Calibration equipment, calibration method and calibration device

Abstract

The invention discloses a calibration device, a calibration method and a calibration device, and the calibration device can fix a fixing plane connected with an optical calibration label on the skin surface of a patient through a fixing needle. Under the condition that a large incision does not need to be cut on the skin of the patient, the pose of the patient can be tracked based on the optical calibration label, and the postoperative recovery effect of the patient is guaranteed.

Description

Technical Field

[0001] The present specification relates to the field of medical technology, and in particular to a calibration device, a calibration method and a calibration apparatus. Background Art

[0002] At present, with the development of medical technology, the rapidly developing medical imaging technology, image processing technology, robotics technology and computer-assisted surgical technology have gradually been applied to the medical field. A commonly used computer-assisted surgery method is to determine the patient's surgical site by fixing an optical calibration tag on the patient's surgical site to assist the surgery.

[0003] Generally, the prior art will fix an optical calibration tag on the surgical site of the patient and determine the relative position of the optical calibration tag and the surgical position of the patient. Subsequently, the position of the optical calibration tag can be determined by an infrared camera. Finally, the coordinates of the surgical position of the patient are determined based on the position and relative position of the optical calibration tag.

[0004] However, currently, when fixing the optical calibration label, it is usually necessary to make an incision on the patient's body part and fix the optical calibration label on the patient's spine near the surgical site. The required incision is large and the recovery time required after the operation is long.

[0005] Based on this, this specification provides a calibration device. Summary of the invention

[0006] This specification provides a calibration device, a calibration method and a calibration apparatus to partially solve the above-mentioned problems existing in the prior art.

[0007] This manual adopts the following technical solutions:

[0008] This specification provides a calibration device, which includes a fixing unit 1 and a calibration unit 2; the fixing unit 1 includes a fixing plane 11 and a fixing needle 12;

[0009] The fixing plane 11 is used to be placed on the skin surface of the patient;

[0010] The fixing needle 12 is used to pass through the fixing plane 11 and puncture the patient's body to fix the fixing plane 11 on the skin surface of the patient;

[0011] The calibration unit 2 is used to connect the optical calibration tag 21 and determine the relative position and posture of the optical calibration tag 21 and the fixed plane 11, so that the optical tracking device 22 determines the position and posture of the patient according to the optical calibration tag 21 and the relative position and posture.

[0012] Optionally, there are multiple fixing needles 12, and each fixing needle 12 punctures the patient's body at a different angle.

[0013] Optionally, the fixing unit 1 comprises a fixing plane 11 and a plurality of fixing needles 12, a channel assembly 13 is provided in the fixing plane 11, a plurality of fixing channels 14 are provided in the channel assembly, and the fixing channels 14 are used for the fixing needles 12 to pass through;

[0014] The fixing needle 12 is used to pass through the fixing channel 14 in the fixing plane 11 to puncture the patient's body.

[0015] Optionally, the fixing unit 1 further includes a fixing bolt 15;

[0016] The fixing bolt 15 is used to rotate to fix the relative position of the fixing needle 12 and the fixing plane 11; or rotate to no longer fix the relative position of the fixing needle 12 and the fixing plane 11.

[0017] Optionally, the fixing needle 12 is a threaded needle structure.

[0018] Optionally, the lower bottom surface of the fixing plane 11 is placed on the skin surface of the patient;

[0019] The calibration unit 2 is used to fix the optical calibration label 21 at a specific position of the fixed plane 11, and use the relative posture between the preset specific position and the fixed plane as the relative posture between the optical calibration label 21 and the fixed plane 11.

[0020] This specification provides a calibration method, which is applied to a calibration device, wherein the calibration device includes a fixing unit and a calibration unit; the fixing unit includes a fixing plane and a fixing needle;

[0021] placing the fixing plane on the patient's skin surface;

[0022] Passing the fixing needle through the fixing plane to puncture the patient's body to fix the fixing plane;

[0023] The optical calibration tag is connected through the calibration unit, and the relative position and posture of the optical calibration tag and the fixed plane are determined, so that the optical tracking device determines the position and posture of the patient according to the optical calibration tag and the relative position and posture.

