibrate after each movement during the operation, which reduces the surgical process and saves surgical time. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The preferred implementation scheme will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present application.

[0033] Figure 1 A schematic structural diagram of a tracer provided in this application;

[0034] Figure 2 A flowchart of the steps of an embodiment of the angle calibration method provided by this application;

[0035] Figure 3 A flowchart of another embodiment of the angle calibration method provided by the present application;

[0036] Figure 4 This is a structural block diagram of an embodiment of the angle calibration system provided in this application. DETAILED DESCRIPTION

[0037] In the following description, specific details such as specific system structures and technologies are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the present application can be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0038] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections.

[0039] To simplify the drawings, only portions relevant to the invention are schematically depicted in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one component with the same structure or function is schematically depicted or labeled. As used herein, "one" not only means "only one" but also "more than one."

[0040] It should be further understood that the term “and / or” used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0041] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0042] In specific implementations, the terminal devices described in the embodiments of the present application include, but are not limited to, other portable devices such as mobile phones, laptop computers, tutoring machines, or tablet computers with touch-sensitive surfaces (e.g., touch screen displays and / or touchpads). It should also be understood that in some embodiments, the terminal device is not a portable communication device, but rather a desktop computer with a touch-sensitive surface (e.g., touch screen displays and / or touchpads).

[0043] In addition, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0044] To more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the specific implementation methods of the present application will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can, without inventive effort, derive other drawings and other implementation methods based on these drawings.

[0045] During interventional surgery, doctors rely on imaging technology to obtain real-time images of the surgical area, ensuring that surgical instruments can accurately navigate to the target area. These images clearly demonstrate the position of surgical instruments relative to surrounding tissue, enabling precise manipulation to avoid unnecessary damage to surrounding healthy tissue and ensure that surgical instruments reach their intended target safely and effectively. However, due to limited site conditions, in most cases, doctors cannot perform surgeries while continuously recording with CT equipment.

[0046] Current surgical positioning and navigation systems require precise spatial displacement information, and therefore rely on expensive optical / infrared / millimeter wave positioning systems. Therefore, we are experimenting with using angle sensors to measure the angle data of surgical instruments and then importing it into a 3D image of the human body captured at time t0 for display. This requires only a single capture, and the patient can then be removed from the imaging device for surgery. The subsequent position of the surgical instrument within the human body is fully displayed in the 3D image captured at time t0 by the angle sensor. This significantly reduces radiation dose. Furthermore, the angle calibration method and system provided in this application utilize only angle sensors and angle information, resulting in a very low cost, a fraction of the cost of conventional optical positioning systems.

[0047] The data transmitted by the angle sensor chip is based on Earth's gravity or angular acceleration. However, CBCT imaging requires imaging based on the coordinate system of the CBCT device. Therefore, the angle data measured by the angle sensor cannot be directly applied to the imaging coordinate system.

[0048] Based on this, the present application discloses an angle calibration tracer for calibrating surgical instruments so that the angle of the surgical instrument can be accurately reflected in the imaging coordinate system where the imaging device is located.

[0049] Among them, a tracer, see the appendix of the reference manual Figure 1 , including a main body, a tracer chip and a positioning metal arranged in the main body.

[0050] The main body is used to fix itself on the target device.

[0051] The tracer chip includes an angle measurement module and a transceiver module. The angle measurement module is used to measure the angle of the target device. The transceiver module is used to upload the angle to the upper processor.

[0052] The positioning metal includes at least three positioning metals, and the at least three positioning metals are fixed relative to the position of the tracer chip and are used to mark the position of the tracer chip.

[0053] Specifically, in some embodiments, the tracer has a hollow structure, allowing it to be nested on a target device. Its main body is a columnar structure, such as a prism or cylinder. Alternatively, it may be spherical or polyhedral. In other embodiments, the tracer body includes at least one side surface for attaching the tracer to the target device.

