CN119745511A

CN119745511A - Angle calibration tracer

Info

Publication number: CN119745511A
Application number: CN202411898404.7A
Authority: CN
Inventors: 李巍; 奚岩; 常愠恒; 姜晓磊; 唐冰; 王彬
Original assignee: Jiangsu Yiying Medical Equipment Co ltd; Shanghai Yiying Information Technology Co ltd
Current assignee: Jiangsu Yiying Medical Equipment Co ltd; Shanghai Yiying Information Technology Co ltd
Priority date: 2024-08-02
Filing date: 2024-08-02
Publication date: 2025-04-04
Anticipated expiration: 2044-08-02
Also published as: CN118557289B; CN119745511B; CN118557289A

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. 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

Angle calibration tracer

The application is a divisional application with the application number 202411052715.1.

Patent application number 202411052715.1, application date 2024-08-02, entitled "an angle calibration tracer, system and tracer".

Technical Field

The application relates to the field of medical equipment, in particular to an angle calibration tracer.

Background

In interventional surgery, it is often necessary to acquire the pose of a surgical instrument in the human body, so as to achieve precise control over the surgical instrument, so that the surgical instrument reaches a target position. However, because of the radiation amount, the space of the operating table, and the like, real-time shooting cannot be achieved in the operation process, the surgical instruments need to be calibrated, the currently applied surgical positioning navigation system needs accurate space displacement information, and only an optical/infrared/millimeter wave positioning system with high cost can be used. Therefore, a new angle tracer is needed to detect angle changes, which is used in imaging devices to ensure accurate control of the angle of the surgical instrument during imaging.

Disclosure of Invention

In order to solve the technical problems, the application provides the angle calibration tracer, which combines the tracer to realize imaging identification and angle calibration of the surgical instrument, and can realize automatic angle correction of the surgical instrument in an imaging coordinate system without calibrating again even if imaging equipment moves or changes in angle after the calibration is successful.

Specifically, the technical scheme of the application is as follows:

In a first aspect, the application discloses an angle calibration tracer, which comprises a main body, a tracer chip and a positioning metal, wherein the tracer chip is arranged in the main body;

the main body is used for fixedly arranging the main body on target equipment;

the tracing chip comprises an angle measuring module and a receiving and transmitting module, wherein the angle measuring module is used for measuring the angle of the target equipment, and the receiving and transmitting module is used for uploading the angle to an upper processor;

the positioning metal comprises at least three positioning metals, and the positions of the at least three positioning metals relative to the tracer chip are fixed and used for marking the positions of the tracer chip.

In some embodiments, the body is a hollow structure for nesting a tracer over the target device.

In other embodiments, the body includes at least one side for affixing a tracer to the target device.

In some embodiments, the angle measurement module measures the angle of the target device based on electromagnetic induction principles, or based on inertial field measurement methods.

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;

the direction characteristic data comprise an intersecting vector group, a quaternion or a rotation angle formed by the positioning metal in a coordinate system taking the tracing chip as an origin.

In some embodiments, the set of intersecting vectors formed by the connection between at least three of the positioning metals is positive intersecting.

In some embodiments of the application, one mode of use of the angle calibration tracer is to fixedly position a first tracer on a surgical instrument;

the first tracer is used for measuring a first angle of the surgical instrument in the first coordinate system, wherein the first coordinate system takes the position of a first tracer chip in the first tracer as an origin.

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

the positioning metal in the first tracer is also used for calibrating a first conversion relation between the first coordinate system and an imaging coordinate system, wherein the imaging coordinate system takes an imaging center point of the imaging equipment as an origin and takes the length, width and height directions of the imaging equipment as axes;

the first angle and the first conversion relation are used for obtaining a second angle of the surgical instrument in an imaging coordinate system.

In other embodiments of the present application, the angle calibration tracer is used in another mode in which at least one second tracer is fixedly arranged on the imaging equipment;

the at least one second tracer is used for measuring the angle change quantity of the imaging coordinate system in a second coordinate system before and after the imaging equipment moves;

And the second coordinate system takes the position of a second tracer chip in the second tracer as an origin.

The angle change is used for calibrating a second conversion relation between the imaging coordinate system and the imaging coordinate system after movement;

The second conversion relation is used for correcting the first conversion relation;

the first angle and the corrected first conversion relation are also used for obtaining a second angle of the surgical instrument in the imaging coordinate system after movement.