[0024] This specification provides a calibration device, which is applied to a calibration device. The calibration device includes a fixing unit and a calibration unit; the fixing unit includes a fixing plane and a fixing needle; wherein:

[0025] A plane fixing module, used for placing the fixing plane on the patient's skin surface;

[0026] a puncture module, used for passing the fixing needle through the fixing plane to puncture the patient's body so as to fix the diseased part of the patient;

[0027] The calibration module is used to connect the optical calibration tag through the calibration unit and determine the relative position and posture of the optical calibration tag and the fixed plane, so that the optical tracking device can determine the position and posture of the patient according to the optical calibration tag and the relative position and posture.

[0028] This specification provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned fixing method is implemented.

[0029] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0030] The fixed plane connected to the optical calibration label can be fixed on the patient's skin surface through a fixing needle. Without making a large incision in the patient's skin, the patient's posture can be tracked based on the optical calibration label, ensuring the patient's postoperative recovery effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0032] Figure 1 It is a structural schematic diagram of a calibration device in this manual;

[0033] Figure 2 It is a structural schematic diagram of a calibration device in this manual;

[0034] Figure 3 It is a structural schematic diagram of a calibration device in this manual;

[0035] Figure 4 It is a structural schematic diagram of a calibration device in this manual;

[0036] Figure 5 It is a structural schematic diagram of a calibration device in this manual;

[0037] Figure 6 A flow chart of a calibration method in this manual;

[0038] Figure 7 A schematic diagram of a calibration device provided in this manual. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0040] In addition, it should be noted that all actions of acquiring signals, information or data in the present invention are performed in compliance with the corresponding data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0041] At present, with the continuous development of medical technology, minimally invasive surgery has been widely used in the medical field. For example, orthopedic surgery, neurosurgery and interventional surgery can all be treated through minimally invasive surgery. As a result, the requirements for minimally invasive and precise surgical operations are getting higher and higher. The current minimally invasive surgery needs to be able to achieve the minimum trauma as much as possible and accurately reach the diseased area for effective treatment.

[0042] In this case, a common computer-assisted surgery method is to fix an optical calibration tag on the patient's body part during the patient's surgery, and use an optical tracking device to determine the patient's posture according to the position of the optical calibration tag. Then, the surgical tool or instrument can be accurately tracked and guided to perform surgical operations on the patient's body part according to the determined patient's posture, so as to achieve the technical effect of precise operation in minimally invasive surgery.

[0043] However, taking minimally invasive spinal surgery as an example, when fixing the optical calibration tag on the patient's body, the patient's skin is usually cut open and the fixator is fixed on the patient's spinal spinous process through the incision. This method requires a larger incision. In actual operation, the incision required for the fixator is often larger than the incision for minimally invasive spinal surgery, which makes the patient need a longer time to recover after surgery. This is obviously contrary to the purpose of minimally invasive surgery, which is less traumatic and faster recovery.

[0044] Based on this, this specification provides a calibration device, which fixes optical calibration labels on the surface of the patient's skin, so that the patient's posture can be tracked based on the optical calibration labels without making a large incision on the patient's skin, thereby ensuring the patient's postoperative recovery effect.

[0045] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0046] Figure 1 A schematic diagram of a calibration device provided for this manual.

[0047] This specification provides a calibration device, which can be used for computer-assisted surgery. In the embodiments of this specification, for ease of understanding, a surgical robot performing minimally invasive spinal surgery is used as an example to illustrate a specific technical solution.

[0048] like Figure 1 As shown, the calibration device at least includes a fixing unit 1 and a calibration unit 2. In general, the patient is located at a designated position on the operating table in a prone position or a supine position, and the operator or the surgical robot fixes the calibration device to the patient's body part through the fixing unit 1, so that the subsequent optical tracking device can determine the patient's posture according to the calibration unit 2 in the calibration device.

