Skeletal realignment device, skeletal positioning method, device, computer equipment and medium

Abstract

The application discloses a skeleton resetting device, a skeleton positioning method and device, computer equipment and a medium. The initial position coordinate system of a repaired skeleton before installation of a bone needle and the bone needle position coordinate system after installation of the bone needle are obtained, the initial position coordinate system and the bone needle position coordinate system are matched into one repaired coordinate system, the skeleton coordinate information and the bone needle coordinate information in the repaired coordinate system are added to the matching image of the repaired skeleton, and the matching image is displayed. The repaired skeleton image after matching and the coordinate information of each part of the repaired skeleton can be accurately and intuitively displayed, the existing skeleton positioning method in the prior art needs to continuously confirm multiple X-ray images, the mapping between the additional image and the actual position of the pelvis is not intuitive, the doctor needs to determine by experience, and the skeleton positioning is not accurate and the obtained skeleton coordinate information cannot be combined with the medical image of the repaired skeleton.

Description

Technical Field

[0001] This invention relates to the field of coordinate balancing technology, and in particular to a skeleton resetting device, a skeleton positioning method, an apparatus, a computer device, and a medium. Background Technology

[0002] In traditional artificial pelvic reduction surgery, the surgeon typically uses tools such as bone pins to adjust and fix the affected area of ​​the pelvis to achieve reduction, with the guidance of preoperative and intraoperative X-ray images. However, in practice, the reduction status usually requires multiple X-ray images for continuous confirmation. Furthermore, the mapping between the images and the actual position of the pelvis is not intuitive enough, requiring the doctor to rely on experience to judge, thus indirectly prolonging the operation time.

[0003] To address the aforementioned issues, Shanghai University proposed a hybrid serial-parallel pelvic fracture reduction robot, employing a combination of linear modules and spherical parallel mechanisms to achieve skeletal positioning. However, in the patent document, this system cannot integrate with medical imaging of the pelvis to allow the robot to perceive the pelvic position and obtain positional feedback; in other words, the system cannot visually display the position of the fixed skeletal frame.

[0004] Therefore, how to propose a skeleton localization method that can accurately identify the skeleton position and display it accordingly has become an urgent problem to be solved. Summary of the Invention

[0005] Based on this, it is necessary to address the above problems by proposing a skeleton repositioning device, skeleton positioning method, apparatus, computer equipment, and medium that can accurately identify and display the skeleton position, facilitating skeleton positioning for doctors.

[0006] A method for skeletal positioning, wherein a skeletal repositioning device is provided with bone pins, the method comprising:

[0007] Acquire an initial skeleton image of the repair skeleton and a first preset coordinate system, wherein the initial skeleton image is used to acquire the first coordinate information of the repair skeleton;

[0008] The first coordinate information is added to the first preset coordinate system to generate an initial position coordinate system;

[0009] Several repair implantation points are generated on the initial position coordinate system. The repair implantation points are used to position the skeleton repositioning device on the repair skeleton and implant the bone needle.

[0010] The skeleton calibration image of the repair skeleton after the bone needle is implanted and the second preset coordinate system are obtained. The skeleton calibration image is used to obtain the second coordinate information of the repair skeleton after the bone needle is implanted and the coordinate information of the bone needle.

[0011] The second coordinate information of the repaired skeleton after the bone needle is input and the coordinate information of the bone needle are added into the second preset coordinate system to generate the bone needle position coordinate system.

[0012] The initial position coordinate system and the bone needle position coordinate system are registered to generate a repair coordinate system;

[0013] Obtain the skeleton coordinate information of the repair skeleton and the bone needle coordinate information of the bone needle in the repair coordinate system, and add the skeleton coordinate information and bone needle coordinate information to the skeleton calibration image to generate a registered skeleton image;

[0014] The registered skeleton image is displayed.

[0015] Furthermore, the repair skeleton includes a movable part and a fixed part;

[0016] After the step of displaying the registered skeleton image, the method further includes:

[0017] The skeleton repositioning device is controlled to move the bone pin, thereby adjusting the relative position between the moving part and the fixing part;

[0018] Obtain the image of the repaired skeleton after adjustment;

[0019] Determine whether there is misalignment between the fixed part and the moving part based on the repaired skeleton image;

[0020] If not, send a bone needle stop message.

[0021] Furthermore, the repair implantation points include fixed implantation points and movable implantation points;

[0022] The step of generating several repair implantation points on the initial position coordinate system, wherein the repair implantation points are used to implant bone pins on the repair skeleton, specifically includes:

[0023] Obtain the input implantation location information, which includes the fixed implantation point location and the mobile implantation point location;

[0024] The fixed implantation point is generated on the initial position coordinate system according to the location of the fixed implantation point.