[0054] The tracer chip includes an angle measurement module and a transceiver module. The angle measurement module is used to determine the rotation angle of an object relative to a reference direction or another object, including measurement methods based on electromagnetic induction and inertial fields. For example, compass chips based on magnetic field principles and IMUs (inertial measurement units) based on inertial principles are also covered by this application. Other existing angle measurement methods for obtaining the angle or angle change of a target device are also covered by this application. The transceiver module is a module with wireless communication capabilities, such as a Bluetooth chip, NFC, or RFID.

[0055] The locating metal has a defined position within the tracer body. Based on the locating metal's position, its directional signature data in a coordinate system with the tracer chip as the origin can be inferred. In some embodiments, the directional signature data includes a set of intersecting vectors formed by connecting the locating metals, or a quaternion, rotation angle, etc.

[0056] In other embodiments, for the convenience of calculation, the intersection vector group formed by the connection between the positioning metals is orthogonal.

[0057] The structure of the tracer is shown in the attached manual. Figure 1The tracer, taking a square structure as an example, includes a hollow structure 1, a positioning metal element 2, and a tracer chip 3. Specifically, four spherical positioning metal elements (positioning steel balls) form three intersecting vectors, which are used to calibrate the position of the tracer chip 3. The tracer chip 3 is placed close to the surface of the hollow structure of the main body, ensuring that it is in close proximity to the target device.

[0058] based on Figure 1 The tracer shown in the embodiment of the angle calibration method of the present application is shown in the appendix of the specification. Figure 2 As shown, the following steps are included:

[0059] S100: placing a surgical instrument within the imaging range of an imaging device for scanning to obtain a scanned image. A first tracer is fixedly mounted on the surgical instrument.

[0060] Specifically, based on the scanned image, the position of the tracer in the imaging coordinate system can be obtained. Specifically, based on the positioning steel ball, the position of the tracer chip, that is, the position of the first coordinate system in the imaging coordinate system can be accurately calculated. Among them, the first coordinate system takes the position of the first tracer chip in the first tracer as the origin. Specifically, the angle measurement module in the tracer chip has at least two measurement modes, including a magnetic field navigation mode based on the electromagnetic induction principle and an inertial navigation mode based on the inertial field measurement method. In the magnetic field navigation mode, the first coordinate system takes the position of the first tracer chip in the first tracer as the origin, usually with the east-west direction, the north-south direction, and the vertical direction as the axis, and other directions can also be specially set as the reference. In the inertial navigation mode, the direction of the axis of the coordinate system does not need to be specified, and any other orthogonal system can be used as the reference coordinate. It is sufficient to measure the difference between the reference coordinate system and the imaging coordinate system during calibration.

[0061] The imaging coordinate system takes the imaging center point of the imaging device as its origin and the length, width, and height directions of the imaging device as its axes.

[0062] In this embodiment, the imaging device may be a CT device, a CBCT device, etc. The surgical instrument includes a guide, a puncture needle, etc.

[0063] S200 , calibrating a first conversion relationship between a first coordinate system and an imaging coordinate system based on the scanned image.

[0064] Specifically, the method includes step S210 of acquiring positions of at least three positioning metals in a first tracer in a first coordinate system, and obtaining first angle characteristic data of the at least three positioning metals in the first coordinate system.

[0065] S220 , identifying the scanned image, acquiring positions of at least three positioning metals in the imaging coordinate system, and obtaining second direction feature data of the at least three positioning metals in the imaging coordinate system.

[0066] S230 , constructing a rotation matrix between the first coordinate system and the imaging coordinate system based on the first directional feature data and the second directional feature data, and solving to obtain a first conversion relationship between the first coordinate system and the imaging coordinate system.

[0067] In other implementations, the calculation accuracy can be improved by using four positioning metals or even more positioning metals.

[0068] S300, obtaining a first angle of a surgical instrument in a first coordinate system through a first tracer.