[0049] The fixing unit 1 may include a fixing plane 11 and a fixing needle 12. The fixing plane is used to be placed on the skin surface of the patient, and the fixing needle 12 is used to pass through the fixing plane 11 and puncture the patient's body to fix the fixing plane 11 on the skin surface of the patient. In order to ensure that the fixing plane 11 and the patient's body part are relatively still after the fixing needle 12 fixes the fixing plane 11 on the patient's body part, the fixing unit 1 may include a plurality of fixing needles 12.

[0050] The calibration unit 2 can be used to connect the optical calibration tag 21. The optical calibration tag 21 can emit light by itself or reflect the light emitted by the optical tracking device, so that the optical tracking device 22 can determine the position of the optical calibration tag 21, thereby achieving precise positioning. The optical expression tag 21 can be at least one of an infrared light emitting device, a light emitting diode (LED), a passive reflective sphere, etc. And the optical calibration tag can be made of infrared reflective material or X-ray reflective material. The specific type of the optical calibration tag can be set as needed, and this specification does not limit this.

[0051] Therefore, the calibration unit 2 can be connected to the optical calibration tag and determine the relative position and posture of the optical calibration tag 21 and the fixed plane 11. Then the optical tracking device 22 can emit light outward, and determine the position and posture of the optical calibration tag according to the reflection result of the optical calibration tag 21, and determine the position and posture of the fixed plane according to the position and posture of the optical calibration tag and the above relative position and posture, and finally determine the position and posture of the patient according to the position and posture of the fixed plane and the body part corresponding to the fixed plane.

[0052] After the patient's posture is determined, the surgical robot and / or the optical tracking device can assist the surgery according to the determined posture.

[0053] like Figure 1 The calibration device shown can fix the fixed plane connected to the optical calibration label on the patient's skin surface through a fixing needle. Without making a large incision in the patient's skin, the patient's posture can be tracked based on the optical calibration label, thereby ensuring the patient's postoperative recovery effect.

[0054] In addition, in this specification, in order to ensure that the fixing plane 11 and the patient's body part are relatively still after the fixing needle 12 fixes the fixing plane 11 to the patient's body part, the number of fixing needles 12 in the fixing unit 1 can be multiple, and each fixing needle 12 can puncture the patient's body at a different angle to fix the fixing plane 11 to the patient's skin surface. Figure 2 shown.

[0055] Figure 2 A schematic diagram of the structure of the fixing device provided in this specification. In the figure, it can be seen that the calibration device is fixed on the patient, and the calibration device is placed on the surface of the patient's body through the fixing plane 11. The figure takes the number of fixing needles 12 as 3 as an example, and the 3 fixing needles 12 puncture the patient's body at different angles to fix the fixing plane 11 on the patient's body.

[0056] It should be noted that the above description only takes the example of each fixing needle 12 passing through the same position in the fixing plane 11 to puncture the patient's body. In actual operation, the above fixing needles 12 can also pass through different positions in the fixing plane 11 to puncture the patient's body to fix the fixing plane 11 on the patient's body.

[0057] Furthermore, in this specification, the reason why the fixing needle 12 can pass through the fixing plane 11 is that the fixing plane 11 is made of a penetrable material. However, in actual applications, if the fixing plane 11 is made of an impenetrable material, a fixing channel 14 for the fixing needle 12 to pass through must be reserved in the fixing plane 11, otherwise the fixing plane 11 cannot be fixed on the patient's body surface.

[0058] Specifically, a channel assembly 13 may be provided in the fixing plane 11, and a fixing channel 14 for the fixing needle 12 to pass through may be pre-set in the channel assembly 13. Figure 3 shown.

[0059] Figure 3 A schematic diagram of the structure of the fixing device provided in this specification, wherein the white rectangular block is the fixing plane 11, the three straight lines passing through the fixing plane 11 are fixing needles, the spherical object connected to the fixing plane 11 is an optical calibration tag, and the ellipsoidal object located in the fixing plane is a channel assembly 13, in which a plurality of fixing channels 14 are reserved.

[0060] Therefore, the fixing needle 12 can pass through the fixing channel 14 reserved in the channel assembly 13 in the fixing plane 11 to puncture the patient's body to fix the fixing plane 11 on the patient's body.

