CN111743618A - Binocular optics-based bipolar electric coagulation forceps positioning device and method - Google Patents
Binocular optics-based bipolar electric coagulation forceps positioning device and methodDownload PDFInfo
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Abstract
Description
Technical Field
The invention relates to the field of biomedical engineering, in particular to a binocular optics-based positioning device and method for bipolar coagulation forceps.
Background
Brain tumor is a disease of nervous system, seriously harming human life and health. The most direct and effective method for treating brain tumor is neurosurgery, but the operation has high requirements on doctors, so that not only is the doctors required to accurately cut off the focus, but also the operation incision is reduced as much as possible to avoid causing additional trauma to patients. Traditional neurosurgery often relies on doctor's operation experience, is difficult to pinpoint, excises the focus, and then causes the deviation of operation approach easily, brings extra injury for the patient. The mastering of the positioning technology is the basis of the operation of neurosurgeons, and is also related to the difficulty, the time, the treatment effect after the operation, the complications and the like of the operation.
The bipolar coagulation is that high-frequency current electric energy is provided for organism tissues through two tips of the bipolar coagulation forceps, hereinafter referred to as bipolar tips, so that the bipolar coagulation forceps provide the high-frequency current electric energy for the organism tissues through the two tips, blood vessels or tissues between two ends of the bipolar coagulation forceps are dehydrated and coagulated to achieve the aim of hemostasis, the action range of the bipolar coagulation forceps is only limited between the two tips of the bipolar coagulation forceps, the damage degree and the influence range of the bipolar coagulation forceps on the organism tissues are smaller, and the bipolar coagulation forceps are suitable for sealing small blood vessels and oviducts. Therefore, bipolar electrocoagulation is often used in more delicate surgeries such as surgery, microsurgery, ENT surgery, obstetrics and gynecology, and extramanual surgery in orthopedics.
In summary, the existing medical images provide a map of the operation, and the specific operation of the operation is completed by the bipolar, but the inaccurate positioning of the bipolar can damage the brain functional area and other intracranial important tissues of the patient or cause the problem of incomplete resection of the tumor.
Disclosure of Invention
The invention provides a binocular optics-based bipolar coagulation forceps positioning device and method, aiming at solving the problems that the existing medical image provides an operation map for surgery, the specific operation of the surgery is completed by a bipolar electrode, but the inaccurate positioning of the bipolar electrode can damage the brain functional region and other intracranial important tissues of a patient or cause incomplete resection of tumors.
The invention relates to a binocular optics-based bipolar coagulation forceps positioning device, which comprises a bipolar electrode and a positioning rigid body, wherein the tail end of the bipolar electrode is provided with the positioning rigid body;
the positioning rigid bodies comprise first fixtor2 andsecond fixtor 3; the upper surface of the first fixtor2 is provided with a groove, the first fixtor2 is directly arranged on the fixed seat of the bipolar rear end in a wrapping mode, and the bottom of the second fixtor3 is inserted into the groove on the upper surface of thefirst fixtor 2;
the second fixtor3 comprises a first support plate, a second support plate, a third support plate and an identifier (marker); the center of the first support plate and the center of the second support plate are arranged in a crossed mode, and the crossed part of the first support plate and the second support plate is fixedly connected with the top end of the third support plate; two ends of the first supporting plate and the second supporting plate are respectively provided with an identifier (marker);
the invention discloses a binocular optics-based bipolar coagulation forceps positioning method, which comprises the following specific steps:
step one, a coordinate system is established for a binocular camera, and a spatial coordinate point of a recognizer (marker) is set in the coordinate system established by the binocular camera;
secondly, calculating the coordinates of the bipolar tip at the fixed position under a coordinate system of the binocular camera by using the coordinate system constructed by the binocular camera as a reference;
step three, finding a spatial position relation between the bipolar tip and the marker in a coordinate system constructed by the binocular camera, and calculating the coordinate of the bipolar tip under a rigid body local coordinate system;
step four, calculating the coordinates of the bipolar tip in the opened state under the coordinate system constructed by the binocular camera by using the calculation result of the step three and combining the position of the rigid body local coordinate system under the coordinate system constructed by the binocular camera, wherein the coordinates of the tip in the closed state are calculated by the middle point of the connecting line of the two tips in the opened state;
further, the specific steps of constructing a coordinate system for the binocular camera in the step one and calculating the coordinates of the bipolar tip at the fixed position under the coordinate system of the binocular camera are as follows:
step one, optical axes of binocular cameras are placed in parallel to form a plane, and the distance b and the focal length f between the two cameras are known;