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

1. The special design of the angle calibration tracer provided by the application enables the angle calibration tracer to be fixedly arranged on target equipment so as to calibrate the target equipment, and the angle change of the target equipment can be accurately reflected. Wherein the positioning metal is used to mark the position of the tracer chip in order to construct a tracer coordinate system.

2. The angle calibration algorithm provided by the application is used for connecting the tracer to the surgical instrument and feeding back angle data to calibrate and obtain the position and the angle of the surgical instrument in the imaging coordinate system. For use in an imaging device to ensure accurate control of the angle of the surgical instrument during the surgical procedure after receipt of the imaging. A navigation path may also be generated based on the current pose of the surgical instrument so that the surgical instrument may be assisted in maneuvering to reach the target point. The success rate of the operation is improved, and the operation risk is reduced.

3. According to the angle calibration algorithm provided by the application, the other group of tracers are connected to the imaging equipment for feeding back the attitude information of the current position of the mobile CBCT equipment, and the data are transmitted to the computer for calculating the angle difference with the initial calibration. The two groups of angle measuring devices establish permanent connection between an imaging coordinate system and a surgical instrument coordinate system in one-time calibration during hospital admission and debugging, so that real-time unification of the angle coordinate system can be realized, the cost is very low, the calibration before operation is not dependent on optics or other equipment, and the guidance of surgical instruments can be realized. Saving the cost of expensive optical positioning instruments and the time cost of preoperative calibration. The doctor does not need to calibrate the scanning angle sensor before each operation, and also does not need to recalibrate after each movement in the operation, thereby reducing the operation flow and saving the operation time.

Drawings

The above features, technical features, advantages and implementation of the present application will be further described in the following description of preferred embodiments with reference to the accompanying drawings in a clear and easily understood manner.

FIG. 1 is a schematic diagram of a tracer according to the present application;

FIG. 2 is a flow chart illustrating the steps of one embodiment of the method for calibrating an angle according to the present application;

FIG. 3 is a flowchart illustrating steps of another embodiment of an angle calibration method according to the present application;

FIG. 4 is a block diagram illustrating an exemplary embodiment of an angle calibration system according to the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For simplicity of the drawing, only the parts relevant to the invention are schematically shown in each drawing, and they do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.

It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

In this context, unless explicitly stated or limited otherwise, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may, for example, be fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or communicate between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.

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

In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will explain the specific embodiments of the present application with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the application, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.

In interventional procedures, a physician relies on imaging techniques to acquire real-time images of the surgical field, ensuring that the surgical instrument can be accurately navigated to the target area. With these images, the surgeon needs to clearly see the position of the surgical instrument relative to the surrounding tissue in order to perform an accurate operation, avoid unnecessary damage to the surrounding normal tissue, and ensure that the surgical instrument can safely and effectively reach the intended target position. However, due to the limitation of site conditions, most doctors cannot perform operations under the condition that the CT equipment continuously shoots.

The surgical positioning navigation systems currently in use require accurate spatial displacement information and thus use costly optical/infrared/millimeter wave positioning systems. Therefore, the angle sensor is used for measuring the angle data of the surgical instrument, the angle data is imported into the three-dimensional image of the human body shot at the time t0 for display, and the patient can be withdrawn from the imaging device for operation after only one shooting. The posture of the subsequent surgical instrument in the human body is completely displayed in the three-dimensional image of the human body shot at the time t0 through the angle sensor. This can greatly reduce the radiation dose. In addition, the angle calibration method and the system provided by the application only use the angle sensor and the angle information, and have very low cost. Is a few percent of the optical positioning systems commonly used in the prior art.

The data returned by the angle sensor chip is obtained by measuring the gravity or the angular acceleration of the earth. However, the imaging requirement of CBCT is to perform imaging according to the coordinate system of the CBCT apparatus. The angle data measured by the angle sensor cannot be directly applied in the imaging coordinate system.

Based on the angle calibration tracer, the application discloses an angle calibration tracer, which calibrates surgical instruments, so that the angles of the surgical instruments can be accurately reflected in an imaging coordinate system where imaging equipment is located.

The tracer comprises a main body, a tracer chip arranged in the main body and positioning metal, and is shown in the attached figure 1 of the specification.

