Patent ID: 11883160
Assignee: CHINA NATIONAL INSTITUTE OF STANDARDIZATION
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A

Claim 4:
5. The positioning method of the FRCS based on the rigid upper arm model according to claim 3, wherein, in step 3, for a time ta in a process, a coordinate system is translated to establish a local coordinate system, wherein the local coordinate takes MtaD=[XtaD YtaD ZtaD]T a coordinate origin, then, at the time ta, reverse vectors {right arrow over (Rtan )} of vertical vectors respectively from marking points M1, M2 and M3 to the reference axis vector satisfy a relational formula {right arrow over (Rtan)}=Rtan-0, wherein, Rtan represent end coordinates of the vectors {right arrow over (Rtan)}, n=1, 2, 3.