DE102005026654A1 - Device for contactless measurement of body geometry, spatial position, orientation measures marker position relative to pattern(s) on body with optical navigation system, measures body position/orientation in space using marker position - Google Patents
Device for contactless measurement of body geometry, spatial position, orientation measures marker position relative to pattern(s) on body with optical navigation system, measures body position/orientation in space using marker position Download PDFInfo
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- DE102005026654A1 DE102005026654A1 DE102005026654A DE102005026654A DE102005026654A1 DE 102005026654 A1 DE102005026654 A1 DE 102005026654A1 DE 102005026654 A DE102005026654 A DE 102005026654A DE 102005026654 A DE102005026654 A DE 102005026654A DE 102005026654 A1 DE102005026654 A1 DE 102005026654A1
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- Prior art keywords
- pattern
- markers
- navigation system
- orientation
- optical navigation
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00473—Distal part, e.g. tip or head
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3995—Multi-modality markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/70—Cleaning devices specially adapted for surgical instruments
Abstract
Description
Die Erfindung betrifft eine Vorrichtung und ein Verfahren zur berührungslosen Vermessung der Geometrie, der Raumposition und der Raumorientierung von sich beliebig im Raum befindlichen Körpern mit einem geeigneten optischen Navigationssystem.The The invention relates to a device and a method for non-contact Measurement of geometry, spatial position and spatial orientation of arbitrarily in space bodies with a suitable optical navigation system.
Die Körper können starr sein oder aus einer geeigneten Kombination von starren und plastisch verformbaren Komponenten bestehen. Solche Körper sind beispielsweise Werkzeuge oder Werkstücke mit optional austauschbaren oder verstellbaren Einsätzen samt Spitzen. Eine Spitze kann beispielsweise ein Skalpell, ein mechanischer Marker oder ein Schraubendreher sein.The body can be rigid or made of a suitable combination of rigid and consist of plastically deformable components. Such bodies are For example, tools or workpieces with optional interchangeable or adjustable inserts with lace. For example, a tip can be a scalpel be a mechanical marker or a screwdriver.
Gängige Vorrichtungen
setzen in der medizinischen Operationstechnik Werkzeuge ein, deren Raumposition
und/oder Raumorientierung mittels optischer Navigationssysteme in
Echtzeit ermittelt werden. Beispiele solcher Verfahren sind in den
Patentschriften
In der Medizinaltechnik werden gewisse Typen von Implantaten (Werkstücke) iterativ vor Ort so lange der entsprechenden Anatomie angepasst, bis die erreichte Form als ausreichend beurteilt wird. Gegebenenfalls kann die Form mit Hilfsmitteln, wie Messtastern, überprüft werden.In In medical technology, certain types of implants (workpieces) become iterative site adapted as long as the appropriate anatomy until the achieved form is considered sufficient. If necessary, can the form can be checked with tools, such as touch probes.
Der Erfindung liegt die Aufgabe zugrunde, eine Vorrichtung der eingangs genannten Art so auszubilden, dass der Messvorgang zur Ermittlung der Geometrien, räumlichen Position und Orientierung von Körpern mittels optischen Navigationssystems wesentlich vereinfacht wird.Of the Invention is the object of a device of the initially so-called type in such a way that the measuring process for determining of geometries, spatial Position and orientation of bodies is significantly simplified by optical navigation system.
Dies wird erfindungsgemäß dadurch erreicht, dass auf der gesamten Oberfläche oder einem Teil der Oberfläche des Körpers ein oder mehrere bezüglich der Körpergeometrie ausreichend exakt definierte Muster angebracht sind und dass mit dem einen optischen Navigationssystem sowohl zuerst die Lage der aktiven oder passiven Marker bezüglich des oder der Muster auf dem Körper als auch danach mittels der Marker mit jetzt bekannter Lage die Position und Orientierung des Körpers im Raum messbar ist, wobei die exakte räumliche Lage der Marker bezüglich des Körpers vorgängig nicht bekannt sein muss.This is characterized according to the invention Achieved that on the entire surface or part of the surface of the body one or more re the body geometry sufficiently accurately defined patterns are attached and that with the one optical navigation system both the location of the first active or passive marker of the pattern (s) on the body and then by means of markers with now known position the Position and orientation of the body is measurable in space, whereby the exact spatial position of the markers with respect to the body previously does not need to be known.