The main body is used for fixedly arranging the main body on the target equipment.

The tracing chip comprises an angle measuring module and a receiving-transmitting module. The angle measurement module is used for measuring the angle of the target device. The receiving and transmitting module is used for uploading the angle to an upper processor.

In particular, in some embodiments, the tracer is hollow, and the tracer may be nested on top of the target device. The main body of the device is a columnar structure, such as a prismatic body and a cylinder. Or spherical, polyhedral, etc. In other embodiments, the tracer body includes at least one side for affixing the tracer to a target device.

The tracing chip comprises an angle measuring module and a receiving-transmitting module. The angle measurement module is used for determining the rotation angle of the object relative to a certain reference direction or another object, and comprises a measurement method based on an electromagnetic induction principle and an inertia field and the like. Such as compass chips based on the magnetic field principle, IMUs (inertial measurement units) based on the principle of inertia, etc. Of course, other existing methods of measuring angles to obtain the angle or the angle change of the target device are also within the scope of the present application. The transceiver module is a module with a wireless communication function, such as a Bluetooth chip, NFC, RFID and the like.

The positioning metal has a set position in the tracer body. The direction characteristic data of the positioning metal in a coordinate system with the tracing chip as an origin can be deduced according to the position of the positioning metal. In some embodiments, the direction feature data includes an intersection vector set of positioning metal connections, or a quaternion, rotation angle, etc.

In other embodiments, for ease of calculation, the set of intersection vectors formed by the connection between the positioning metals is positive.

The structure of the tracer refers to figure 1 of the accompanying description, wherein the tracer is exemplified by a square structure. Comprises a hollow structure 1, a positioning metal 2 and a tracing chip 3. Specifically, four spherical positioning metals (positioning steel balls) form three intersecting vectors for calibrating the position of the tracer chip 3. The tracer chip 3 is close to the surface of the hollow structure of the body such that the tracer chip is proximate to the target device.

Based on the tracer shown in fig. 1, an embodiment of the angle calibration method of the application, referring to fig. 2 of the specification, comprises the following steps:

S100, placing the surgical instrument in an imaging range of an imaging device for scanning, and acquiring a scanning image. The surgical instrument is fixedly provided with a first tracer.

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 tracking chip, namely the first coordinate system in the imaging coordinate system, can be accurately calculated. The first coordinate system takes the position of a first tracer chip in the first tracer as an origin. Specifically, the angle measurement module in the tracing chip has at least two measurement modes, including a magnetic field navigation mode based on an electromagnetic induction principle and an inertial navigation mode based on an inertial field measurement method. In the magnetic field navigation mode, the first coordinate system uses the position of the first tracer chip in the first tracer as an origin, and usually uses the east-west direction, the north-south direction and the vertical direction as axes, and other directions can be specifically set as references. In the inertial navigation mode, the direction of the axis of the coordinate system is not limited to be specified, and any other orthogonal system may be used as the reference coordinate. The difference between the reference coordinate system and the image coordinate system is measured during calibration.

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

In the present embodiment, the imaging apparatus may be a CT apparatus, a CBCT apparatus, or the like. Surgical instruments, including guides, lancets, and the like.

S200, calibrating a first conversion relation between the first coordinate system and the imaging coordinate system based on the scanned image.

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

S220, identifying a scanning image, and acquiring the positions of at least three positioning metals in an imaging coordinate system to obtain second direction characteristic data of the at least three positioning metals in the imaging coordinate system.

S230, constructing a rotation matrix between the first coordinate system and the imaging coordinate system based on the first direction characteristic data and the second direction characteristic data, and solving to obtain a first conversion relation between the first coordinate system and the imaging coordinate system.

In other embodiments, the accuracy of the calculation may be improved by four positioning metals, or even more positioning metals.

S300, acquiring a first angle of the surgical instrument in a first coordinate system through a first tracer.

Specifically, a first angle of the surgical instrument in a first coordinate system is measured by an angle measurement module in the first tracer chip. And uploading the angle data through a transceiver module in the first tracing chip.

S400, obtaining a second angle of the surgical instrument in an imaging coordinate system based on the first angle and the first conversion relation.