step two, in the plane in step one, the straight line connecting the centers of the two cameras is an X axis, wherein the direction of one lens of the binocular camera is the forward direction; a straight line which is vertical to the X axis and is positioned in the middle of the two optical axes is a Y axis, and the front end direction of the camera is a positive direction; a straight line which is vertical to the plane in the step one by one and passes through the cross point of the X axis and the Y axis is a Z axis, and the straight line is in the positive direction upwards;
step three, identifying and positioning each identifier of the rigid body by a binocular camera, and giving a space coordinate of the identifier based on a coordinate system of the binocular camera; setting any point P in space, and placing the identifier on the position of the point P, wherein the projection point of the point P on the XOY plane is Pxy;
step four, the P points are provided with image points on the imaging planes of the left camera and the right camera, and the distance between the two image points and the X axis of the center of the respective imaging plane is X1And x2And the distance of the imaging point on the right camera from the imaging plane center in the Z-axis direction is m, so that the coordinate of the point P is as follows:
further, the coordinate calculation process of the bipolar tip at the fixed position in the second step under the coordinate system of the binocular camera is as follows:
step two, because 4 recognizer markers are installed on the positioning rigid body, any three recognizer markers 2-4 are selected for modeling calculation, and the modeling comprises 4 points: m1, m2 and m3, mo is any one of two tip points in a bipolar open state; m1, m2 and m3 are all points of an identifier 2-4;
secondly, during calibration, fixing a certain tip mo at a certain determined position when the double poles are opened, keeping the position of the tip unchanged all the time in the measurement process, and enabling each marker point m1, m2 and m3 to be located in the identification range of the binocular camera all the time;
after the position of the tip is fixed, carrying out conical rotation operation by taking a midpoint between two tips of the dipole as a center, so that the spatial positions of 3 marker points m1, m2 and m3 are changed under the condition that the position of the dipole tip is not changed; in the rotating process, the binocular camera shoots and identifies the bipoles under the condition that marker points are at different positions, so that a plurality of groups of marker point coordinate data are obtained;
step four, calculating transformation matrixes of 3 marker points among different positions in the rotation process; setting 3 marker points to be converted from any position 1 to anyposition 2, wherein for the convenience of calculation, amiddle position 3 is selected as transition; inposition 3, m0 coincides with the origin of coordinates, m33 lies on the Z-axis, m23 lies in the XOZ plane;
step two five, the transformation matrix from the position 1 to theposition 3 is [ R ]13T13]Wherein R is13For a rotation matrix, T13Is an offset matrix; the transformation matrix fromposition 2 toposition 3 is [ R ]23T23](ii) a Thus, the transformation matrix [ R ] from position 1 to position 212T12]Comprises the following steps:
since the spatial coordinates of 3 marker points can be calculated by formula 1 and the positional relationship between the 3 marker points is also known, R13, T13, R23 and T23 are easily obtained, so that R12 and T12 can be calculated;
step two, assuming that 3 marker points pass through N positions in the rotation process, and the transformation matrix between two adjacent positions is [ R ]ii+1Tii+1](i is a natural integer; then:
wherein I is a unit array; let either one of the two tip points of the dipole be moThen, there are:
R′·mO＝T (4)
here, the transformation matrix between N positions is substituted into equation 4 to obtain the tip moThe coordinates of (a);
furthermore, m1, m2 and m3 in the first step are respectively positioned by the method in the first step, and the relative position relationship among the three is determined to be unchanged;
further, the specific steps of calculating the coordinates of the bipolar tip in the local rigid body coordinate system are as follows:
step three, space coordinates of 3 marker points and a bipolar tip point can be obtained simultaneously through a binocular camera, a local coordinate system is established based on the 3 marker points, and the local coordinate system is self-defined;
secondly, assuming that m2 is the origin of a local coordinate system, the direction of a connecting line with m1 is the positive direction of an X axis, m3 is positioned in the XOY plane of the local coordinate system, and the axis vertical to X, Y is a Z axis;
step three, after a local coordinate system is determined, the offset of the tip under the local coordinate system can be obtained according to the position relation between any one tip and 3 marker points in the step two;
step three, calculating the offset of the two tips under the local coordinate system of the positioning rigid body in the open state of the double pole by the calculation method in the step two;
further, the coordinates of the bipolar tip in the open state under the coordinate system constructed by the binocular camera are calculated in the fourth step, and the calculation process of the coordinates of the tip in the closed state from the midpoint of the connecting line of the two tips in the open state is as follows:
after the calculation of the second step and the third step, the offset of the two tips in the local coordinate system of the positioning rigid body in the opening state is calculated, and the offset is the coordinates of the two tips in the local coordinate system of the positioning rigid body.