Das eine optische Navigationssystem führt also sowohl zunächst den Kalibriervorgang durch die Bestimmung der Körpergeometrien bezüglich der Marker durch, als auch anschließend die Vermessung der Position und Orientierung des Körpers im Raum mit Hilfe der zuvor ermittelten Markerpositionen. Auf eine besondere Kalibriervorrichtung kann somit verzichtet werden, und es wird gleichzeitig eine höhere Genauigkeit bei der Bestimmung der Raumlage und Raumposition des Körpers erreicht. Die Bestimmung kann auch während des Gebrauchs oder Einsatzes des Körpers, z.B. als Werkzeug, fortlaufend wiederholt werden, so dass der Gebrauch des Körpers immer wieder angepasst und eine hohe Präzision erreicht werden kann. Das optische Navigationssystem beinhaltet zur Erfüllung dieser Aufgaben entsprechend optimierte Algorithmen.The An optical navigation system thus leads both the first Calibration process by determining the body geometries with respect to the markers through, as well as afterwards the measurement of the position and orientation of the body in space with the help of the previously determined marker positions. On a special Calibration can thus be dispensed with, and it is at the same time a higher one Accuracy in determining the spatial position and spatial position of the body reached. The determination may also be during use or use of the body, e.g. as a tool, be repeated continuously, so that the use of the body repeatedly adapted and high precision can be achieved. The optical navigation system includes to fulfill this Tasks corresponding to optimized algorithms.
Das oder die Muster am Körper können aus einer Kombination aus Linien, Kreisen, Ellipsen, Dreiecken oder Rechtecken aus geeigneten Materialien bestehen. Sie können dem jeweiligen Zweck entsprechend optimal ausgewählt werden und können auch aktive oder passive räumlich ausgedehnte Bereiche oder Kombinationen davon am Körper sein.The or the patterns on the body can from a combination of lines, circles, ellipses, triangles or Rectangles are made of suitable materials. You can do that each purpose can be optimally selected and can active or passive spatially be extensive areas or combinations thereof on the body.
Das optische Navigationssystem ist mit bevorzugt drei Flächenkameras ausgestattet. Durch die Anordnung und die optischen Eigenschaften der Kameras lässt sich das Arbeitsvolumen des Navigationssystems bestimmen.The Optical navigation system is preferred with three area cameras fitted. Due to the arrangement and the optical properties leaves the cameras determine the working volume of the navigation system.
Der Körper kann optional mit austauschbaren und/oder verstellbaren Einsätzen mit ihrerseits geeigneten Kombinationen von Mustern auf der Oberfläche und aktiven oder passiven Markern ausgerüstet sein, so dass die Geometrie des Körpers mit optionalen Einsätzen samt Spitzen bezüglich aller Marker bekannt ist.The body may optionally feature interchangeable and / or adjustable inserts with their appropriate combinations of patterns on the surface and active or passive markers be prepared so that the geometry of the body with optional inserts and tips is known with respect to all markers.
Es ist von Vorteil, wenn die ganze Oberfläche oder zumindest Teile der Oberfläche der Muster und/oder der Marker mit einer schmutzabweisenden Schutzschicht versehen sind. Dadurch werden Messresultate weniger durch Verschmutzungen, wie beispielsweise Blutspritzer oder verunreinigte Luft, beeinträchtigt.It is beneficial if the whole surface or at least parts of the surface the pattern and / or the marker with a dirt-repellent protective layer are provided. As a result, measurement results are less due to contamination, such as blood spatter or contaminated air, impaired.
Auch nach einer plastischen Verformung eines Teilbereichs des Körpers kann dessen Form mit Hilfe der Muster und Marker bestimmt werden, und zwar sowohl wenn die Verformung vor als auch wenn sie während des praktischen Einsatzes des Körpers stattfindet.Also after a plastic deformation of a portion of the body can whose shape is determined by means of the patterns and markers, namely both when the deformation before and when during the practical use of the body takes place.
Die geometrische Form des Körpers und des optional austauschbaren oder verstellbaren Einsatzes samt Spitze kann anhand der Muster und Marker mit dem optischen Navigationssystem periodisch während des Gebrauchs überprüft wird.The geometric shape of the body and the optionally interchangeable or adjustable insert together with Peak can be determined by the patterns and markers with the optical navigation system periodically during of use is checked.
Der gesamte Körper, die Einsätze oder Teile davon, wie beispielsweise das Muster und/oder der Träger mit den Markern können bei Bedarf für einen einmaligen Gebrauch ausgelegt, also Einwegteile sein. Dies kann bei bestimmten Anwendungen z.B. aus hygienischen Gründen angezeigt sein.Of the entire body, the inserts or parts thereof, such as the pattern and / or the carrier with the markers can if necessary for designed a single use, so be disposable parts. This may in certain applications e.g. indicated for hygienic reasons be.
