Navigation Target Point Positioning via Fixed Reference Decoupling
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Solution Overview
Problem
In minimally invasive surgeries like thoracoabdominal tumor ablation, the indirect nature of lesion information acquisition leads to navigation accuracy issues due to slight vibrations in navigation hardware, affecting the precision of navigation positioning.
Innovation Solution
A method involving a navigation reference with a fixed position, where real-time positions and shape features of both the reference and target points are acquired, and a rotation matrix is used to calculate the target point's position relative to the reference, ensuring accuracy by decoupling the target point's position from the navigation coordinate system's changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If navigation hardware (electromagnetic generator or optical camera) is used to establish the navigation coordinate system, then navigation positioning can be achieved, but the positioning accuracy is easily affected by slight vibrations of the navigation hardware
Solution Approach 1:
The patent introduces a navigation reference as an intermediary object between the navigation hardware and the target object. The navigation reference establishes a stable coordinate system that is not affected by vibrations of the navigation hardware, thereby improving positioning accuracy and coordinate system stability
Solution Approach 2:
The patent creates a coordinate system of the navigation reference that copies the stable spatial relationship relative to the target object, rather than directly using the navigation hardware's coordinate system. This copied coordinate system maintains accuracy even when the original navigation hardware vibrates
Data Source
AI summary
A method for accurately positioning a navigation target point includes: selecting a navigation reference with a fixed position, acquiring positions of the navigation reference and the navigation target point in a navigation coordinate system respectively, and calculating a position of the navigation target point relative to the navigation reference, so as to further obtain a position of the navigation target point in a coordinate system of the navigation reference. As long as the navigation reference does not move, the coordinate system of the navigation reference will not change during the entire navigation process, and spatial position coordinates of the navigation target point in the coordinate system of the navigation reference will not be interfered by the navigation coordinate system.