Method for determining direction calibration parameters and action direction of surgical instrument and calibration tool

Abstract

A method for determining the direction calibration parameters of a surgical instrument and a method for determining the action direction of the calibration tool and the surgical instrument. The method for determining the direction calibration parameters includes: placing the measured object (40) with the tracking marker (21) on the calibration tool (30), keeping its direction constant and rotating, and determining at least Two three-dimensional rotation matrices, using the three-dimensional rotation matrix to obtain the direction calibration parameters through the two-point relationship formula or the linear direction rotation formula in the three-dimensional space. Based on the obtained direction calibration parameters and the current three-dimensional rotation matrix of the tracking marker, the current action direction of the surgical instrument is determined. This method does not need to place the measured object in a known direction, and does not need to determine two points in the direction to obtain the direction calibration parameters of the surgical instrument, so as to determine the role of the surgical instrument in actual use. Direction provides doctors with reliable direction information to ensure the smooth progress of the operation and improve the accuracy of the operation.

Description

technical field [0001] The present invention relates to a method for determining the calibration parameters and the direction of action of surgical instruments and a calibration tool, especially to a method for determining the calibration parameters of the direction of surgical instruments realized by using position tracking equipment, a method for determining the direction of action of surgical instruments, and a method for determining the direction of action of surgical instruments. A calibration tool used in a method for determining calibration parameters for surgical instrument orientation. Background technique [0002] In minimally invasive surgery, there is a kind of percutaneous puncture surgery, such as biopsy, puncture ablation to treat liver cancer, lung cancer surgery, etc. It is characterized in that a needle-shaped surgical instrument is punctured subcutaneously into the patient's body, so that the needle tip reaches a specific area and then Carry out diagnosis ...

AI Technical Summary

Problems solved by technology

However, this method has the following disadvantages: the surgical instrument must be placed in a known direction at the beginning, and it is difficult to accurately place the known direction, which is closely related to the processing accuracy of the surgical instrument shell. , and the so-called known direction in space is for position tracking equipment, and it is also difficult to accurately calibrate it in the actual physical three-dimensional space

Although it is a known technology to determine the calibration parameters of a certain point on the surgical instrument (such as the needle point of the surgical needle), it is difficult to determine the calibration parameters of another point on the surgical instrument due to the geometric structure of the surgical instrument itself, such as the needle point of the surgical needle. The other end of the needle tail, which is often not a geometric structure of a point, so the calibration parameters of this point cannot be measured

[0009] In practice, when the position where the marker is installed on the surgical needle has a certain distance from the tip of the surgical needle (such as the marker is not conveniently installed on the needle tip), then, if the calculation of the deviation parameter of the direction value used for calibration is not accurate enough, It may cause a large direction error in the direction of the extension line of the surgical needle, such as the direction of the needle tip.

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