[0069] Specifically, the first angle of the surgical instrument in the first coordinate system is measured by the angle measurement module in the first tracer chip, and the angle data is uploaded by the transceiver module in the first tracer chip.

[0070] S400 : Obtaining a second angle of the surgical instrument in the imaging coordinate system based on the first angle and the first conversion relationship.

[0071] Specifically, the angle of the current surgical instrument in the image coordinate system is obtained, and the surgical instrument can be adjusted according to the current position to achieve a fixed insertion angle. Preferably, step S500 is further included to plan a navigation path between the surgical instrument from the current position to the target point based on the second angle.

[0072] Another embodiment of the angle calibration method provided by the present application explains the content of the previous embodiment in more detail.

[0073] In the scanned image, the initial angle vector C of the tracer chip in the imaging coordinate system can be determined by locating the metal. The angle vector Z0 of the surgical instrument in the first coordinate system can be measured using the angle measurement module in the tracer chip. However, due to minor errors in manufacturing and installation, the angle between the tracer chip and the surgical instrument may not be perfectly perpendicular or horizontal. Therefore, the angle vector measured by the angle measurement device is Z1. The error between Z0 and Z1 accounts for the inherent error between the angle measured by the tracer chip and the true angle of the surgical instrument. Because the angle between the surgical instrument and the tracer chip is fixed, the magnitude of this inherent error remains constant. This means that the transformation relationship between the tracer chip coordinate system and the surgical instrument coordinate system remains unchanged. This is achieved through the rotation matrix multiplication formula: S0 = C01 * S1; where S0 is the coordinate system of the surgical instrument, C01 is the coordinate system of the tracer chip, and S1 is the transformation relationship between the coordinate system of the tracer chip and the coordinate system of the surgical instrument. All information required during surgery can be unified into the image coordinate system. Therefore, after this calibration, we no longer need to determine the surgical instrument's angle vector Z0 in the first coordinate system. We only need the angle vector Z1 measured by the goniometer. This gives us the surgical instrument's unique angle vector in the imaging coordinate system. All errors and coordinate system differences are automatically corrected.

[0074] In the above embodiment, calibration can be achieved between the tracer coordinate system (first coordinate system) and the imaging device coordinate system (imaging coordinate system) based on the tracer. This makes angle measurement more accurate, provides higher-quality imaging results, and helps doctors achieve precise control of surgical instruments.

[0075] In practice, however, the data transmitted by the angle sensor chip is based on measurements of Earth's gravity or angular acceleration. However, CBCT imaging requires the device's coordinate system to be used for imaging. If the image coordinate system and the sensor coordinate system do not coincide, the real-time angle feedback from the angle sensor chip will not match the image data without recalibration. Therefore, the angle sensor chip and device must be calibrated before use to align the two coordinate systems.

[0076] However, some mobile CBCT systems require frequent changes in location or repositioning to achieve a larger imaging range. Each movement creates a different coordinate system, requiring recalibration of the calibration fixture with the angle sensor. This is not only cumbersome but also increases the overall imaging process and time.

[0077] In order to solve this new technical problem, the present application provides another embodiment of the angle calibration method, which can be achieved by setting one or more tracers on the mobile imaging device to feedback the posture information of the current position of the mobile imaging device, and then transmit the data to the upper layer processor for calculating the angle difference from the initial calibration. Figure 3 As shown, this embodiment includes the following steps:

[0078] S100: placing a surgical instrument within the imaging range of an imaging device for scanning to obtain a scanned image. A first tracer is fixedly mounted on the surgical instrument.

[0079] S200 , calibrating a first conversion relationship between a first coordinate system and an imaging coordinate system based on the scanned image.

[0080] S300, obtaining a first angle of a surgical instrument in a first coordinate system through a first tracer.

[0081] S400 : Obtaining a second angle of the surgical instrument in the imaging coordinate system based on the first angle and the first conversion relationship.