Compared with the prior art, the invention has the following beneficial effects:
the invention overcomes the defects of the prior art, and accurately positions the bipole by calculating the tip coordinates of the bipole when the bipole is opened and closed, thereby avoiding the phenomenon that the functional brain area and other intracranial important tissues of a patient are damaged or the tumor is incompletely resected due to inaccurate positioning of the bipole during the operation.
The invention overcomes the defects of the prior art, adopts a customizable fixed part, has no limitation on the installation position of the positioning rigid body on the bipolar, meets the clinical use requirement and improves the accurate positioning of the bipolar.
Drawings
FIG. 1 is a cross-sectional view of a binocular optics based positioning device for bipolar coagulation forceps according to the present invention;
FIG. 2 is a schematic diagram of the mechanical structure of second fixtor in the bipolar coagulation forceps positioning device based on binocular optics according to the present invention;
FIG. 3 is a coordinate system constructed for a binocular camera in a first step of the binocular optics based positioning method for the bipolar coagulation forceps, according to the present invention;
FIG. 4 shows a position 1, aposition 2 and aposition 3 of an identifier (marker) in a second step of a binocular optics-based positioning method for bipolar coagulation forceps in the process of spatial movement;
fig. 5 is a schematic diagram of the definition of a local coordinate system in step three of the positioning method for bipolar coagulation forceps based on binocular optics, which is disclosed by the invention.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 2, and the bipolar coagulation forceps positioning device based on binocular optics according to the present embodiment includes a bipolar 1 and a positioning rigid body, wherein the positioning rigid body is arranged at the tail end of the bipolar 1;
the positioning rigid bodies comprise first fixtor2 andsecond fixtor 3; the upper surface of the first fixtor2 is provided with a groove, the first fixtor2 is directly arranged on the fixed seat at the rear end of the dipole 1 in a wrapping way, and the bottom of the second fixtor3 is inserted into the groove on the upper surface of thefirst fixtor 2;
the second fixtor3 comprises a first support plate 2-1, a second support plate 2-2, a third support plate 2-3 and an identifier (marker) 2-4; the centers of the first supporting plate 2-1 and the second supporting plate 2-2 are arranged in a crossed manner, and the crossed part of the first supporting plate 2-1 and the second supporting plate 2-2 is fixedly connected with the top end of the third supporting plate 2-3; two ends of the first supporting plate 2-1 and the second supporting plate 2-2 are respectively provided with an identifier (marker) 2-4;
in the specific embodiment, the tail end of the bipolar 1 is provided with a positioning rigid body, and the front end of the bipolar is provided with a tweezer body which is provided with a left tip and a right tip. Since the bipolar forceps usually have two open and closed states in use, the invention determines the spatial positions of three points, namely the left and right tips in the open state of the forceps body and the tips in the closed state of the forceps body.
The second embodiment is as follows: the present embodiment is described with reference to fig. 3 to fig. 5, and the specific steps of the method for positioning bipolar coagulation forceps based on binocular optics according to the present embodiment are as follows;
step one, a coordinate system is established for a binocular camera, and spatial coordinate points of a recognizer (marker)2-4 are set in the coordinate system established by the binocular camera;
secondly, calculating the coordinates of the bipolar tip at the fixed position under a coordinate system of the binocular camera by using the coordinate system constructed by the binocular camera as a reference;
step three, finding a spatial position relation between the bipolar tip and the marker in a coordinate system constructed by the binocular camera, and calculating the coordinate of the bipolar tip under a rigid body local coordinate system;
step four, calculating the coordinates of the bipolar tip in the opened state under the coordinate system constructed by the binocular camera by using the calculation result of the step three and combining the position of the rigid body local coordinate system under the coordinate system constructed by the binocular camera, wherein the coordinates of the tip in the closed state are calculated by the middle point of the connecting line of the two tips in the opened state;
according to the specific implementation mode, the bipolar is accurately positioned by calculating the coordinates of the tip when the bipolar is opened and closed, so that the phenomenon that the brain functional area and other intracranial important tissues of a patient are damaged or tumors are incompletely resected due to inaccurate positioning of the bipolar in the operation is avoided.