[0025] The mobile implantation point is generated on the initial position coordinate system according to the location of the mobile implantation point.

[0026] The skeleton repositioning device controls the implantation of bone pins at the fixed implantation point and the movable implantation point corresponding to the positions of the repair skeleton.

[0027] Furthermore, the bone pin includes a movable bone pin and a fixed bone pin;

[0028] The step of controlling the skeleton repositioning device to implant the bone pin at the fixed implantation point and the movable implantation point corresponding to the repair skeleton specifically includes:

[0029] The device for controlling the skeleton repositioning implants the fixation bone pin on the fixation part according to the fixation implantation point;

[0030] The control device for repositioning the skeleton implants the movable bone needle into the movable part according to the movable implantation point.

[0031] Furthermore, the step of registering the initial position coordinate system and the bone needle position coordinate system to generate a repair coordinate system specifically includes:

[0032] The initial position coordinate system and the bone needle position coordinate system are registered to generate an initial registration coordinate system;

[0033] Obtain the skeleton reset path, which is used to enable the skeleton reset device to control the moving bone pin to follow the movement.

[0034] Add the skeleton reset path to the initial registration coordinate system to generate the registration coordinate system;

[0035] A bone needle positioning coordinate system is generated based on the position information of the movable implantation point and the fixed implantation point;

[0036] The registration coordinate system and the bone pin positioning coordinate system are registered to the same preset optical coordinate system, thereby generating a preset optical coordinate system with the skeleton repositioning path, the fixed implantation point and the moving implantation point;

[0037] The preset optical coordinate system is denoted as the repair coordinate system.

[0038] A skeleton repositioning device for repairing skeletons includes a movable part and a fixed part. The skeleton repositioning device includes a robotic arm, a fixed slide rail, a fixed bone pin, a movable bone pin, and an optical tracker.

[0039] One end of the fixed bone pin is inserted into the fixed slide rail, and the other end of the fixed bone pin is inserted into the fixed part. One end of the movable bone pin is fixed to the front end of the robotic arm, and the other end of the movable bone pin is inserted into the movable part. The optical tracker is set on one side of the robotic arm and the fixed slide rail. The optical tracker and the robotic arm are also connected to the back-end system.

[0040] The movable bone needle includes a first bone needle fixation box and a first medical bone needle;

[0041] The bone needle fixation box is fixed to the front end of the robotic arm. One end of the first medical bone needle is fixed inside the bone needle fixation box, and the other end of the first medical bone needle is inserted into the moving part. The outer wall of the first bone needle fixation box is provided with reflective marks for coordinate system positioning.

[0042] Furthermore, the fixed slide rail includes a longitudinal slide rail and a transverse slide rail, and the fixed bone pin includes a second bone pin fixing box and a second medical bone pin.

[0043] One end of the transverse slide rail is fixed to the longitudinal slide rail, the second bone needle fixation box is fixed to the side wall of the transverse slide rail, one end of the second medical bone needle is fixed inside the second bone needle fixation box, and the other end of the second medical bone needle is inserted into the fixation part.

[0044] A skeleton positioning device, wherein the skeleton repositioning device is provided with bone pins, the device comprising:

[0045] The first image acquisition unit is used to acquire an initial skeleton image of the repair skeleton and a first preset coordinate system, wherein the initial skeleton image is used to acquire the first coordinate information of the repair skeleton;

[0046] The first coordinate system generation unit is used to add the first coordinate information into the first preset coordinate system to generate an initial position coordinate system.

[0047] An implantation point generation unit is used to generate a plurality of repair implantation points on the initial position coordinate system. The repair implantation points are used to position the skeleton repositioning device on the repair skeleton and implant the bone needle.

[0048] The second image acquisition unit is used to acquire the skeleton calibration image of the repair skeleton after the bone needle is implanted and the second preset coordinate system. The skeleton calibration image is used to acquire the second coordinate information of the repair skeleton after the bone needle is implanted and the coordinate information of the bone needle.

[0049] The second coordinate system generation unit is used to add the second coordinate information of the repaired skeleton and the coordinate information of the bone needle into the second preset coordinate system, thereby generating a bone needle position coordinate system.

[0050] The registration unit is used to register the initial position coordinate system and the bone needle position coordinate system to generate a repair coordinate system.

[0051] The skeleton image acquisition unit is used to acquire the skeleton coordinate information of the repair skeleton and the bone needle coordinate information of the bone needle in the repair coordinate system, and add the skeleton coordinate information and bone needle coordinate information to the skeleton calibration image to generate a registered skeleton image.

