摘要
研究手术导航中手术器械尖端位置的准确性,针对手术中更换手术器械需要重新定位尖端位置的问题,要求实时测量空间位置和姿态,为此提出了一种坐标变换的尖端坐标计算方法。绕着尖端转动手术器械,通过光学定位系统计算安装在手术器械上的标志点在不同位置时的三维坐标,利用中间过渡平面的方法计算标志点在相邻位置时的坐标变换关系,根据尖端位置与标志点坐标间的刚性关系来计算尖端坐标。通过仿真证明,方法避免了迭代运算的繁琐和耗时,结果表明提出的计算尖端位置的方法是准确的,满足手术导航对精度的要求。
Aim at repositioning the tip when changing different instruments in a surgery,a fast and accurate method to obtain the tip＇s position in surgical navigation was proposed in this paper.The instruments were rotated around the tip,the three dimensional coordinates of mark points installed in the instruments by optical positioning system were computed,and the coordinate transformation of the mark points in adjacent position was calculated by using an intermediate plane.According to the rigid relationship between the tip and instruments,we can obtain the coordinate of the tip.The method avoids the complex and time consuming process of iteration,and makes the calculation easier.The results of experiment show that the method for calculating the tip＇s position is simple and fast to meet the accuracy of surgery navigation.
出处
《计算机仿真》
CSCD
北大核心
2012年第3期292-295,326,共5页
Computer Simulation
关键词
光学定位
手术导航
手术器械
尖端位置
Optical positioning
Surgical navigation
Surgical apparatus
Tip＇s position