The third concrete implementation mode: in the first step of the positioning method for the bipolar coagulation forceps based on the binocular optics, the coordinate system constructed for the binocular camera is calculated, and the specific steps of calculating the coordinates of the bipolar tip at the fixed position in the coordinate system of the binocular camera are as follows:
step one, optical axes of binocular cameras are placed in parallel to form a plane, and the distance b and the focal length f between the two cameras are known;
step two, in the plane in step one, the straight line connecting the centers of the two cameras is an X axis, wherein the direction of one lens of the binocular camera is the forward direction; a straight line which is vertical to the X axis and is positioned in the middle of the two optical axes is a Y axis, and the front end direction of the camera is a positive direction; a straight line which is vertical to the plane in the step one by one and passes through the cross point of the X axis and the Y axis is a Z axis, and the straight line is in the positive direction upwards;
step three, identifying and positioning each identifier (marker)2-4 of the rigid body by a binocular camera, and giving out space coordinates of the rigid body based on a coordinate system of the binocular camera; setting any point P in space, and placing an identifier (marker)2-4 at the position of the point P, wherein the projection point of the point P on an XOY plane is Pxy;
step four, the P points are provided with image points on the imaging planes of the left camera and the right camera, and the distance between the two image points and the X axis of the center of the respective imaging plane is X1And x2And the distance of the imaging point on the right camera from the imaging plane center in the Z-axis direction is m, so that the coordinate of the point P is as follows:
the fourth concrete implementation mode: the present embodiment is described with reference to fig. 4, and the present embodiment is a further limitation to the positioning method described in the second embodiment, and the coordinate calculation process of the bipolar tip at the fixed position in the coordinate system of the binocular camera in the second step is as follows:
step two, because 4 identifiers (markers) 2-4 are installed on the positioning rigid body, any three identifiers (markers) 2-4 are selected for modeling calculation, and the modeling comprises 4 points: m1, m2 and m3, mo is any one of two tip points in a bipolar open state; m1, m2 and m3 are all points of an identifier (marker) 2-4;
secondly, during calibration, fixing a certain tip mo at a certain determined position when the double poles are opened, keeping the position of the tip unchanged all the time in the measurement process, and enabling each marker point m1, m2 and m3 to be located in the identification range of the binocular camera all the time;
after the position of the tip is fixed, carrying out conical rotation operation by taking a midpoint between two tips of the dipole as a center, so that the spatial positions of 3 marker points m1, m2 and m3 are changed under the condition that the position of the dipole tip is not changed; in the rotating process, the binocular camera shoots and identifies the bipoles under the condition that marker points are at different positions, so that a plurality of groups of marker point coordinate data are obtained;
step four, calculating transformation matrixes of 3 marker points among different positions in the rotation process; setting 3 marker points to be converted from any position 1 to anyposition 2, wherein for the convenience of calculation, amiddle position 3 is selected as transition; inposition 3, m0 coincides with the origin of coordinates, m33 lies on the Z-axis, m23 lies in the XOZ plane;
step two five, the transformation matrix from the position 1 to theposition 3 is [ R ]13T13]Wherein R is13For a rotation matrix, T13Is an offset matrix; the transformation matrix fromposition 2 toposition 3 is [ R ]23T23](ii) a Thus, the transformation matrix [ R ] from position 1 to position 212T12]Comprises the following steps:
since the spatial coordinates of 3 marker points can be calculated by formula 1 and the positional relationship between the 3 marker points is also known, R13, T13, R23 and T23 are easily obtained, so that R12 and T12 can be calculated;
step two, assuming that 3 marker points pass through N positions in the rotation process, and the transformation matrix between two adjacent positions is [ R ]ii+1Tii+1](i is a natural integer; then:
wherein I is a unit array; let either one of the two tip points of the dipole be moThen, there are:
R′·mO＝T (4)
here, the transformation matrix between N positions is substituted into equation 4 to obtain the tip moThe coordinates of (a).