Specifically, the angle of the current surgical instrument under the image coordinate system is obtained, and the surgical instrument can be adjusted through the current position so as to achieve the fixed penetration angle. More preferably, the method further comprises step S500 of planning a navigation path of the surgical instrument from the current position to the target point based on the second angle.

Another embodiment of the angle calibration method is provided by the application. The contents of the above embodiment are explained in more detail.

In the scanned image, the initial angle vector C of the tracer chip in the imaging coordinate system can be obtained by positioning the metal. Based on an angle measurement module in the tracer chip, an angle vector Z0 of the surgical instrument in a first coordinate system can be measured. However, due to minor errors in the process installation, the angles of the tracer chip and the surgical instrument are not necessarily perfectly vertical and horizontal, so that the angle vector measured by our resulting angle measurer is Z1. The error between Z0 and Z1 is used to determine the inherent error between the measured angle of the tracing chip and the true angle of the surgical instrument. And because the angle of the surgical instrument and the tracing chip is fixedly connected, the magnitude of the inherent error is fixed. The conversion relation between the coordinate system of the tracer chip and the coordinate system of the surgical instrument is unchanged, and S0=C01×S1 is calculated by a rotation matrix multiplication relation formula, wherein S0 is the coordinate system of the surgical instrument, C01 is the coordinate system of the tracer chip, and S1 is the conversion relation between the coordinate system of the tracer chip and the coordinate system of the surgical instrument. The information required in the operation can be unified to an image coordinate system. Therefore, after the calibration, we do not need to obtain the angle vector Z0 of the surgical instrument in the first coordinate system, and only the angle vector Z1 measured by the angle measurer is needed. The unique angle vector of the surgical instrument in the imaging coordinate system can be obtained. All errors and coordinate system differences are automatically corrected.

In the above embodiment, based on the tracer, the calibration between the tracer coordinate system (first coordinate system) and the imaging apparatus coordinate system (imaging coordinate system) can be achieved. The angle measurement is more accurate, a higher-quality imaging result can be provided, and a doctor is helped to realize accurate control of surgical instruments.

In specific practice, however, the data returned by the angle sensor chip is measured by earth gravity or angular acceleration. However, the imaging requirement of CBCT is to perform imaging according to the coordinate system of the CBCT apparatus. If the image coordinate system and the sensor coordinate system are not coincident, the real-time angle fed back by the angle sensor chip cannot be matched with the image data before recalibration, so that the angle sensor chip and the device need to be calibrated before use to unify the two coordinate systems.

In some mobile CBCT devices, however, the device needs to change work sites frequently or adjust positions to achieve a larger imaging range. The position changes after each movement, so that the coordinate system of the equipment after each movement is different, and the calibration tool with the angle sensor needs to be scanned again for calibration. This is not only cumbersome but also increases the imaging procedure and time overall.

In order to solve the new technical problem, the application provides another embodiment of the angle calibration method, which can be used for feeding back the attitude information of the current position of the mobile imaging equipment by arranging one or more tracers on the mobile imaging equipment and transmitting data to an upper processor for calculating the angle difference with the initial calibration. Referring to fig. 3 of the specification, this embodiment includes the following steps:

S500, at least one second tracer is fixedly arranged on the imaging equipment. And calibrating the imaging coordinate system through the second tracer. When the imaging apparatus moves, a second conversion relationship between the imaging coordinate system after movement and the imaging coordinate system (i.e., the imaging coordinate system before movement) is acquired.

S600, correcting the first conversion relation based on the second conversion relation.

In other implementations of this embodiment, the method further includes the step of S700 obtaining a second angle of the surgical instrument in the imaging coordinate system based on the first angle and the corrected first transformation relationship.

S800, planning a navigation path of the surgical instrument from the current position to the target point based on the corrected second angle.

Specifically, when the imaging device moves in operation, that is, when the position of the device coordinate system transmitted by the imaging device tracer changes, the navigation computer obtains the conversion relation between the position of the moved new device coordinate system and the angle of the old device coordinate system, thereby obtaining the conversion relation between the position of the new device coordinate system and the angle of the surgical instrument coordinate system.

