Surgical navigation system and computer and storage medium for performing a surgical navigation method

Abstract

The surgical navigation system comprises a spatial positioning marker element on a surgical instrument, a tracer on a bone structure, a binocular camera and a computer, the tracer is provided with a navigation tracer surface, the spatial positioning marker element comprises a navigation surface, the binocular camera is connected to the computer, and information of the tracer and the spatial positioning marker element collected is transmitted to the computer. The computer and the computer readable storage medium of the application respectively store computer programs, and execute a surgical navigation method: generating a three-dimensional model of the bone and the surgical instrument, obtaining tracer registration information and spatial positioning marker element calibration information; receiving real-time information of the tracer and the spatial positioning marker element collected by the binocular camera; calculating the spatial position information of the bone and the surgical instrument, and real-time fusing the three-dimensional model to obtain a dynamic image of the real-time position relationship between the two. The application realizes surgical navigation without intraoperative registration, simplifies the surgical process and improves the surgical accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a surgical navigation system for orthopedic surgery, and more particularly to a surgical navigation system for orthopedic surgery using a combination of 3D printed trackers and optical positioning technology, as well as a computer and storage medium for performing the navigation method. BACKGROUND

[0002] With the continuous development of modern medicine and computer technology, medical imaging technology and computer image processing technology are gradually being applied in the medical field. Computer-aided surgery technology has become a major development direction in surgical operations. This technology extends the limited visual range of surgeons, breaks through the boundaries of traditional surgical operations, and redefines the concept of surgical operations and surgical instruments. It is of great significance for improving surgical positioning accuracy, reducing surgical damage, reducing surgical time, and improving surgical success rate.

[0003] Surgical navigation systems, which are surgical systems using computer-aided technology, have been applied in spine, pelvic and thoracic surgery, joint surgery, trauma surgery, bone tumor and orthopedic surgery. By constructing a virtual surgical environment through digital medical images, the technology provides visual support for surgeons, making surgical operations more accurate, less invasive, and safer. This technology tracks the surgical site and surgical instruments in real time, just like navigating an airplane or a ship, so it is called a navigation system.

[0004] Current surgical navigation systems generally use the following principles: the surgeon holds a surgical instrument with improved trackable markers and performs surgery on the patient's target surgical site. The stereoscopic spatial positioning and aiming operation of the surgical instrument are monitored under the connection of the computer tracker, and the tracker accurately gives the relative relationship between the patient's anatomical position and the preoperative or intraoperative multi-mode image through registration, thereby guiding the surgeon to operate the surgical instrument and perform the corresponding surgical operation.

[0005] The surgical process generally follows the following process: obtain preoperative patient images such as CT / X-ray and import them into the computer system for necessary processing such as noise reduction and 3D reconstruction; preoperative planning, the surgeon develops a surgical plan based on the patient's condition, such as screw placement position, angle and depth; intraoperative registration, spatial matching (registration) of intraoperative images and positioning trackers with preoperative images is performed to obtain the spatial position relationship between the surgical instrument and the patient's anatomical structure, and a simulation model is established in the monitoring computer to display the position of the surgical instrument in real time; perform surgery, track the surgical instrument and surgical site, and guide the surgery according to the preoperative plan.

[0006] Orthopedic surgery navigation system mostly uses electromagnetic positioning, ultrasonic positioning or optical positioning method, and also uses gyroscopic composite positioning method. For example, a surgical navigation system disclosed in Chinese Patent Application No. 201810430822.1 includes an angle and position positioning device installed on a surgical instrument, two or more laser projection boards, two or more laser projection point collectors, and a computer. The angle and position positioning device in the device can measure the angle of the current surgical instrument, the laser projection point collector can collect the position change of the laser beam on the laser projection board, and then judge the displacement of the surgical instrument in the vertical direction to obtain the entering depth of the surgical instrument. However, this technical solution needs to be greatly modified for the surgical instrument, and the positioning equipment is also very complex. The angle and position positioning device installed on the surgical instrument includes a gyroscope, two or more lasers and other components. Both the equipment itself and the working principle are quite complex, and the registration is difficult.