The fifth concrete implementation mode: in the positioning method for bipolar coagulation forceps based on binocular optics according to the fourth embodiment, m1, m2 and m3 in the first step are respectively positioned by the method in the first step, and the relative positional relationship among the three is not determined to be changed.
The sixth specific implementation mode: the present embodiment is described with reference to fig. 5, and the present embodiment is a further limitation to the positioning method described in the second embodiment, and the method for positioning bipolar coagulation forceps based on binocular optics in the third embodiment includes the following specific steps of calculating coordinates of a bipolar tip in a rigid local coordinate system:
step three, space coordinates of 3 marker points and a bipolar tip point can be obtained simultaneously through a binocular camera, a local coordinate system is established based on the 3 marker points, and the local coordinate system is self-defined;
secondly, assuming that m2 is the origin of a local coordinate system, the direction of a connecting line with m1 is the positive direction of an X axis, m3 is positioned in the XOY plane of the local coordinate system, and the axis vertical to X, Y is a Z axis;
step three, after a local coordinate system is determined, the offset of the tip under the local coordinate system can be obtained according to the position relation between any one tip and 3 marker points in the step two;
and step three, calculating the offset of the two tips under the positioning rigid body local coordinate system in the bipolar opening state by the calculation method in the step two.
The seventh embodiment: in the fourth step of calculating the coordinates of the bipolar tip in the open state in the coordinate system constructed by the binocular camera, the coordinates of the tip in the closed state are calculated from the midpoint of the connecting line of the two tips in the open state as follows:
after the calculation of the second step and the third step, the offset of the two tips in the local coordinate system of the positioning rigid body in the opening state is calculated, and the offset is the coordinates of the two tips in the local coordinate system of the positioning rigid body.
The specific implementation mode is eight: the present embodiment is described with reference to fig. 1 to 5, and the present embodiment further defines the positioning method described in the second embodiment, and the positioning method for bipolar coagulation forceps based on binocular optics in the present embodiment includes the following specific steps:
step one, designing and positioning a three-dimensional model of the rigid body through the Inventor software of the Autodesk, and printing the three-dimensional model by using a 3D printer. 4 small reflecting balls are arranged on the positioning rigid body to be used as a marker, and the positioning rigid body is arranged on the double poles;
secondly, a coordinate system is established for the binocular camera;
the Vicra of the Polaris infrared optical positioning system has the advantages of small size, light weight, flexibility, portability, capability of being placed at any position and the like. Measuring the positioning device of the Vicra system by using a measuring tool to obtain two known positioning devices in the formula 1The values of the constants f, b. Then, starting the positioning device, and obtaining three measurable variables x in the formula 1 through the supporting software of the Vicra system1、x2And the value of m. After the initial data are obtained, operation is carried out on a computer by means of Matlab software by using a written registration algorithm, and then the coordinates of the bipolar tip can be obtained. The coordinate system of Vicra is used as the coordinate system of the binocular camera.
Calculating the coordinate of the bipolar tip under the coordinate system of the binocular camera by using the coordinate system constructed by the binocular camera as a reference, and then calculating the coordinate of the bipolar tip under the local coordinate system of the positioning rigid body;
and selecting A, B, C three marker points on the positioning rigid body as the identification objects. The bipolar plate is made to perform a conical rotation while keeping the left side tip position unchanged in the bipolar-open state. During the rotation, it was photographed using a Vicra binocular camera. In order to determine the spatial position, at least three groups of 300 groups of actual experiments are needed for shooting, namely N is 300. In the N sets of shot data, N different coordinates of points a, B, and C are associated, and N-1 transformation matrices R' can be obtained usingequations
Three marker points of the Vicra binocular camera are used for identification to obtain a space coordinate of a certain position of the Vicra binocular camera, then a linear distance is calculated by using a space distance formula between the two marker points to obtain the distances between the three marker points respectively
LAB＝136.91mm
LBC＝88.28mm
LAC＝51.08mm
Therefore, a local coordinate system of the rigid positioning body on the bipolar is established, the coordinate system takes A as the origin of coordinates, and the straight line where AB is located is the X axis; a straight line passing through the point C and perpendicular to the line AB is a Y axis; a straight line passing through the point A and perpendicular to a plane formed by the X axis and the Y axis is a Z axis. From the determined AB, BC, AC spacings, the spatial coordinates of A, B, C three points can be determined on the local coordinate system:
A(0,0,0)
B(88.29,0,0)
C(0,8.95,0)
in the Vicra coordinate system, the position relationship between the left side tip and the A, B, C three points when the dipole is opened is calculated. And the position relation is superposed with A, B, C three-point coordinates obtained in a local coordinate system, and the tip point coordinates of the left-side tip in the local coordinate system when the dipole is opened are calculated: (237.47, -7.16, -1.27);
step four, calculating the coordinates of the bipolar tip in the closed state by using the calculation results of the step two and the step three;
the tip point coordinates of the right tip in the local coordinate system when the bipole is turned on are calculated using the above procedure: (236.89,7.8, -1.34). And calculating the coordinates of the tip point of the tip under a local coordinate system when the bipole is closed by using a midpoint coordinate formula of the two spatial points: 237.18,0.32, -1.305. When the bipolar with the positioning rigid body moves, the Vicra system tracks the position of the positioning rigid body, and the coordinates of the three tip points under the local coordinate system are superposed to calculate the coordinates of the open two tips of the bipolar and the closed tip under the Vicra system.
