Surgical instrument direction calibration parameters and method of determining the direction of action and calibration means

Japanese Patent JP6346562

B2

The Method and apparatus for determining the directional calibration parameters of a surgical apparatus and a calibration tool thereof, and a method for determining the action direction of the surgical apparatus are provided. The method for determining the directional calibration parameters includes: attaching a tracking marker to a measured object, placing the measured on a calibration tool, rotating the measured object along its set linear axis while keeping the set linear direction unchanged, determining at least two three-dimensional rotation matrices of the tracking marker via a positional tracking apparatus, and using the three-dimensional rotation matrices to determine the directional calibration parameters with the formula of two-point position relationship or rectilinear direction rotation relationship in the three-dimensional space. The action direction of the surgical appratus is determined based on the determined directional calibration parameters and the current three-dimensional rotation matrix of the tracking marker. Without placing the measured object in a known direction or determining two points on the direction, the disclosed methods provide convenient ways to determine the directional calibration parameters, and to determine the action direction of a surgical apparatus. The invention can provide reliable action direction information of a surgical apparatus and therefore improve accuracy in surgery.

Hawk

JP2014534903A

June 20, 2018

October 11, 2011

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Hawk

A61B90/00

JP2004529679A

US20090247861

Hitoshi Shinbo

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