In some implementations of the present embodiment, step S500 of acquiring 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) when the imaging apparatus moves specifically includes:

S510, measuring the angle change quantity of the imaging coordinate system in the second coordinate system through the second tracer. The second coordinate system takes the position of a second tracer chip in the second tracer as an origin. Specifically, the angle measurement module in the tracing chip has at least two measurement modes, including a magnetic field navigation mode based on an electromagnetic induction principle and an inertial navigation mode based on an inertial field measurement method. In the magnetic field navigation mode, the second coordinate system may be set with the position of the second tracer chip in the second tracer as the origin, the east-west direction, the north-south direction and the vertical direction as the axes, or a specific coordinate system may be set as the reference. In the inertial navigation mode, the direction of the axis of the coordinate system is not limited to be specified, and any other orthogonal system may be used as the reference coordinate. The difference between the reference coordinate system and the image coordinate system is measured during calibration.

S520, constructing a first rotation matrix between the second coordinate system and the imaging coordinate system (namely, the imaging coordinate system before moving). A second rotation matrix is constructed between the second coordinate system and the post-movement imaging coordinate system.

And S530, obtaining a third rotation matrix between the imaging coordinate system after movement and the imaging coordinate system based on the first rotation matrix and the second rotation matrix. And solving the third rotation matrix to obtain a second conversion relation between the imaging coordinate system after movement and the imaging coordinate system.

The following will further explain the specific calculation concept:

in the first embodiment of the present embodiment:

Assume that the imaging coordinate system is a coordinate system S0. The imaging coordinate system after movement is a coordinate system S1. The first coordinate system in which the first tracer is located is coordinate system a.

First, the imaging coordinate system S0 and the first coordinate system A are calibrated. The rotation matrix between S0 and a is obtained as C1.

Let u3 be the vector represented by the known surgical instrument in the first coordinate system a. The vector v3:v3=c1·u3 represented by the surgical instrument vector in the imaging coordinate system S0 can be calculated based on the following matrix multiplication.

Based on the rotation matrix M between the imaging coordinate system S0 and the post-movement imaging coordinate system S1, a vector v33:v33=m·v3 represented by the surgical instrument vector in the post-movement imaging coordinate system S1 may be calculated based on the following matrix multiplication.

In the second embodiment of the present embodiment:

If the coordinate system of the image equipment and the second angle sensor are not zeroed at the same time during installation, and an inherent error exists, the operator cannot directly know M, and the M can be obtained by the following method.

Assume that the imaging coordinate system is a coordinate system S0. The imaging coordinate system after movement is a coordinate system S1. The first coordinate system in which the first tracer is located is coordinate system a. The second coordinate system in which the second tracer is located is coordinate system B.

Assuming that the second coordinate system B is rigidly fixed to the imaging coordinate system S0, and rotates along with it, after the device moves, the moved second coordinate system B1 is obtained by the function of the tracer.

And calculating a rotation matrix R between the second coordinate system B and the second coordinate system B1 after movement. Let the imaging coordinate system be the rotation matrix between the coordinate system S0 and the second coordinate system B be E. The rotation matrix M between the imaging coordinate system S0 and the post-movement imaging coordinate system S1 may be calculated based on a matrix multiplication where m=e-1 x r x E, where E-1 represents the inverse matrix of E. The rotation matrix E is a rotation matrix caused by inherent errors between a sensor coordinate system and an image instrument coordinate system when the angle sensor is installed and fixed on the image instrument, and can be obtained through the difference between the reported quaternion/angle information of the positioning device on the instrument and the angle between the axes of the imaging coordinate system S0 when the imaging equipment is calibrated for the first time.

After M is calculated, the vector v33:v33=m· v3 represented by the surgical instrument vector in the post-movement imaging coordinate system S1 is calculated by the following matrix multiplication.

To address the need to recalibrate each time the imaging coordinate system is moved from the first position to the second position. The clinical use is very inconvenient. We place the second tracer on the imaging device. The mounting angle is arbitrary, the rigidity is required to be fixed, and one surface of the module, which can be contacted with equipment during production, is faced with strong adhesive tape, so that the existing equipment can be conveniently modified. In other embodiments of the angle calibration method provided by the application, the imaging device can be provided with a plurality of second tracers, the second tracers are stuck and fixed at different positions of the imaging device and are used for feeding back a plurality of attitude information for calculating the angle difference, and the average value of the angles measured by the plurality of second tracers is calculated as a representative value, so that the accuracy is higher.

Through the embodiment, only one-time calibration is needed after the equipment is produced, so that the navigation function can be directly used, and secondary calibration is not needed. The purposes of saving cost and time are achieved.