[0082] At least one second tracer is fixedly mounted on the imaging device in step S500. An imaging coordinate system is calibrated using the second tracer. When the imaging device is moved, a second transformation relationship between the imaging coordinate system after the movement and the imaging coordinate system (i.e., the imaging coordinate system before the movement) is obtained.

[0083] S600: Correct the first conversion relationship based on the second conversion relationship.

[0084] In some other implementations of this embodiment, the method further includes the following step: S700, obtaining a second angle of the surgical instrument in the imaging coordinate system based on the first angle and the corrected first conversion relationship.

[0085] S800: Planning a navigation path for the surgical instrument from the current position to the target point based on the corrected second angle.

[0086] Specifically, when the imaging device moves during surgery, that is, when the device coordinate system position transmitted by the imaging device tracer changes, the navigation computer obtains the conversion relationship between the new device coordinate system position after the movement and the old device coordinate system angle, thereby obtaining the conversion relationship between the new device coordinate system position and the surgical instrument coordinate system angle.

[0087] In some implementations of this embodiment, step S500: when the imaging device moves, obtaining a second conversion relationship between the imaging coordinate system after the movement and the imaging coordinate system (i.e., the imaging coordinate system before the movement) specifically includes:

[0088] S510, measuring the angular change of the imaging coordinate system in the second coordinate system through the second tracer. The second coordinate system takes the position of the second tracer chip in the second tracer as the origin. Specifically, the angle measurement module in the tracer chip has at least two measurement modes, including a magnetic field navigation mode based on the principle of electromagnetic induction and an inertial navigation mode based on the inertial field measurement method. In the magnetic field navigation mode, the second coordinate system can be set to usually take the position of the second tracer chip in the second tracer as the origin, with the east-west direction, the north-south direction, and the vertical direction as the axis, or a specific coordinate system can be set as the reference. In the inertial navigation mode, the direction of the axis of the coordinate system does not need to be specified, and any other orthogonal system can be used as the reference coordinate. It is sufficient to measure the difference between the reference coordinate system and the imaging coordinate system during calibration.

[0089] S520: Construct a first rotation matrix between the second coordinate system and the imaging coordinate system (ie, the imaging coordinate system before the movement), and construct a second rotation matrix between the second coordinate system and the imaging coordinate system after the movement.

[0090] S530: Obtain a third rotation matrix between the moved imaging coordinate system and the imaging coordinate system based on the first rotation matrix and the second rotation matrix. Solve the third rotation matrix to obtain a second conversion relationship between the moved imaging coordinate system and the imaging coordinate system.

[0091] The following content will further explain the specific calculation ideas:

[0092] In the first embodiment of this embodiment:

[0093] Assume that the imaging coordinate system is coordinate system S0. The imaging coordinate system after movement is coordinate system S1. The first coordinate system where the first tracer is located is coordinate system A.

[0094] First, the imaging coordinate system S0 is calibrated with the first coordinate system A. The rotation matrix between S0 and A is obtained as C1.

[0095] Assume that the vector representing the surgical instrument in the first coordinate system A is known to be u3. Then the vector v3 represented by the surgical instrument vector in the imaging coordinate system S0 can be calculated based on the following matrix multiplication: v3 = C1·u3.

[0096] Based on the rotation matrix M between the imaging coordinate system S0 and the moved imaging coordinate system S1 , the vector v33 represented by the surgical instrument vector in the moved imaging coordinate system S1 can be calculated based on the following matrix multiplication: v33=M·v3.

[0097] In the second implementation of this embodiment:

[0098] If the imaging device coordinate system and the second angle sensor are not reset to zero simultaneously during installation and there is an inherent error, we cannot directly know M. We can use the following method to calculate M.

[0099] Assume that the imaging coordinate system is coordinate system S0. The coordinate system after the movement is coordinate system S1. The first coordinate system where the first tracer is located is coordinate system A. The second coordinate system where the second tracer is located is coordinate system B.