Der Körper oder Teile davon samt optional austauschbarem oder verstellbarem Einsatz können in Spritzgusstechnik oder plastisch formgebenden Techniken aus geeigneten Materialen oder einer Kombination von verschiedenen Materialien hergestellt werden.Of the body or parts thereof including optionally interchangeable or adjustable Can use in Injection molding or plastic forming techniques from suitable Materials or a combination of different materials getting produced.
Die Erkennung des Körpertyps kann durch die Auswertung der aufgebrachten Muster und/oder einer auf dem Körper angebrachte Identifikation erfolgen.The Detection of the body type can by the evaluation of the applied pattern and / or a on the body attached identification.
Die Erfindung wird im Folgenden anhand der anhängenden Zeichnungen beispielhaft näher erläutert; es zeigen:The Invention will be exemplified below with reference to the attached drawings explained in more detail; it demonstrate:
Gemäß
Das
optische Navigationssystem
Da
die Markerpositionen bezüglich
der Körpergeometrie
vom Navigationssystem
Auf
eine Kalibriervorrichtung kann vorteilhafterweise verzichtet werden,
weil der Körper
Oft
ist es von Vorteil, die Geometrie von plastisch verformbaren Körpern
Die
Körper
Die
Verschmutzung der Muster
Der
die Vorrichtung betreffende Teil der Aufgabe wird also dadurch gelöst, dass
ein Teil oder die gesamte Oberfläche
eines Körpers
Ein
solches Muster
Das
Muster
Das
Muster
Der
dem Verfahren zugrunde liegende Teil der Aufgabe wird gelöst durch
die Erfassung der Positionen der Marker
- 11
- Körperbody
- 22
- Markermarker
- 33
- Einsatzcommitment
- 44
- Spitzetop
- 55
- Navigationssystemnavigation system
- 66
- Kameracamera
- 77
- Trägercarrier
- 88th
- Mustertemplate
- 99
- plastisch verformbarer Bereichplastic deformable area
- 1010
- Implantatimplant
- 1111
- Löcherholes
- 1212
- Körpergeometriebody geometry
- 1313
- IdentifikationID
Claims (11)
Priority Applications (10)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005026654A DE102005026654A1 (en) | 2005-06-09 | 2005-06-09 | Device for contactless measurement of body geometry, spatial position, orientation measures marker position relative to pattern(s) on body with optical navigation system, measures body position/orientation in space using marker position |
DE112006001514T DE112006001514A5 (en) | 2005-06-09 | 2006-06-08 | Device and method for the contactless determination and measurement of a spatial position and / or a spatial orientation of bodies, methods for calibrating and testing in particular medical tools as well as patterns or structures on, in particular, medical tools |
US11/921,779 US8320612B2 (en) | 2005-06-09 | 2006-06-08 | System and method for the contactless determination and measurement of a spatial position and/or a spatial orientation of bodies, method for the calibration and testing, in particular, medical tools as well as patterns or structures on, in particular, medical tools |
KR1020087000563A KR101270912B1 (en) | 2005-06-09 | 2006-06-08 | Device and method for the contactless determination and measurement of a spatial position and/or a spatial orientation of bodies, method for calibrating and checking, in particular, medical tools, and patterns or structures on, in particular, medical tools |
EP06754233A EP1919389A2 (en) | 2005-06-09 | 2006-06-08 | Device for the contactless determination and measurement of a spatial position and/or a spatial orientation of bodies |
PCT/EP2006/005498 WO2006131373A2 (en) | 2005-06-09 | 2006-06-08 | Device for the contactless determination and measurement of a spatial position and/or a spatial orientation of bodies |
JP2008515141A JP5741885B2 (en) | 2005-06-09 | 2006-06-08 | System and method for non-contact determination and measurement of the spatial position and / or orientation of an object, in particular a medical instrument calibration and test method including a pattern or structure relating to a medical instrument |
CA2611404A CA2611404C (en) | 2005-06-09 | 2006-06-08 | Device and method for the contactless determination of spatial position/orientation of bodies |
EP10011069.1A EP2377484B1 (en) | 2005-06-09 | 2006-06-08 | Device and method for contactless determination and measuring of the spatial position and/or spatial orientation of bodies |
