Surgical instruments direction calibration parameters and the direction of action of the deterministic methods and calibration means

摘要

Challenge The present invention provides a deterministic method and calibration means and the surgical instruments the direction of action of the method of determining surgical instruments direction calibration parameters. A method of determining the direction parameters, the specimen was mounted the tracking label is placed in the calibration means, it can rotate without giving change direction, at least two three-dimensional rotation matrix tracking label by positioning devices the determined, by the three-dimensional rotation matrix, to get the direction calibration parameters by two points relationship official or a linear direction rotation official in the three-dimensional space. Based on the current three-dimensional rotation matrix of the obtained direction calibration parameters and tracking labels, to determine the direction of action of the moment of surgical instruments. The present invention need not be arranged in a known direction with a specimen, there is no need to determine the two points in this direction, it is possible to determine the direction the calibration parameters of the surgical instruments, used thereby, practically surgery instruments The operation direction can be determined as it is, to provide a reliable specific directional information to the doctor, surgery to ensure that is smoothly effected, to improve the accurate of the surgery. .BACKGROUND 2