Claims (7)
1. The utility model provides a bipolar coagulation forceps positioner based on binocular optics which characterized in that: comprises a bipolar (1) and a positioning rigid body, wherein the tail end of the bipolar (1) is provided with the positioning rigid body;
the positioning rigid bodies comprise first fixtor (2) and second fixtor (3); the upper surface of the first fixtor (2) is provided with a groove, the first fixtor (2) is directly arranged on a fixed seat at the rear end of the bipolar (1) in a wrapping mode, and the bottom of the second fixtor (3) is inserted into the groove on the upper surface of the first fixtor (2);
the second fixtor (3) comprises a first support plate (2-1), a second support plate (2-2), a third support plate (2-3) and an identifier (2-4); the centers of the first support plate (2-1) and the second support plate (2-2) are arranged in a crossed manner, and the crossed part of the first support plate (2-1) and the second support plate (2-2) is fixedly connected with the top end of the third support plate (2-3); an identifier (2-4) is arranged at each of the two ends of the first supporting plate (2-1) and the second supporting plate (2-2).
2. The positioning method of the binocular optics-based bipolar coagulation forceps positioning device based on claim 1 is characterized in that: the method comprises the following specific steps;
step one, a coordinate system is established for the binocular camera, and a spatial coordinate point of an identifier (2-4) is set in the coordinate system established by the binocular camera;
secondly, calculating the coordinates of the bipolar tip at the fixed position under a coordinate system of the binocular camera by using the coordinate system constructed by the binocular camera as a reference;
step three, finding a spatial position relation between the bipolar tip and the marker in a coordinate system constructed by the binocular camera, and calculating the coordinate of the bipolar tip under a rigid body local coordinate system;
and step four, calculating the coordinates of the bipolar tip in the opened state under the coordinate system constructed by the binocular camera by using the calculation result of the step three and combining the position of the rigid body local coordinate system under the coordinate system constructed by the binocular camera, wherein the coordinates of the tip in the closed state are calculated by the middle point of the connecting line of the two tips in the opened state.