[0007] Among them, the registration technology is the key technology of the navigation system, and the purpose is to integrate the preoperative medical image of the patient, the position information of the patient's anatomical structure obtained by the intraoperative positioning tracer, and the position information of the surgical instrument into the same spatial coordinate system. Among them, the navigation tracer fixed on the patient is needed, such as Chinese Patent Application No. 201710970763.2, "a tracer for orthopedic surgery and its connecting structure", which includes a top-shaped groove for fixing the tracer, a connecting piece and a fixing piece for fixing on the bony structure of the patient. The tracers used at present are all pre-designed structures. On the one hand, they need to be fixed near the bone structure of the surgical site, which needs additional space, expands the open surface, increases the pain of the patient and the difficulty of the operation, and on the other hand, they cannot well cooperate with different bone structures, which makes the fixation difficult and may cause the decline of navigation accuracy and secondary damage in the operation. Using this technology, the fluoroscopy registration needs to be performed in the operation, which increases the operation time, and the medical staff and the patient also receive more radiation in the operation. The fluoroscopy process needs to use a C-arm X-ray machine, which occupies a large operation space and is not conducive to the promotion and use of small hospitals.

[0008] The current orthopedic surgery navigation system has the disadvantages of inconvenient and unstable fixation of the navigation tracer and difficulty in minimally invasive surgery, or the problem of complex positioning of the surgical instrument. During the operation, the process of fluoroscopy registration is generally necessary, which requires a large operation space and prolongs the operation time, and the medical staff and the patient receive additional radiation.

[0009] Therefore, it is necessary to provide a surgical navigation system with the advantages of easy and stable registration, high accuracy, simple operation, minimally invasive surgery, flexible operation space and low radiation, as well as corresponding computer equipment and storage medium. SUMMARY

[0010] The application aims to provide a surgical navigation system with simple and stable registration, high precision and simple operation, and a computer device and a storage medium for performing surgical navigation.

[0011] To achieve the above object, the application provides the following technical scheme.

[0012] The application provides a surgical navigation system, which comprises a spatial positioning marker element for being mounted on a surgical instrument, a tracer for being fixed on a bone structure to be operated, a binocular camera for binocular vision spatial positioning, and a graphic workstation computer serving as a navigation terminal, the tracer is provided with at least one navigation tracer surface for navigation positioning, the spatial positioning marker element comprises at least one navigation surface for tracer of the surgical instrument, and the binocular camera is connected to the computer and transmits information of the tracer and the spatial positioning marker element collected to the computer.

[0013] In some embodiments, the tracer is provided with at least one bone-fitting surface for being fixed on the bone to be operated, the bone-fitting surface is perfectly fitted with the bone structure to be operated, the error is very small, the spatial relative position of the tracer after being fixed on the bone structure is unique, and the tracer is equivalent to an extension of the bone structure. The spatial position of the navigation tracer surface on the tracer is known, and therefore, the tracer can be directly tracked and positioned without the support of a perspective image and registration in the operation.

[0014] In some embodiments, the tracer comprises a surgical guide plate constructed by 3D printing, and the navigation tracer surface is arranged on the surgical guide plate. The tracer manufactured by 3D printing can be perfectly fitted with the bone structure to be operated in a simple and rapid manner.

[0015] The surgical guide plate comprises a guide plate body, in some embodiments, the navigation tracer surface is directly formed on the guide plate body, or the navigation tracer surface is arranged on a navigation tracer carrier, the navigation tracer carrier is arranged on the guide plate body, the navigation tracer surface is a plane on which a visible light visual recognition tracking pattern is attached, or a radiographic film having one or more feature points, or a tracer surface formed by a plurality of feature points.

[0016] In some embodiments, the spatial positioning marker element is a polyhedron, and is provided with at least two navigation surfaces. The navigation surface can be completely captured by the binocular camera during the operation, and is spatially positioned by the computer.

[0017] In some embodiments, the computer comprises the following modules.

[0018] A data receiving and storing module is used for receiving information transmitted by the binocular camera and storing the information.

[0019] An image reconstruction module is configured to import and reconstruct a three-dimensional model of a bone structure to be operated on and a three-dimensional model of a surgical instrument, and use information collected by a binocular camera to reconstruct a three-dimensional image and pose of the surgical instrument in operation, so as to realize visual navigation.

