| 摘要 |
Disclosed are a determination method for the directional calibration parameters of a surgical instrument and a calibration tool thereof and a determination method for the action direction of the surgical instrument. The determination method for the directional calibration parameters comprises: installing an analyte (40) of a tracking marker (21) on a calibration tool (30), making the analyte maintain a constant direction and revolve on its axis, determining at least two three-dimensional rotation matrices of the tracking marker by a position tracking device, and using the three-dimensional rotation matrixes to determine the direction calibration parameters by means of the two-point correlation formula or the rectilinear rotation equation in a three-dimensional space. The current action direction of the surgical instrument is determined based on the determined directional calibration parameters and the current three-dimensional rotation matrices of the tracking marker. The method can determine the directional calibration parameters of the surgical instrument without placing the analyte in a known direction or determining two points of the direction, and thus can determine the action direction of the surgical instrument in actual use, providing reliable directional information for doctors, and ensuring a smooth operation and improving surgical precision. |