CN2006800295660A CN101267776B (en) | 2005-06-09 | 2006-06-08 | Device for contactless determination and measurement of main body position and/or orientation |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005026654A DE102005026654A1 (en) | 2005-06-09 | 2005-06-09 | Device for contactless measurement of body geometry, spatial position, orientation measures marker position relative to pattern(s) on body with optical navigation system, measures body position/orientation in space using marker position |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102005026654A1 true DE102005026654A1 (en) | 2006-12-14 |
Family
ID=37439979
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102005026654A Withdrawn DE102005026654A1 (en) | 2005-06-09 | 2005-06-09 | Device for contactless measurement of body geometry, spatial position, orientation measures marker position relative to pattern(s) on body with optical navigation system, measures body position/orientation in space using marker position |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN101267776B (en) |
DE (1) | DE102005026654A1 (en) |
Cited By (19)
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EP1952779B1 (en) * | 2007-02-01 | 2012-04-04 | BrainLAB AG | Method and system for Identification of medical instruments |
WO2013144208A1 (en) * | 2012-03-28 | 2013-10-03 | Navigate Surgical Technologies, Inc. | Soft body automatic registration and surgical location monitoring system and method with skin applied fiducial reference |
US8908918B2 (en) | 2012-11-08 | 2014-12-09 | Navigate Surgical Technologies, Inc. | System and method for determining the three-dimensional location and orientation of identification markers |
US8938282B2 (en) | 2011-10-28 | 2015-01-20 | Navigate Surgical Technologies, Inc. | Surgical location monitoring system and method with automatic registration |
US9198737B2 (en) | 2012-11-08 | 2015-12-01 | Navigate Surgical Technologies, Inc. | System and method for determining the three-dimensional location and orientation of identification markers |
US9456122B2 (en) | 2013-08-13 | 2016-09-27 | Navigate Surgical Technologies, Inc. | System and method for focusing imaging devices |
US9489738B2 (en) | 2013-04-26 | 2016-11-08 | Navigate Surgical Technologies, Inc. | System and method for tracking non-visible structure of a body with multi-element fiducial |
US9554763B2 (en) | 2011-10-28 | 2017-01-31 | Navigate Surgical Technologies, Inc. | Soft body automatic registration and surgical monitoring system |
US9566123B2 (en) | 2011-10-28 | 2017-02-14 | Navigate Surgical Technologies, Inc. | Surgical location monitoring system and method |
US9585721B2 (en) | 2011-10-28 | 2017-03-07 | Navigate Surgical Technologies, Inc. | System and method for real time tracking and modeling of surgical site |
WO2017050761A1 (en) * | 2015-09-21 | 2017-03-30 | Navigate Surgical Technologies, Inc. | System and method for determining the three-dimensional location and orientation of identification markers |
EP3287093A1 (en) * | 2016-08-23 | 2018-02-28 | Aesculap AG | Set of medical instruments and method |
US9918657B2 (en) | 2012-11-08 | 2018-03-20 | Navigate Surgical Technologies, Inc. | Method for determining the location and orientation of a fiducial reference |
US9987093B2 (en) | 2013-07-08 | 2018-06-05 | Brainlab Ag | Single-marker navigation |
US10702343B2 (en) | 2015-02-26 | 2020-07-07 | Aesculap Ag | Medical instrumentation including a navigation system |
US10786287B2 (en) | 2015-02-26 | 2020-09-29 | Aesculap | Medical instrumentation and method |
US10905489B2 (en) | 2017-09-25 | 2021-02-02 | Aesculap Ag | Medical deformation device, deformation system and method for deforming an article |
US11304777B2 (en) | 2011-10-28 | 2022-04-19 | Navigate Surgical Technologies, Inc | System and method for determining the three-dimensional location and orientation of identification markers |
EP4062856A4 (en) * | 2019-11-22 | 2023-01-11 | Microport Navibot (Suzhou) Co., Ltd. | Calibration method, calibration system and detection target for osteotomy guide tool |
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DE102012210758A1 (en) * | 2012-06-25 | 2014-01-02 | Sirona Dental Systems Gmbh | Method for checking tooth positions |
US9008757B2 (en) * | 2012-09-26 | 2015-04-14 | Stryker Corporation | Navigation system including optical and non-optical sensors |
US9844324B2 (en) * | 2013-03-14 | 2017-12-19 | X-Nav Technologies, LLC | Image guided navigation system |
CN107468351A (en) * | 2016-06-08 | 2017-12-15 | 北京天智航医疗科技股份有限公司 | A kind of surgery positioning device, alignment system and localization method |
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