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Optical tracking system for tracking a patient and a surgical instrument with a reference marker and shape measurement device via coordinate transformation
Optical tracking system for tracking a patient and a surgical instrument with a reference marker and shape measurement device via coordinate transformation
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机译:用于跟踪患者的光学跟踪系统和具有参考标记和形状测量装置的手术器械,通过坐标变换
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摘要
An optical tracking system may comprise a reference marker unit stationarily disposed relative to a patient, a shape measurement unit configured to measure the three-dimensional shape of a specified part of the patient corresponding to a three-dimensional image, a tracking sensor unit configured to sense the reference marker unit and the shape measurement unit, and a processing unit. The processing unit may acquire a coordinate transformation relationship between the reference marker unit and the tracking sensor unit and a coordinate transformation relationship between the shape measurement unit and the tracking sensor unit based on a sensing result of the tracking sensor unit, acquire a coordinate transformation relationship between the specified part of the patient and the shape measurement unit based on a measurement result of the shape measurement unit, and define a coordinate system of the patient relative to the reference marker unit from the acquired coordinate transformation relationships.
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