Method and apparatus for determining surgical instrument direction calibration parameter and direction of action and calibration means

摘要

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.