CN103371828A - Passive tracking target used for photoelectric surgery navigation and real-time spatial position and posture tracking method of passive tracking target - Google Patents
Passive tracking target used for photoelectric surgery navigation and real-time spatial position and posture tracking method of passive tracking target Download PDFInfo
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- CN103371828A CN103371828A CN2012101158117A CN201210115811A CN103371828A CN 103371828 A CN103371828 A CN 103371828A CN 2012101158117 A CN2012101158117 A CN 2012101158117A CN 201210115811 A CN201210115811 A CN 201210115811A CN 103371828 A CN103371828 A CN 103371828A
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Abstract
The invention discloses a passive tracking target used for photoelectric surgery navigation and a real-time spatial position and posture tracking method of the passive tracking target. The passive tracking target comprises a body, a base and infrared reflection balls, the body is of a special-shaped planar structure, the lower portion of the body is fixed on the base, four mounting holes are formed in the body, and one infrared reflection ball is mounted in each mounting hole. The passive tracking target is simple in structure; the body is of the special-shaped planar structure, so that easiness in realization of high-precision processing is realized, and weight of the tracking target can be sufficiently reduced; the passive tracking target has good using and popularization value.
Description
Technical field
The present invention relates to Passive Track target and real-time locus and attitude method for tracing for the photoelectricity surgical navigational.
Background technology
Surgical navigational is comprehensive advanced imaging device (CT, MRI, X-ray examination etc.) and space-location method, provide the airmanship support by the virtual operation environment for the surgeon, make operation process safer, more accurate, make that surgical effect is better, rehabilitation course emerging technology faster.The ultimate principle of surgical navigational is similar to the gps satellite global positioning system, that is: utilize external trace device, measure in real time operating theater instruments with respect to the position of operational objectives, then positional information is presented on the medical image, so that the surgeon can be clear that the current location of operating theater instruments, be convenient to judge and the decision-making operation technique.
Present most popular operation guiding system is based on the photoelectricity operation guiding system of infrared binocular vision, this system adopts the space-location method based on Binocular Vision Principle, namely use at least two video camera object observings, and identical impact point at least two width of cloth images calculated, then utilize principle of computer vision to obtain the three-dimensional position of these points.The photoelectricity operation guiding system adopts infrared tracker to gather the positional information of impact point, and how impact point is realized with the bead of passive reflected infrared ray.In order to obtain the three dimensions pose of anchored object, generally adopt a plurality of impact points, and with certain regularly arranged formation space coordinates, consist of tracking target.Tracking target is installed in locus and the attitude information that operating theater instruments and surgical object can obtain operating theater instruments or surgical object.
Therefore the tracker that project organization is reasonable, the installation repeatable accuracy is high, easy to loading and unloading is for the positioning accuracy that ensures the photoelectricity operation guiding system, and it is significant to improve its clinical adaptability.
Summary of the invention
First technical problem to be solved by this invention provides a kind of high accuracy, the Passive Track target that is used for the photoelectricity surgical navigational light, easy to loading and unloading.
In order to solve the problems of the technologies described above, technical scheme provided by the present invention is: be used for the Passive Track target of photoelectricity surgical navigational, comprise body, base and infrared external reflection bead; Described body is the special-shaped level structure; The bottom of described body is fixed on the base; Described body is provided with four installing holes, and an infrared external reflection bead is installed respectively in four installing holes.
Installing hole on the described body is screwed hole; The bead mounting rod of described infrared external reflection bead is threaded with the installing hole of body.
The bottom of described body is processed with the installation inclined-plane, also is processed with the inclined plane groove of same size on the base; The installation inclined-plane of described body matches with the inclined plane groove at base.
Be used for the Passive Track target of photoelectricity surgical navigational, also comprise baffle plate and pinning; Described baffle plate is fixed on the base, and covers the inclined plane groove of base; Be provided with the gap between the medial surface of described baffle plate and the bottom of body; Described baffle plate is provided with screw, and screw is over against body; Described pinning is threaded with screw on the baffle plate.
Be used for the Passive Track target of photoelectricity surgical navigational, also wrap the pinning fixing head; Described pinning fixing head is fixed on the outside of baffle plate; Described pinning is located on the pinning fixing head.
Second technical problem to be solved by this invention provides a kind of real-time locus and attitude method for tracing of the Passive Track target for the photoelectricity surgical navigational.