[0061] It should be noted that the above description is based on the example that only one channel assembly 13 is provided in the fixed plane 11, and the channel assembly 13 includes three fixed channels 14. However, in actual operation, the number of channel assemblies 13 provided in the fixed plane 11 may be multiple, the number of fixed channels 14 reserved in one channel assembly 13 may also be one, and the number of fixed channels 14 reserved in each channel assembly 13 may be the same or different. The number and position of the channel assemblies 13 provided in the fixed plane 11, as well as the number of fixed channels 14 reserved in each channel assembly 13, can be set as needed, and this specification does not limit this.

[0062] Furthermore, in order to avoid the situation where the fixing plane 11 is fixed to the patient's body by the fixing pin 12, the fixing pin 12 and the fixing plane 11 rotate, resulting in the fixing plane 11 moving on the patient's body surface when the patient does not move, and thus making it impossible to accurately determine the patient's posture. After the fixing plane 11 is fixed to the patient's body, the relative position of the fixing pin 12 and the fixing plane 11 can also be fixed.

[0063] Specifically, the fixing unit 1 may further include a fixing bolt 15, such as Figure 4 shown.

[0064] Figure 4 A schematic diagram of the structure of the fixing device provided in this specification. The white rectangular block is the fixing plane 11, the three straight lines passing through the fixing plane 11 are the fixing pins 12, the spherical object connected to the fixing plane 11 is the optical calibration tag, and the ellipsoidal object located in the fixing plane is the channel component 13, in which a plurality of fixing channels 14 are reserved. For a channel component 13, the circular object in the center of the channel component 13 is the fixing bolt 15.

[0065] The fixing bolt 15 can be rotated after the fixing needle 12 passes through the fixing plane 11 and punctures the patient's body to fix the fixing needle 12 and the fixing plane 11, thereby fixing the relative position between the fixing plane 11 and all the fixing needles 12 passing through the channel assembly 13.

[0066] In addition, in order to further ensure the stability of the fixing plane 11 on the patient's body surface, the fixing needle 12 in the fixing device can also be a threaded needle structure.

[0067] Furthermore, in order to more accurately determine the patient's posture, the fixation device may also directly set an optical calibration label on the surface of the fixation plane.

[0068] Specifically, the lower surface of the fixing plane 11 can be placed on the skin surface of the patient.

[0069] The calibration unit can then fix the optical calibration label 21 at a specific position of the fixed plane 11. Thus, the relative position between the preset specific position and the fixed plane 11 is the relative position between the optical calibration label 21 and the fixed plane 11. Figure 5 shown.

[0070] Figure 5 A schematic diagram of the structure of the calibration device provided in this specification. In the figure, two channel units are arranged on the fixed plane 11, and the central area of ​​the side surface of the fixed plane is the specific position, so that the calibration unit 2 can fix the optical calibration label 21 at the specific position. Among them, the calibration unit 2 can fix the optical calibration label 21 by means of an interface, and can also fix the optical calibration label 21 by setting it in a preset card slot. The specific way in which the calibration unit 2 connects the optical calibration label 21 can be set as needed, and this specification does not limit this.

[0071] Based on the same idea, this specification provides a calibration device, which includes a fixing unit 1 and a calibration unit 2; the fixing unit 1 includes a fixing plane 11 and a fixing needle 12;

[0072] The fixing plane 11 is used to be placed on the skin surface of the patient;

[0073] The fixing needle 12 is used to pass through the fixing plane 11 and puncture the patient's body to fix the fixing plane 11 on the skin surface of the patient;

[0074] The calibration unit 2 is used to connect the optical calibration tag 21 and determine the relative position and posture of the optical calibration tag 21 and the fixed plane 11, so that the optical tracking device 22 determines the position and posture of the patient according to the optical calibration tag 21 and the relative position and posture.

[0075] Optionally, there are multiple fixing needles 12, and each fixing needle 12 punctures the patient's body at a different angle.