[0020] The application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to enable the processor to execute the surgical navigation method, which comprises:

[0021] receiving images of a bone to be operated on and a surgical instrument and generating three-dimensional models, obtaining registration information of a tracer fixed on the bone and calibration information of a spatial positioning marker element on the surgical instrument;

[0022] receiving real-time information of the tracer and the spatial positioning marker element collected by the binocular camera;

[0023] calculating spatial position information of the bone to be operated on and the surgical instrument by using a binocular vision positioning algorithm according to the real-time information of the tracer and the spatial positioning marker element, and fusing the three-dimensional models in real time,

[0024] obtaining a real-time position relationship dynamic image of the bone and the surgical instrument after fusion, so as to realize surgical navigation.

[0025] In some embodiments, the tracer is provided with at least one navigation tracer surface that can be optically positioned by the binocular camera, and the spatial positioning marker element comprises at least one navigation surface that can be optically positioned by the binocular camera.

[0026] In some embodiments, the method further comprises: before operation, designing a three-dimensional model of the tracer according to the three-dimensional model of the bone to be operated on by 3D design, and printing and manufacturing the tracer, and importing the three-dimensional model of the tracer into the computer memory.

[0027] In some embodiments, the tracer comprises a surgical guide plate constructed by 3D printing, the navigation tracer surface is arranged on the surgical guide plate, and the tracer is provided with at least one bone fitting surface for fitting and fixing with the bone to be operated on.

[0028] In some embodiments, the method further comprises: before operation, performing three-dimensional scanning on the surgical instrument to obtain three-dimensional image information, calibrating the spatial positioning marker element, and importing the spatial positioning marker element into the computer memory.

[0029] In some embodiments, the spatial positioning marker element is a polyhedron provided with at least two navigation surfaces.

[0030] In some embodiments, the computer comprises a monitor for displaying a dynamic image of the calculated position relationship between the bone and the surgical instrument in real time.

[0031] The application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program, when executed by a processor, causes the processor to perform the surgical navigation method.

[0032] Compared with the prior art, the application has the following advantages:

[0033] The technical scheme of the application is based on digital navigation technology of visual positioning. The binocular camera cooperates with the tracer on the bone and the spatial positioning marker element on the surgical instrument to collect real-time information of the tracer and the spatial positioning marker element. The spatial position information of the bone to be operated and the surgical instrument is calculated by using a binocular visual positioning algorithm, and is fused with a three-dimensional model in real time. A dynamic image of the real-time position relationship between the bone and the surgical instrument can be obtained to realize surgical navigation. The surgical process is simplified, the surgical precision is improved, the surgical risk is reduced, and the personalized treatment requirement is realized.

[0034] Further, the tracer is constructed by using 3D printing technology to form a surgical guide plate that is attached to the surface of the bone. Because the 3D printed guide plate is customized according to the bone structure of the patient, the attached surface perfectly matches the bone structure of the patient with minimal error. The guide plate can stably engage the complex bone structure. After the navigation tracer surface is fixed to the bone structure, the spatial relative position is unique, and there is no need for registration or intraoperative image support. The surgical instrument can be directly tracked, the intraoperative image link is reduced, the surgical process is simplified, the navigation and positioning problems of the surgical instrument and the patient's anatomical part in orthopedic surgery are solved, the surgical process is optimized, and the use of intraoperative images is reduced. The visual navigation shortens the operation time, reduces the radiation dose of medical staff and patients during surgery, reduces the surgical risk, and is suitable for popularization and use in small and medium-sized hospitals. In addition, the surgical guide plate generally coincides with the space of the part to be operated, and there is no need for additional position fixation, so that minimally invasive surgery is possible. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 A schematic diagram of an embodiment of the surgical navigation system of the application is shown in FIG. 1.

[0036] Figure 2 A perspective view of one of the embodiments of the tracer in the surgical navigation system of the application is shown in FIG. 2. Figure 1 ;

[0037] Figure 3 A perspective view of one of the embodiments of the tracer in the surgical navigation system of the application is shown in FIG. 2. Figure 2 ;

[0038] Figure 4This is a reverse perspective view of one embodiment of the tracker in the surgical navigation system of this application;

[0039] Figure 5 This is an example of the application of a tracer in the surgical navigation system of this application. Figure 1 ;

[0040] Figure 6 This is an example of the application of a tracer in the surgical navigation system of this application. Figure 2 ;

[0041] Figure 7 This is a schematic diagram illustrating the application of the tracer in the surgical navigation system of this application, as shown in Embodiment 2.

