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

Claim 1:
2. The positioning method of the FRCS based on the rigid upper arm model according to claim 1, wherein, in step 2, the reference axis vector is a vector {right arrow over (Arm)} which starts from a midpoint (MD) of medial and lateral epicondylar points of a humerus on a human surface of the human upper arm to an acromion point (MU), and a direction of the vector {right arrow over (Arm)} is the reference direction of the cylinder; {right arrow over (Arm)}=MU−MD, wherein MU=[XU YU ZU]T represents position information of the acromion point MU, MD=[XD YU ZU]T represents position information of the midpoint MD of the medial and lateral epicondylar points of the humerus; for any point A on the skin surface of the human upper arm, position information of the point A from starting time t0 to ending time ts expressed as MA,, M
   A
  
  =
  
   
    
     
      [
      
       X
       A
      
     
    
    
     
      Y
      A
     
    
    
     
      
       
        
         
          Z
          A
         
         ]
        
        T
       
       =
       
        [
        
         
          
           
            X
            
             t
             0
            
            A
           
          
          
           
            X
            
             
              t
              0
             
             +
             
              Δ
              ⁢
              t
             
            
            A
           
          
          
           
            X
            
             
              t
              0
             
             +
             
              2
              ⁢
              Δ
              ⁢
              t
             
            
            A
           
          
          
           …
          
          
           
            X
            
             t
             s
            
            A
           
          
         
         
          
           
            Y
            
             t
             0
            
            A
           
          
          
           
            Y
            
             
              t
              0
             
             +
             
              Δ
              ⁢
              t
             
            
            A
           
          
          
           
            Y
            
             
              t
              0
             
             +
             
              2
              ⁢
              Δ
              ⁢
              t
             
            
            A
           
          
          
           …
          
          
           
            Y
            
             t
             s
            
            A
           
          
         
         
          
           
            Z
            
             t
             0
            
            A
           
          
          
           
            Z
            
             
              t
              0
             
             +
             
              Δ
              ⁢
              t
             
            
            A
           
          
          
           
            Z
            
             
              t
              0
             
             +
             
              2
              ⁢
              Δ
              ⁢
              t
             
            
            A
           
          
          
           …
          
          
           
            Z
            
             t
             s
            
            A
           
          
         
        
        ]
       
      
      ,
     
    
   
  
 

wherein ts=t0+kΔt, k ≥3, Δt is a sampling interval.