Skeleton registration method and system and storage medium

Abstract

The invention provides a skeleton registration method and system for a surgical navigation system and a storage medium, which are used for determining a transformation relation between a preoperative coordinate system and an intra-operative coordinate system, and the method comprises the following steps: obtaining a source point cloud SPC by using preoperative skeleton image data; obtaining a target point cloud TPC by using point data collected from an actual skeleton surface; selecting four groups of corresponding point pairs from the source two point clouds, and performing initial registration; performing accurate registration through different initial transformation matrices, wherein the initial registration is based on an affine transformation method of singular value decomposition, producing a 4 * 4 dimensional matrix, thereby mapping points of the 3D virtual model to an approximation of patient bone coordinates in an intra-operative coordinate system. According to the invention, the anatomical structures of the patient before and during the operation can accurately correspond to each other, so that a doctor can clearly know the anatomical positions of the surgical instrument and the patient, and the surgical tool can be accurately controlled to reach the required part.

Description

technical field [0001] The invention relates to a bone registration method and system in orthopedic surgery and a computer-readable storage medium. Background technique [0002] Computer-aided surgical navigation system is widely used in various surgical operations, and its purpose is to improve the accuracy and precision of the operation. As a technology that exists in various fields of medicine, navigation surgery requires an optical tracking system to perform preoperative and intraoperative registration (also known as registration) to achieve tracking of surgical conditions. [0003] Among them, registration is a very important process, through which the conversion between the preoperative coordinate system and the intraoperative coordinate system can be realized, so that the position and direction of the surgical instrument relative to the intraoperative three-dimensional model can be visualized. The quality of the registration method will affect the accuracy of surgica...

AI Technical Summary

Problems solved by technology

Although the registration method of marker points is faster and faster, however, due to factors such as additional trauma and pain caused to patients, human error, recognition difficulty, light occlusion, marker point drop, and the need for additional disinfection, in this method, generally Tend to limit the number of points that need to be collected as much as possible, or let the system guide the surgeon to register the points to be collected by displaying

This not only easily affects the accuracy, but also the operability

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