3. The binocular optics-based positioning method for bipolar coagulation forceps according to claim 2, characterized in that: the first step is to construct a coordinate system for the binocular camera, and calculate the coordinates of the bipolar tip at the fixed position under the coordinate system of the binocular camera, and the specific steps are as follows:
step one, optical axes of binocular cameras are placed in parallel to form a plane, and the distance b and the focal length f between the two cameras are known;
step two, in the plane in step one, the straight line connecting the centers of the two cameras is an X axis, wherein the direction of one lens of the binocular camera is the forward direction; a straight line which is vertical to the X axis and is positioned in the middle of the two optical axes is a Y axis, and the front end direction of the camera is a positive direction; a straight line which is vertical to the plane in the step one by one and passes through the cross point of the X axis and the Y axis is a Z axis, and the straight line is in the positive direction upwards;
step three, identifying and positioning each identifier (2-4) of the rigid body by a binocular camera, and giving a space coordinate of the rigid body based on a coordinate system of the binocular camera; setting any point P in space, and placing an identifier (2-4) at the position of the point P, wherein the projection point of the point P on an XOY plane is Pxy;
step four, the P points are provided with image points on the imaging planes of the left camera and the right camera, and the distance between the two image points and the X axis of the center of the respective imaging plane is X1And x2And the distance of the imaging point on the right camera from the imaging plane center in the Z-axis direction is m, so that the coordinate of the point P is as follows:
4. the binocular optics-based positioning method for bipolar coagulation forceps according to claim 2, characterized in that: in the second step, the coordinate calculation process of the bipolar tip on the fixed position under the binocular camera coordinate system is as follows:
step two, because 4 recognizer markers (2-4) are installed on the positioning rigid body, any three recognizer markers (2-4) are selected for modeling calculation, and the modeling comprises 4 points: m1, m2 and m3, mo is any one of two tip points in a bipolar open state; m1, m2 and m3 are all points of an identifier (2-4);
secondly, during calibration, fixing a certain tip mo at a certain determined position when the double poles are opened, keeping the position of the tip unchanged all the time in the measurement process, and enabling each marker point m1, m2 and m3 to be located in the identification range of the binocular camera all the time;
after the position of the tip is fixed, carrying out conical rotation operation by taking a midpoint between two tips of the dipole as a center, so that the spatial positions of 3 marker points m1, m2 and m3 are changed under the condition that the position of the dipole tip is not changed; in the rotating process, the binocular camera shoots and identifies the bipoles under the condition that marker points are at different positions, so that a plurality of groups of marker point coordinate data are obtained;
step four, calculating transformation matrixes of 3 marker points among different positions in the rotation process; setting 3 marker points to be converted from any position 1 to any position 2, wherein for the convenience of calculation, a middle position 3 is selected as transition; in position 3, m0 coincides with the origin of coordinates, m33 lies on the Z-axis, m23 lies in the XOZ plane;
step two five, the transformation matrix from the position 1 to the position 3 is [ R ]13T13]Wherein R is13For a rotation matrix, T13Is an offset matrix; the transformation matrix from position 2 to position 3 is [ R ]23T23](ii) a Thus, the transformation matrix [ R ] from position 1 to position 212T12]Comprises the following steps:
since the spatial coordinates of 3 marker points can be calculated by formula (1) and the positional relationship between the 3 marker points is also known, R13, T13, R23 and T23 are easily obtained, so that R12 and T12 can be calculated;
step two, assuming that 3 marker points pass through N positions in the rotation process, and the transformation matrix between two adjacent positions is [ R ]ii+1Tii+1](i is a natural integer; then:
wherein I is a unit array; let either one of the two tip points of the dipole be moThen, there are:
R′·mO＝T (4)
here, the transformation matrix between N positions is substituted into equation (4) to obtain the tip moThe coordinates of (a).
5. The binocular optics-based positioning method for bipolar coagulation forceps according to claim 4, characterized in that: m1, m2 and m3 in the first step are respectively positioned by the method in the first step, and the relative position relationship among the three is determined to be unchanged.
6. The binocular optics-based positioning method for bipolar coagulation forceps according to claim 2, characterized in that: the third step is that the specific steps of calculating the coordinate of the bipolar tip under the local rigid body positioning coordinate system are as follows:
step three, space coordinates of 3 marker points and a bipolar tip point can be obtained simultaneously through a binocular camera, a local coordinate system is established based on the 3 marker points, and the local coordinate system is self-defined;
secondly, assuming that m2 is the origin of a local coordinate system, the direction of a connecting line with m1 is the positive direction of an X axis, m3 is positioned in the XOY plane of the local coordinate system, and the axis vertical to X, Y is a Z axis;
step three, after a local coordinate system is determined, the offset of the tip under the local coordinate system can be obtained according to the position relation between any one tip and 3 marker points in the step two;
and step three, calculating the offset of the two tips under the positioning rigid body local coordinate system in the bipolar opening state by the calculation method in the step two.
7. The binocular optics-based positioning method for bipolar coagulation forceps according to claim 2, characterized in that: in the fourth step, the coordinates of the bipolar tip in the open state under the coordinate system constructed by the binocular camera are calculated, and the calculation process of the coordinates of the tip in the closed state from the midpoint of the connecting line of the two tips in the open state is as follows:
after the calculation of the second step and the third step, the offset of the two tips in the local coordinate system of the positioning rigid body in the opening state is calculated, and the offset is the coordinates of the two tips in the local coordinate system of the positioning rigid body.
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