[0100] Assume that the second coordinate system B is rigidly fixed to the imaging coordinate system S0 and rotates together. After the device moves, the second coordinate system B1 after movement is obtained through the function of the tracer.

[0101] The rotation matrix between the second coordinate system B and the moved second coordinate system B1 is calculated as R. Assume that the rotation matrix between the imaging coordinate system S0 and the second coordinate system B is E. The rotation matrix M between the imaging coordinate system S0 and the moved imaging coordinate system S1 can be calculated based on the following matrix multiplication: M = E-1*R*E, where E-1 represents the inverse matrix of E. The rotation matrix E is the rotation matrix caused by the inherent error between the sensor coordinate system and the imaging instrument coordinate system when the angle sensor is mounted and fixed to the imaging instrument. E can be obtained by the difference between the quaternion / angle information reported by the positioning device on the instrument during the initial calibration of the imaging device and the angle between the axes of the imaging coordinate system S0.

[0102] After M is calculated, the vector v33 represented by the surgical instrument vector in the imaging coordinate system S1 after the movement is calculated by the following matrix multiplication: v33=M·v3.

[0103] In order to solve the technical problem that each time the imaging coordinate system moves from the first position to the second position, it must be recalibrated. This is very inconvenient in clinical use. We place the second tracer on the imaging device. The placement angle is arbitrary and must be rigidly fixed. When the module is produced, the side that contacts the device can be veneered with strong glue, which is convenient for modifying existing equipment. In other embodiments of the angle calibration method provided in the present application, multiple second tracers can be set on the imaging device and pasted and fixed at different positions of the imaging device to feedback multiple posture information for calculating the angle difference. The average value of the angles measured by the multiple second tracers is calculated as a representative value, which has higher accuracy.

[0104] Through this embodiment, only one calibration is required after the device is manufactured, so that the navigation function can be used directly without the need for a second calibration, thereby saving costs and time.

[0105] Based on the same technical concept, the present application also discloses an angle calibration system, which can be used to implement any of the above angle calibration methods. Specifically, an embodiment of the angle calibration system of the present application is shown in the attached specification. Figure 4 Shown, including:

[0106] The imaging device is used to place the surgical instrument within the imaging range of the imaging device for scanning and obtaining a scanned image. A first tracer is fixedly provided on the surgical instrument.

[0107] The processor is used to calibrate the first conversion relationship between the first coordinate system and the imaging coordinate system based on the scanned image. The first coordinate system takes the position of the first tracer chip in the first tracer as the origin. Specifically, the angle measurement module in the tracer chip has at least two measurement modes, including a magnetic field navigation mode based on the electromagnetic induction principle and an inertial navigation mode based on the inertial field measurement method. In the magnetic field navigation mode, the first coordinate system usually takes the position of the first tracer chip in the first tracer as the origin, and the east-west direction, north-south direction, and vertical direction as the axis. In the inertial navigation mode, there is no need to specify the direction of the axis of the coordinate system, and any other orthogonal system can be used as the reference coordinate. It is sufficient to measure the difference between the reference coordinate system and the imaging coordinate system during calibration.

[0108] The imaging coordinate system takes the imaging center point of the imaging device as its origin and the length, width, and height directions of the imaging device as its axes.

[0109] The first tracer is used to obtain a first angle of the surgical instrument in a first coordinate system.

[0110] The processor is further configured to obtain a second angle of the surgical instrument in the imaging coordinate system based on the first angle and the first conversion relationship.

[0111] Another embodiment of the angle calibration system provided by this application is shown in the attached specification. Figure 4 As shown, based on the above system embodiment, the angle calibration system further includes:

[0112] The second tracer is fixedly mounted on the imaging device and is used to calibrate the imaging coordinate system.

[0113] The processor is further configured to obtain a second conversion relationship between the imaging coordinate system after movement and the imaging coordinate system when the imaging device moves.