In order to solve the problems of the technologies described above, technical scheme provided by the present invention is: the real-time locus and the attitude method for tracing that are used for the Passive Track target of photoelectricity surgical navigational, the relative position of four infrared external reflection beads installing in four installing holes of utilization on body, set up the three-dimensional system of coordinate of this tracking target, thereby determine the real-time locus of this tracking target; Concrete grammar is:
Four infrared external reflection beads supposing body are respectively A, B, C, D; This coordinate system z axle points to the C point along the AC direction from the A point; The y axle is vertical with AC, points to B point one side; Can determine the x direction of principal axis according to the right-hand rule afterwards; Determine in real time the space coordinates of above-mentioned four impact points under three-dimensional system of coordinate by the photoelectric tracing device, just can obtain real-time locus and the attitude of this tracking target.
After having adopted technique scheme, the present invention has following beneficial effect: (1) tracking target of the present invention is simple in structure, and body is the special-shaped level structure, is easy to realize high accuracy processing, simultaneously also can fully alleviate the tracking target own wt, have preferably value for applications.
(2) in four installing holes on the body of tracking target of the present invention an infrared external reflection bead is installed respectively, can in the photoelectricity operation guiding system, real time position and the attitude to this tracking target be followed the trail of.
(3) the bead mounting rod of the infrared external reflection bead of tracking target of the present invention is threaded with the installing hole of body, and this structure is so that the installation and removal of infrared external reflection bead are very convenient.
(4) body of tracking target of the present invention cooperates by the inclined-plane with the tracking target base, can realize higher installation accuracy and repeatable accuracy.
(5) be provided with the gap between the bottom of the medial surface of the baffle plate of tracking target of the present invention and body, this structure is so that the installation and removal of body are very convenient.
(6) pinning of tracking target of the present invention is threaded with screw on the baffle plate, when tightening pinning, body can be pressed on the base, unscrew pinning, namely can easily body be unloaded, by the position of pinning fixing head restriction pinning, pinning be dropped unscrewing Shi Buhui.
Description of drawings
Content of the present invention is easier to be expressly understood in order to make, and the below is according to specific embodiment and by reference to the accompanying drawings, and the present invention is further detailed explanation, wherein
Fig. 1 is the structural representation of embodiments of the invention 1.
Fig. 2 is that impact point and the coordinate system of embodiments of the invention 2 arranges sketch map.
Label in the accompanying drawing is:
The specific embodiment
(embodiment 1)
See Fig. 1, the Passive Track target that is used for the photoelectricity surgical navigational of present embodiment comprises body 1, base 2, infrared external reflection bead 3, baffle plate 4, pinning 5 and pinning fixing head 6.
(embodiment 2)
See Fig. 2, the real-time locus and the attitude method for tracing that are used for the Passive Track target of photoelectricity surgical navigational, the relative position of four infrared external reflection beads 3 of four the installing hole 11 interior installations of utilization on body 1, set up the three-dimensional system of coordinate of this tracking target, thereby determine the real-time locus of this tracking target; Concrete grammar is:
Four infrared external reflection beads 3 supposing body 1 are respectively A, B, C, D; This coordinate system z axle points to the C point along the AC direction from the A point; The y axle is vertical with AC, points to B point one side; Can determine the x direction of principal axis according to the right-hand rule afterwards; Determine in real time the space coordinates of above-mentioned four impact points under three-dimensional system of coordinate by the photoelectric tracing device, just can obtain real-time locus and the attitude of this tracking target.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. be used for the Passive Track target of photoelectricity surgical navigational, it is characterized in that: comprise body (1), base (2) and infrared external reflection bead (3); Described body (1) is the special-shaped level structure; The bottom of described body (1) is fixed on the base (2); Described body (1) is provided with four installing holes (11), and an infrared external reflection bead (3) is installed respectively in four installing holes (11).
2. the Passive Track target for the photoelectricity surgical navigational according to claim 1, it is characterized in that: the installing hole (11) on the described body (1) is screwed hole; The bead mounting rod (31) of described infrared external reflection bead (3) is threaded with the installing hole (11) of body (1).
3. the Passive Track target for the photoelectricity surgical navigational according to claim 1, it is characterized in that: the bottom of described body (1) is processed with installs inclined-plane (12), also is processed with the inclined plane groove (21) of same size on the base (2); The installation inclined-plane (12) of described body (1) matches with inclined plane groove (21) in base (2).