[0076] Optionally, the fixing unit 1 comprises a fixing plane 11 and a plurality of fixing needles 12, a channel assembly 13 is provided in the fixing plane 11, a plurality of fixing channels 14 are provided in the channel assembly, and the fixing channels 14 are used for the fixing needles 12 to pass through;

[0077] The fixing needle 12 is used to pass through the fixing channel 14 in the fixing plane 11 to puncture the patient's body.

[0078] Optionally, the fixing unit 1 further includes a fixing bolt 15;

[0079] The fixing bolt 15 is used to rotate to fix the relative position of the fixing needle 12 and the fixing plane 11; or rotate to no longer fix the relative position of the fixing needle 12 and the fixing plane 11.

[0080] Optionally, the fixing needle 12 is a threaded needle structure.

[0081] Optionally, the lower bottom surface of the fixing plane 11 is placed on the skin surface of the patient;

[0082] The calibration unit 2 is used to fix the optical calibration label 21 at a specific position of the fixed plane 11, and use the relative posture between the preset specific position and the fixed plane as the relative posture between the optical calibration label 21 and the fixed plane 11.

[0083] Based on the same idea, this manual provides a calibration method, such as Figure 6 shown.

[0084] Figure 6 A flow chart of a calibration method provided in this specification includes the following steps:

[0085] S100: placing the fixing plane on the skin surface of the patient.

[0086] S102: Passing the fixing needle through the fixing plane to puncture the patient's body so as to fix the diseased part of the patient.

[0087] S104: Connecting the optical calibration tag through the calibration unit, and determining the relative posture of the optical calibration tag and the fixed plane, so that the optical tracking device determines the posture of the patient according to the optical calibration tag and the relative posture.

[0088] In one or more embodiments provided in this specification, the execution subject of the above calibration method may be a surgical robot, wherein the surgical robot may be a robot that performs surgery automatically, or a robot that performs surgery in response to user operations.

[0089] Therefore, during the operation or before the operation, the surgical robot can place the fixed plane on the skin surface of the patient. The skin surface can be the skin surface of any part of the patient. For accurate navigation, the surgical robot can place the fixed plane on the skin surface of the body part near the surgical area of ​​the patient.

[0090] Then, the surgical robot can control the fixing needle to pass through the fixing plane and puncture the patient's body to fix the fixing plane on the patient's body surface.

[0091] Finally, the surgical robot can connect the fixed plane and the optical calibration tag through the calibration unit on the fixing device, and determine the relative position and posture of the optical calibration tag and the fixed plane. The surgical robot can fix the optical calibration tag at a specific position, and use the relative position and posture of the specific position and the fixed plane as the relative position and posture of the optical calibration tag and the fixed plane. It can also collect the coordinates corresponding to the fixed plane and the optical calibration tag through an optical tracking device, and then determine the relative position and posture of the optical calibration tag and the fixed plane through the difference between the coordinates.

[0092] During the operation, the surgical robot can determine the patient's posture according to the optical calibration label and the relative posture through the optical tracking device. The optical tracking device can be set on the surgical robot, and the optical tracking device and the surgical robot are independent of each other. The specific position of the optical tracking device can be set as needed.

[0093] Of course, the specific execution steps of the surgical robot can also refer to the above description of the fixing device, and this manual will not go into details.

[0094] based on Figure 6 The calibration method shown can be controlled by the surgical robot to pass the fixed needle through the fixed plane, puncture the patient's body, and fix the fixed plane connected with the optical calibration label on the patient's skin surface. Without making a large incision on the patient's skin, the patient's posture can be tracked based on the optical calibration label, ensuring the patient's postoperative recovery effect.

[0095] The above is a calibration method provided in one or more embodiments of this specification. Based on the same idea, this specification also provides a corresponding calibration device, such as Figure 7 shown.