Based on the same technical conception, the application also discloses an angle calibration system which can be used for realizing the arbitrary angle calibration method, and particularly, the embodiment of the angle calibration system of the application, as shown in fig. 4 of the specification, comprises the following steps:

and the imaging device is used for placing the surgical instrument in the imaging range of the imaging device for scanning, and acquiring a scanning image. The surgical instrument is fixedly provided with a first tracer.

And a processor for calibrating a 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 a first tracer chip in the first tracer as an origin. Specifically, the angle measurement module in the tracing chip has at least two measurement modes, including a magnetic field navigation mode based on an electromagnetic induction principle and an inertial navigation mode based on an inertial field measurement method. In the magnetic field navigation mode, the first coordinate system generally takes the position of the first tracer chip in the first tracer as an origin and takes the east-west direction, the north-south direction and the vertical direction as axes. In the inertial navigation mode, the direction of the axis of the coordinate system is not limited to be specified, and any other orthogonal system may be used as the reference coordinate. The difference between the reference coordinate system and the image coordinate system is measured during calibration.

A first tracer for acquiring a first angle of the surgical instrument in a first coordinate system.

The processor is also used for obtaining a second angle of the surgical instrument in the imaging coordinate system based on the first angle and the first conversion relation.

In another embodiment of the angle calibration system provided by the present application, referring to fig. 4 of the specification, on the basis of the embodiment of the system described above, the angle calibration system further includes:

and the second tracer is fixedly arranged on the imaging equipment. The method is used for calibrating an imaging coordinate system.

The processor is also used for acquiring a second conversion relation between the imaging coordinate system after the movement and the imaging coordinate system when the imaging device moves.

In the above embodiment, the processor includes a navigation computation module, an imaging processing module, and a navigation display module.

And the imaging processing module is used for reconstructing the tomographic image acquired by the imaging equipment.

And the navigation calculation module is used for receiving the angle data sent by the first tracer or the second tracer and calibrating the angle of the surgical instrument and the imaging equipment based on the angle data. And is further configured to plan a navigation path of the surgical instrument from the current position to the target point based on the angle data.

And the navigation display module is used for displaying the generated navigation path and the image generated by the imaging equipment on a display screen so that a doctor can watch and acquire related information.

It will be apparent to those skilled in the art that the above-described program modules are merely illustrative of the division of each program module for convenience and brevity of description, and that in practical application, the above-described functional allocation may be performed by different program modules, i.e. the internal structure of the apparatus is divided into different program units or modules, to perform all or part of the above-described functions. The program modules in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one processing unit, where the integrated units may be implemented in a form of hardware or in a form of a software program unit. In addition, the specific names of the program modules are also only for distinguishing from each other, and are not used to limit the protection scope of the present application.

In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are exemplary only, and exemplary, block or unit partitioning is merely a logical function partitioning, and there may be additional partitioning in actual implementation, and exemplary, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physically located, or may be distributed over a plurality of network elements. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. An angle calibration tracer, characterized in that it comprises 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.

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

3. An angle calibration tracer as described in claim 1, characterized in that the main body includes at least one side surface for sticking the tracer on the target device.

4. An angle calibration tracer as described in claim 1, characterized in that 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.

5. 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.

6. An angle calibration tracer as described in claim 5, characterized in that the intersection vector group formed by the connection between at least three of the positioning metals is orthogonal.

7. An angle calibration tracer according to any one of claims 1 to 6, characterized in that the first tracer is fixedly mounted on the surgical instrument;

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.

8. An angle calibration tracer as claimed in claim 7, characterized in that when an imaging device scans the surgical instrument with the first tracer;

The positioning metal in the first tracer is also used to calibrate the first conversion relationship between the first coordinate system and the imaging coordinate system; the imaging coordinate system takes 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 surgical instrument in an imaging coordinate system.

9. An angle calibration tracer as claimed in claim 8, characterized in that at least one second tracer is fixedly arranged on the imaging device;

The at least one second tracer is used to measure the 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 the origin.

10. An angle calibration tracer according to claim 9, characterized in that the angle variation is used to calibrate a second conversion relationship between the imaging coordinate system and the imaging coordinate system after movement;

The second conversion relationship is used to correct the first conversion relationship;

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