[0042] Figure 8 This is a schematic diagram of an example of a spatial positioning marker element in the surgical navigation system of this application;

[0043] Figure 9 This is a schematic diagram of Example 2 of the spatial positioning marker element in the surgical navigation system of this application;

[0044] Figure 10 This is a schematic diagram of the surgical navigation method executed by the computer program in this application;

[0045] Figure 11 A schematic diagram illustrating the principle of acquiring image information of the object under test using binocular stereo vision.

Detailed Implementation Methods

[0046] Please see Figure 1 The surgical navigation system of this application includes a spatial positioning marker element (not labeled) for mounting on surgical instruments, a tracer (not shown) for fixing on the bone structure to be operated on, a binocular camera 501 for binocular visual spatial positioning, and a graphics workstation computer 502 for navigation. Preoperative bone images 503 are input into the computer 502. The binocular camera is connected to the computer and transmits the acquired information from the tracer and spatial positioning marker element to the computer. Spatial positioning is achieved by tracking the tracer and surgical instruments using visual principles. In the figure, Y represents the reference coordinates of the patient's surgical position and the surgical instruments. The principle of acquiring image information of the measured object using binocular stereo vision is as follows: Figure 11 As shown.

[0047] The graphic workstation computer 502 mainly functions in image reconstruction, importing and reconstructing the 3D model of the patient's bone structure and the 3D model of the surgical instrument; storing the 3D images of various surgical instruments (as well as the positioning information), which can be conveniently switched in the surgery, such as storing the preoperative CT 3D reconstruction image of the patient and the registration information of the 3D printed tracer; bearing the functions of real-time image tracking and image fusion, including the preoperative CT 3D image and the 3D image of the surgical instrument in the surgery; receiving the real-time image from the binocular camera; and using the binocular camera 501 to collect the spatial positioning marker element locator information of the tracer on the patient and the surgical instrument in real time, using the binocular vision positioning algorithm to calculate the position and posture information of the 3D printed tracer and the spatial positioning marker element of the surgical instrument, fusing the position information with the 3D image in real time, which is used to reconstruct the 3D image and posture of the surgical instrument in the computer, so as to realize the visual navigation in the surgery; having the function of boundary recognition or quantitative deviation in the key operation, and providing the function of safe operation in the surgery.

[0048] The computer comprises the following modules:

[0049] The data receiving and storing module is used for receiving the information transmitted by the binocular camera and storing the information.

[0050] The image reconstruction module is used for importing and reconstructing the 3D model of the bone structure to be operated and the 3D model of the surgical instrument, and using the information collected by the binocular camera to reconstruct the 3D image and posture of the surgical instrument in the surgery, so as to realize the visual navigation.

[0051] Please refer to Figures 2-9 , which respectively shows the schematic diagram of the embodiment of the tracer and the spatial positioning marker element. The tracer is provided with at least one navigation tracer surface for navigation positioning, and the spatial positioning marker element comprises at least one navigation surface for surgical instrument tracing.

[0052] Please refer to Figures 2-7 , the tracer is 3D printed, and the embodiment one comprises a guide plate body 100, and a bone fitting surface 101 is arranged below the guide plate body. The surgical guide plate is made according to the preoperative bone image 3D reconstruction, wherein the bone fitting surface 101 is completely fitted with the bone structure surface 302 of the vertebra 300 to be operated. A navigation tracer surface 200 is further arranged above the surgical guide plate, and the navigation tracer surface 200 is directly arranged on the surface 100 of the guide plate body.

[0053] The embodiment is provided with a surgical guide pin hole 103 and a fixing hole 104, the fixing hole 104 is matched with a fixing nail such as a screw for reinforcing fixation on the vertebra 300, so that it is more stable, and the surgical guide pin hole 103 is used for guiding a surgical needle and other instruments. Specifically, the guide plate body 100 in the embodiment includes a main body 110 and a base 120, the fixing hole 104 is arranged on the base 120, and the bone fitting surface 101 is formed on the bottom surface of the base 120, or the bone fitting surface 101 is arranged on any surface of the body 100 corresponding to the surface of the bone structure to be operated according to needs. The guide pin pipe 130 and the reinforcing beam 105 connecting the guide pin pipe 130 and the main body 110 are arranged on the base 120, and the surgical guide pin hole 103 is arranged in the guide pin pipe 130. The main body 110 is also provided with an arch 102 matched with the protruding bone structure 301 on the vertebra.