[0096] Figure 7 A schematic diagram of a calibration device provided in this specification, the device is applied to a calibration device, the calibration device includes a fixing unit and a calibration unit; the fixing unit includes a fixing plane and a fixing needle; wherein:

[0097] A plane fixing module 200, used for placing the fixing plane on the patient's skin surface;

[0098] The puncture module 202 is used to pass the fixing needle through the fixing plane to puncture the patient's body so as to fix the diseased part of the patient;

[0099] The calibration module 204 is used to connect the optical calibration tag through the calibration unit and determine the relative posture of the optical calibration tag and the fixed plane, so that the optical tracking device determines the posture of the patient according to the optical calibration tag and the relative posture.

[0100] This specification also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 5 Calibration method provided.

[0101] Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the executor of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0102] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0103] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0104] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game control device, a tablet computer, a wearable device, or a combination of any of these devices.

[0105] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0106] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0107] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0108] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0110] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0111] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0112] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0113] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0114] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0115] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0116] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0117] The above description is only an embodiment of the present specification and is not intended to limit the present specification. For those skilled in the art, the present specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the scope of the claims of the present specification.

Claims

1. A calibration device, characterized in that: The calibration device comprises a fixing unit (1) and a calibration unit (2); the fixing unit (1) comprises a fixing plane (11) and a fixing needle (12); The fixing plane (11) is used to be placed on the skin surface of the patient; The fixing needle (12) is used to pass through the fixing plane (11) and puncture the patient's body to fix the fixing plane (11) on the skin surface of the patient; The calibration unit (2) is used to connect the optical calibration tag (21) and determine the relative position and posture of the optical calibration tag (21) and the fixed plane (11), so that the optical tracking device (22) determines the position and posture of the patient based on the optical calibration tag (21) and the relative position and posture.

2. The device according to claim 1, characterized in that There are a plurality of fixing needles (12), and each fixing needle (12) punctures the patient's body at a different angle.

3. The device according to claim 2, characterized in that The fixing unit (1) comprises a fixing plane (11) and a plurality of fixing needles (12); a channel assembly (13) is arranged in the fixing plane (11); a plurality of fixing channels (14) are arranged in the channel assembly; the fixing channels (14) are used to allow the fixing needles (12) to pass through; The fixing needle (12) is used to pass through the fixing channel (14) in the fixing plane (11) to puncture the patient's body.

4. The device according to claim 3, characterized in that The fixing unit (1) further comprises a fixing bolt (15); The fixing bolt (15) is used to rotate to fix the relative position of the fixing needle (12) and the fixing plane (11); or to rotate to no longer fix the relative position of the fixing needle (12) and the fixing plane (11).

5. The device according to claim 1, characterized in that The fixing needle (12) is a threaded needle structure.

6. The device according to claim 1, characterized in that The lower bottom surface of the fixing plane (11) is placed on the skin surface of the patient; The calibration unit (2) is used to fix the optical calibration label (21) at a specific position on the fixed plane (11), and to use the relative position and posture between the preset specific position and the fixed plane as the relative position and posture between the optical calibration label (21) and the fixed plane (11).

7. A calibration method, characterized in that: The method is applied to a calibration device, the calibration device comprises a fixing unit and a calibration unit; the fixing unit comprises a fixing plane and a fixing needle; placing the fixing plane on the patient's skin surface; Passing the fixing needle through the fixing plane to puncture the patient's body to fix the fixing plane; The optical calibration tag is connected through the calibration unit, and the relative position and posture of the optical calibration tag and the fixed plane are determined, so that the optical tracking device determines the position and posture of the patient according to the optical calibration tag and the relative position and posture.

8. A calibration device, characterized in that: The device is applied to a calibration device, wherein the calibration device comprises a fixing unit and a calibration unit; the fixing unit comprises a fixing plane and a fixing needle; wherein: A plane fixing module, used for placing the fixing plane on the patient's skin surface; a puncture module, used for passing the fixing needle through the fixing plane to puncture the patient's body so as to fix the diseased part of the patient; The calibration module is used to connect the optical calibration tag through the calibration unit and determine the relative position and posture of the optical calibration tag and the fixed plane, so that the optical tracking device can determine the position and posture of the patient according to the optical calibration tag and the relative position and posture.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to claim 7 is implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to claim 7 is implemented.

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