4. the Passive Track target for the photoelectricity surgical navigational according to claim 3 is characterized in that: also comprise baffle plate (4) and pinning (5); Described baffle plate (4) is fixed on the base (2), and covers the inclined plane groove (21) of base (2); Be provided with the gap between the bottom of the medial surface of described baffle plate (4) and body (1); Described baffle plate (4) is provided with screw (41), and screw (41) is over against body (1); Described pinning (5) is threaded with screw (41) on the baffle plate (4).
5. the Passive Track target for the photoelectricity surgical navigational according to claim 4 is characterized in that: also wrap pinning fixing head (6); Described pinning fixing head (6) is fixed on the outside of baffle plate (4); Described pinning (5) is located on the pinning fixing head (6).
6. the real-time locus and the attitude method for tracing that are used for the Passive Track target of photoelectricity surgical navigational, it is characterized in that: the relative position that utilizes four infrared external reflection beads (3) of installing in four installing holes (11) on body (1), set up the three-dimensional system of coordinate of this tracking target, thereby determine the real-time locus of this tracking target; Concrete grammar is:
Four infrared external reflection beads (3) of supposing body (1) are respectively A, B, C, D; This coordinate system z axle points to the C point along the AC direction from the A point; The y axle is vertical with AC, points to B point one side; Can determine the x direction of principal axis according to the right-hand rule afterwards; Determine in real time the space coordinates of above-mentioned four impact points under three-dimensional system of coordinate by the photoelectric tracing device, just can obtain real-time locus and the attitude of this tracking target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210115811.7A CN103371828B (en) | 2012-04-19 | 2012-04-19 | For the Passive Track target of photoelectric surgery navigation and real-time spatial position thereof and attitude method for tracing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210115811.7A CN103371828B (en) | 2012-04-19 | 2012-04-19 | For the Passive Track target of photoelectric surgery navigation and real-time spatial position thereof and attitude method for tracing |
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| Publication Number | Publication Date |
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| CN103371828A true CN103371828A (en) | 2013-10-30 |
| CN103371828B CN103371828B (en) | 2016-03-02 |
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| CN201210115811.7A Active CN103371828B (en) | 2012-04-19 | 2012-04-19 | For the Passive Track target of photoelectric surgery navigation and real-time spatial position thereof and attitude method for tracing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107496030A (en) * | 2017-09-04 | 2017-12-22 | 重庆博仕康科技有限公司 | Optomagnetic integral location tracking device |
Citations (5)
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|---|---|---|---|---|
| US5197476A (en) * | 1989-03-16 | 1993-03-30 | Christopher Nowacki | Locating target in human body |
| CN101439472A (en) * | 2007-11-23 | 2009-05-27 | 山东工友集团股份有限公司 | Automatic positioning, holding device and method |
| CN101697869A (en) * | 2009-10-19 | 2010-04-28 | 沈国芳 | Fixing scaffold for surgical guidance |
| CN101889857A (en) * | 2009-05-22 | 2010-11-24 | 许杰 | Operation navigation device |
| CN202637119U (en) * | 2012-04-19 | 2013-01-02 | 北京航空航天大学 | Passive tracking target used for photoelectric surgery navigation |
-
2012
- 2012-04-19 CN CN201210115811.7A patent/CN103371828B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5197476A (en) * | 1989-03-16 | 1993-03-30 | Christopher Nowacki | Locating target in human body |
| CN101439472A (en) * | 2007-11-23 | 2009-05-27 | 山东工友集团股份有限公司 | Automatic positioning, holding device and method |
| CN101889857A (en) * | 2009-05-22 | 2010-11-24 | 许杰 | Operation navigation device |
| CN101697869A (en) * | 2009-10-19 | 2010-04-28 | 沈国芳 | Fixing scaffold for surgical guidance |
| CN202637119U (en) * | 2012-04-19 | 2013-01-02 | 北京航空航天大学 | Passive tracking target used for photoelectric surgery navigation |
Non-Patent Citations (1)
| Title |
|---|
| 马文娟: "红外手术导航仪关键技术研究", 《中国优秀博士学位论文全文数据库信息科技辑》, no. 9, 15 September 2010 (2010-09-15) * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107496030A (en) * | 2017-09-04 | 2017-12-22 | 重庆博仕康科技有限公司 | Optomagnetic integral location tracking device |
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| CN103371828B (en) | 2016-03-02 |
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