[0054] In the embodiment, the navigation tracking surface 200 is a plane arranged on the top of the guide plate body 100, and a visible light visual identification tracking pattern 201 is attached to the navigation tracking surface 200, and the plane is directly formed on the guide plate body 100.

[0055] The tracker is designed according to the 3D reconstruction of the bone structure of the patient before the operation, and then a reverse template consistent with the anatomical form is designed in the 3D editing software. In addition to the bone fitting surface and the auxiliary structure, a navigation tracking surface 200 is designed on the top surface of the guide plate, and a light visual identification tracking pattern 201 is arranged. In other embodiments, feature points, reflective points and the like can also be arranged for intraoperative registration or navigation.

[0056] The technical scheme of the application can stably fix the guide plate body and the navigation tracking surface carried thereby on a complex bone structure, can adapt to the bone structures of different patients at different positions, is not easy to deviate, has high navigation precision, reduces the intraoperative image link, and simplifies the surgical process. Through the pattern or feature mark point of the navigation surface, the registration and tracking of the spatial position in the operation range can be realized, the navigation tracking surface is designed according to the navigation requirement, for example, the navigation tracking surface is a plane with a minimum size of 10*10 mm, and a visible light visual identification tracking pattern is attached. The technical method of registration and tracking can also be various, such as X-ray, infrared and the like. In other embodiments, the fixing hole and the surgical guide pin hole can also be omitted. The surgical guide pin hole is used for guiding the surgical instruments when punching or nailing, and when a digital navigation or a surgical robot is applied, the position and angle of punching or nailing are determined through preoperative or intraoperative planning, and the surgical guide pin hole can also be omitted.

[0057] As Figure 7As shown, the tracer embodiment two includes the guide plate body 401 and the navigation tracer surface thereon, the guide plate body 401 is directly fixed on the bone, and is fixed by the complete fitting of the bone fitting surface on the guide plate body with the bone structure surface, so that the tracer can be clamped at the position of the spinal process, and the platform 402 is arranged on the guide plate body 401 as a navigation tracer carrier, and the visible light visual identification tracking pattern 403 is arranged on the platform 402.

[0058] The bone fitting surface perfectly fits the bone structure to be operated, and the error is very small, and the spatial relative position of the tracer after being fixed on the bone structure is unique, which is equivalent to the extension of the bone structure. Therefore, the navigation tracer surface in the spatial position of the tracer is known, and therefore, the perspective image support and registration are not required during the operation, and the direct tracking and positioning can be performed.

[0059] Please refer to Figure 8 and Figure 9 The spatial positioning marker element 600 installed on the specific part of the surgical instrument is a polyhedron, and is provided with at least two navigation surfaces 601 and 602. The navigation surface can be completely photographed by the binocular camera during the operation, and the spatial positioning is performed by the computer. Figure 9 The spatial positioning marker element embodiment two is compared with Figure 8 The spatial positioning marker element embodiment one is additionally provided with the positioning column 603 for fixing and positioning.

[0060] The spatial positioning marker element 600 can also be manufactured by the 3D printing method, the 3D structure of the spatial positioning marker element matched with the 3D model of the surgical instrument is designed in the 3D editing software, and then the 3D printing method is adopted to manufacture and fix the spatial positioning marker element on the surgical instrument. The navigation surface on the spatial positioning marker element can also be more than two, for example, three or four navigation surfaces, and the number of navigation surfaces depends on the operation requirement of the surgical instrument, and the visual tracking and positioning requirement can at least completely photograph one navigation surface.

[0061] Please refer to Figures 1-10 The method for performing surgical navigation by using the surgical navigation system of the present application mainly includes:

[0062] Receiving the image of the bone to be operated and the image of the surgical instrument and generating a three-dimensional model, obtaining the registration information of the tracer fixed on the bone and the calibration information of the spatial positioning marker element on the surgical instrument;

[0063] Receiving the real-time information of the tracer and the spatial positioning marker element collected by the binocular camera;

[0064] According to the real-time information of the tracer and the spatial positioning marker element, the spatial position information of the bone to be operated and the surgical instrument is calculated by using the binocular visual positioning algorithm, and is fused with the three-dimensional model in real time,

[0065] The real-time position relation dynamic image of the bone and the surgical instrument is obtained after fusion, so as to realize the surgical navigation.