[0114] In the above embodiment, the processor includes a navigation calculation module, an imaging processing module, and a navigation display module.

[0115] The imaging processing module is used to reconstruct the tomographic images collected by the imaging device.

[0116] The navigation calculation module is configured to receive angle data transmitted by the first or second tracer and calibrate the angles of the surgical instrument and the imaging device based on the angle data. The module is also configured to plan a navigation path for the surgical instrument from its current position to a target location based on the angle data.

[0117] The navigation display module is used to display the generated navigation path and the image generated by the imaging device on the display screen so that the doctor can watch and obtain relevant information.

[0118] Those skilled in the art will clearly understand that, for the sake of convenience and brevity of description, only the division of the above-mentioned program modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program units or modules to complete all or part of the functions described above. The program modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one processing unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software program unit. In addition, the specific names of the program modules are only for the purpose of distinguishing each other and are not used to limit the scope of protection of this application.

[0119] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0120] Those skilled in the art will appreciate that the units and algorithmic steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented using electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed using hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0121] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is merely a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not performed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interface, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0122] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the objectives of this embodiment as needed.

[0123] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0124] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0125] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application is intended to include such modifications and variations.

Claims

1. An angle calibration tracer, characterized in that: It includes a main body, a tracer chip and a positioning metal arranged in the main body; The main body is used to fix itself on the target device; The tracer chip includes an angle measurement module and a transceiver module; The angle measurement module is used to measure the angle of the target device; the transceiver module is used to upload the angle to the upper processor; The positioning metal includes at least three positioning metals, and the at least three positioning metals are fixed relative to the position of the tracer chip and are used to mark the position of the tracer chip; Wherein, the angle measurement module measures the angle of the target device based on the principle of electromagnetic induction or a measurement method based on an inertial field; A first tracer is fixedly mounted on a target device; the first tracer is used to measure a first angle of the target device in a first coordinate system; wherein the first coordinate system has a position of a first tracer chip in the first tracer as an origin; When the imaging device scans the target device with the first tracer, the positioning metal in the first tracer is also used to calibrate the first transformation relationship between the first coordinate system and the imaging coordinate system; the imaging coordinate system has the imaging center point of the imaging device as the origin and the length, width, and height directions of the imaging device as the axes; The first angle and the first conversion relationship are used to obtain a second angle of the target device in an imaging coordinate system.

2. An angle calibration tracer according to claim 1, characterized in that: The main body is a hollow structure, which is used to nest the tracer on the target device.

3. An angle calibration tracer according to claim 1, characterized in that: The main body includes at least one side surface for attaching the tracer to the target device.

4. An angle calibration tracer according to claim 1, characterized in that: The positioning metal is used to provide directional characteristic data to indicate the position of the tracer chip in the tracer body; The directional characteristic data includes: an intersection vector group, a quaternion, or a rotation angle formed by the positioning metal in a coordinate system with the tracer chip as the origin.

5. An angle calibration tracer according to claim 4, characterized in that: When the positioning metals form an intersecting vector group in a coordinate system with the tracer chip as the origin, the intersecting vector group formed by the connection between at least three positioning metals is orthogonal.

6. An angle calibration tracer according to any one of claims 1 to 5, characterized in that: fixedly disposing at least one second tracer on the imaging device; The at least one second tracer is used to measure an angular change of the imaging coordinate system in the second coordinate system before and after the imaging device moves; The second coordinate system takes the position of the second tracer chip in the second tracer as an origin.

7. An angle calibration tracer according to claim 6, characterized in that: The angle variation is used to calibrate a second conversion relationship between the imaging coordinate system and the moved imaging coordinate system; The second conversion relationship is used to correct the first conversion relationship; The first angle and the corrected first conversion relationship are further used to obtain a second angle of the target device in the imaging coordinate system after the movement.

Images