[0066] The space positioning marker element of the tracer and the surgical instrument adopts the tracer and the polyhedral space positioning marker element of the above-mentioned embodiment, and the cooperation between the binocular camera and the space positioning marker element of the tracer and the surgical instrument adopts the optical positioning method, the target is observed by the double camera or the multi-camera, and the spatial position of the target is reconstructed by the visual principle, the device occupies small space and has high precision. The binocular stereo vision is based on the parallax principle and uses the imaging device to obtain two images of the measured object from different positions, and the three-dimensional geometric information of the object is obtained by calculating the position deviation between the corresponding points of the images. For example, Figure 11 .

[0067] Specifically, as shown in Figure 1 and Figure 10 , taking the spinal surgery navigation as an example, first, the patient is diagnosed, the bone image information is obtained by CT scanning before the operation, and then the bone 3D reconstruction is carried out by the computer device. The 3D printed tracer is made by 3D printing machine, and the model is edited by 3D reconstruction of the bone structure from the preoperative image. During the operation, the doctor cuts and strips the soft tissue at the incision of the patient, fixes the tracer on the bone structure of the patient, and the tracer becomes the extension of the bone structure, and the pattern of the navigation tracking surface can be optically positioned. The three-dimensional scanning is carried out on the surgical instrument to obtain three-dimensional image information, the space positioning marker element is installed, the space positioning marker element is calibrated, the surgical instrument with the installed space positioning marker element, and the space positioning marker element contains 2-4 navigation surfaces, which can be optically positioned as the 3D printed tracer. The computer imports the 3D models of the bone, the tracer and the surgical instrument.

[0068] During the operation, the computer initializes the 3D model image, obtains the image information through the binocular camera, tracks the spatial position information of the tracer and the surgical instrument, and connects the binocular camera to the computer. The video data collected by the binocular camera is transmitted to the computer in real time. The computer calculates the relative position relation of the patient's bone and the surgical instrument by using the binocular vision positioning algorithm according to the real-time image, fuses the position information of the surgical instrument and the patient's bone structure with the 3D model of the bone and the 3D model of the surgical instrument obtained from the preoperative image, and obtains the real-time position relation dynamic image of the bone and the surgical instrument. The dynamic image of the bone and the surgical instrument is displayed in real time through the monitor connected to the computer, so that the doctor can observe the monitor to perform synchronous operation, thereby realizing the visual navigation of the operation.

[0069] Before the operation, CT scanning and 3D reconstruction are performed on the operation site of the patient, and then 3D printing tracer (surgical guide plate) design and production are performed in the 3D editing software, and the bone model and tracer model are imported into the graphic workstation computer of the operation system before the operation. Before the operation, the surgical instruments used in the operation are scanned in three dimensions and imported into the computer (or a surgical instrument library is prepared), and the navigation markers are calibrated so that the attitude position error is within an acceptable range.

[0070] The computer mainly realizes real-time image fusion and quantitative monitoring of the position information of the surgical instrument. First, the starting instruction is accepted, and the three-dimensional image reconstruction of the patient and the three-dimensional image fusion of the surgical instrument are started. During the operation, the real-time images returned by the binocular camera are received for image analysis to obtain the position information of the operation site and the surgical instrument, and the 3D model is fused and displayed on the navigation display.

[0071] The application also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to make the processor execute the above-mentioned surgical navigation method.

[0072] The application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by the processor to make the processor execute the above-mentioned surgical navigation method.

[0073] The surgical navigation system of the application can be applied to spinal surgery, pelvic and thoracic surgery, joint surgery, trauma surgery, bone tumor and orthopedic surgery.

[0074] The above only describes the preferred embodiments of the application, and the protection scope of the application is not limited thereto, and any equivalent transformation based on the technical solutions of the application belongs to the protection scope of the application.

Claims

1. A surgical navigation system, characterized by, It includes a spatial positioning marker element for mounting on a surgical instrument, a tracer for fixing on a bone structure to be operated, a binocular camera for binocular vision spatial positioning, and a graphic workstation computer as a navigation terminal, the tracer includes a surgical guide plate, at least one navigation tracer surface for navigation positioning is arranged on the surgical guide plate, the tracer is provided with at least one bone fitting surface for fitting with the bone to be operated, the spatial positioning marker element is a polyhedron, and at least two navigation surfaces for tracer of the surgical instrument are arranged, the binocular camera is connected with the computer, and the information of the tracer and the spatial positioning marker element collected is transmitted to the computer, the computer calculates the spatial position relationship between the surgical instrument and the bone structure in real time through a binocular vision positioning algorithm, the surgical guide plate includes a guide plate body, the guide plate body includes a main body and a base, the bone fitting surface is generated on the bottom surface of the base, or the bone fitting surface is arranged on any surface of the main body corresponding to the surface of the bone structure to be operated, a guide needle tube is arranged on the base, and a surgical guide needle hole is arranged in the guide needle tube.

2. The surgical navigation system of claim 1, wherein, The surgical guide plate is a surgical guide plate constructed by 3D printing.

3. The surgical navigation system of claim 2, wherein, The surgical guide plate includes a guide plate body, the navigation tracer surface is directly formed on the guide plate body, or the navigation tracer surface is arranged on a navigation tracer carrier, the navigation tracer carrier is arranged on the guide plate body, and the navigation tracer surface is a plane with a visible light visual identification tracking pattern, a radiographic film with one or more feature points, or a tracer surface formed by a plurality of feature points.

4. The surgical navigation system of claim 1, wherein, The computer includes the following modules: A data receiving and storing module is arranged to receive the information transmitted by the binocular camera and store the information. An image reconstruction module is arranged to import and reconstruct a three-dimensional model of the bone structure to be operated and a three-dimensional model of the surgical instrument, and to use the information collected by the binocular camera to reconstruct a three-dimensional image and a posture of the surgical instrument in the operation, so as to realize visual navigation.

5. A computer device for performing a surgical navigation method, comprising a memory and a processor, the memory having stored therein a computer program, characterized in that, The computer device is applied to the surgical navigation system according to any one of claims 1-4, and the computer program is executed by the processor to make the processor execute a surgical navigation method, the method comprising: Receiving images of the bone to be operated and images of the surgical instrument and generating three-dimensional models, obtaining registration information of the tracer fixed on the bone and calibration information of the spatial positioning marker element on the surgical instrument; Receiving real-time information of the tracer and the spatial positioning marker element collected by the binocular camera; According to the real-time information of the tracer and the spatial positioning marker element, the spatial position information of the bone to be operated and the surgical instrument is calculated by using a binocular vision positioning algorithm, and is fused with the three-dimensional model in real time, After fusion, a real-time position relationship dynamic image of the bone and the surgical instrument is obtained, so as to realize surgical navigation.

6. The computer device of claim 5, wherein, The tracer comprises a surgical guide plate constructed by 3D printing, at least one navigation tracer surface on the surgical guide plate is arranged to be optically positioned by the binocular camera, the tracer is provided with at least one bone-fitting surface for being fixedly fitted with the bone to be operated; and the space positioning marker element is a polyhedron and is provided with at least two navigation surfaces which can be optically positioned by the binocular camera.

7. The computer device of claim 6, wherein, The method further comprises: before the operation, the tracer three-dimensional model is designed by 3D according to the three-dimensional model of the bone to be operated, the tracer is manufactured by printing, and the three-dimensional model of the tracer is imported into the computer memory; before the operation, the three-dimensional image information of the surgical instrument is obtained by three-dimensional scanning, the space positioning marker element is calibrated, and the space positioning marker element is imported into the computer memory.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that The computer readable storage medium is applied to the computer device of the surgical navigation system according to any one of claims 1-5, and the computer program is executed by the processor to make the processor execute the surgical navigation method: receiving the image of the bone to be operated and the image of the surgical instrument and generating the three-dimensional model, obtaining the registration information of the tracer fixed on the bone and the calibration information of the space positioning marker element on the surgical instrument; receiving the real-time information of the tracer and the space positioning marker element collected by the binocular camera; according to the real-time information of the tracer and the space positioning marker element, the spatial position information of the bone to be operated and the surgical instrument is calculated by using the binocular vision positioning algorithm, and is fused with the three-dimensional model in real time, after the fusion, the real-time position relationship dynamic image of the bone and the surgical instrument is obtained, so that the surgical navigation is realized.

Images