[0052] The display unit is used to display the registered skeleton image.

[0053] A computer device includes a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the following steps:

[0054] Acquire an initial skeleton image of the repair skeleton and a first preset coordinate system, wherein the initial skeleton image is used to acquire the first coordinate information of the repair skeleton;

[0055] The first coordinate information is added to the first preset coordinate system to generate an initial position coordinate system;

[0056] Several repair implantation points are generated on the initial position coordinate system. The repair implantation points are used to position the skeleton repositioning device on the repair skeleton and implant the bone needle.

[0057] The skeleton calibration image of the repair skeleton after the bone needle is implanted and the second preset coordinate system are obtained. The skeleton calibration image is used to obtain the second coordinate information of the repair skeleton after the bone needle is implanted and the coordinate information of the bone needle.

[0058] The second coordinate information of the repaired skeleton after the bone needle is input and the coordinate information of the bone needle are added into the second preset coordinate system to generate the bone needle position coordinate system.

[0059] The initial position coordinate system and the bone needle position coordinate system are registered to generate a repair coordinate system;

[0060] Obtain the skeleton coordinate information of the repair skeleton and the bone needle coordinate information of the bone needle in the repair coordinate system, and add the skeleton coordinate information and bone needle coordinate information to the skeleton calibration image to generate a registered skeleton image;

[0061] The registered skeleton image is displayed.

[0062] A computer-readable medium storing a computer program, which, when executed by a processor, causes the processor to perform the following steps:

[0063] Acquire an initial skeleton image of the repair skeleton and a first preset coordinate system, wherein the initial skeleton image is used to acquire the first coordinate information of the repair skeleton;

[0064] The first coordinate information is added to the first preset coordinate system to generate an initial position coordinate system;

[0065] Several repair implantation points are generated on the initial position coordinate system. The repair implantation points are used to position the skeleton repositioning device on the repair skeleton and implant the bone needle.

[0066] The skeleton calibration image of the repair skeleton after the bone needle is implanted and the second preset coordinate system are obtained. The skeleton calibration image is used to obtain the second coordinate information of the repair skeleton after the bone needle is implanted and the coordinate information of the bone needle.

[0067] The second coordinate information of the repaired skeleton after the bone needle is input and the coordinate information of the bone needle are added into the second preset coordinate system to generate the bone needle position coordinate system.

[0068] The initial position coordinate system and the bone needle position coordinate system are registered to generate a repair coordinate system;

[0069] Obtain the skeleton coordinate information of the repair skeleton and the bone needle coordinate information of the bone needle in the repair coordinate system, and add the skeleton coordinate information and bone needle coordinate information to the skeleton calibration image to generate a registered skeleton image;

[0070] The registered skeleton image is displayed.

[0071] The aforementioned skeleton repositioning device, skeleton positioning method, apparatus, computer equipment, and medium acquire the initial position coordinate system of the repair skeleton before bone pin installation and the bone pin position coordinate system after bone pin installation. After registering the initial position coordinate system and the bone pin position coordinate system to the same repair coordinate system, the skeleton coordinate information and bone pin coordinate information within the repair coordinate system are added to the registered image of the repair skeleton for display. This achieves accurate and intuitive display of the registered repair skeleton image and the coordinate information of each part of the repair skeleton. It solves the problems of existing skeleton positioning methods requiring multiple X-ray images for continuous confirmation, and the insufficiently intuitive mapping between the images and the actual pelvic position, requiring doctors to rely on experience for judgment. This leads to inaccurate skeleton positioning and the inability to combine the acquired skeleton coordinate information with the medical images of the repair skeleton, thus improving the accuracy of the repair skeleton image and the coordinate information of each part of the repair skeleton. Attached Figure Description

[0072] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0073] in:

[0074] Figure 1 Here is a flowchart of a skeleton localization method in one embodiment;

[0075] Figure 2 This is a schematic diagram of the skeleton resetting device in one embodiment;

[0076] Figure 3 This is a schematic diagram of the structure of the movable bone needle in one embodiment;

[0077] Figure 4 This is a schematic diagram of the structure for fixing bone pins in one embodiment;

[0078] Figure 5 This is a schematic diagram of the skeleton positioning device in one embodiment;

[0079] Figure 6 This is a structural block diagram of a computer device in one embodiment. Detailed Implementation

[0080] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0081] like Figure 1 The illustrated skeletal positioning method includes a skeletal repositioning device equipped with bone pins. The method comprises:

[0082] S1. Obtain an initial skeleton image of the repair skeleton and a first preset coordinate system, wherein the initial skeleton image is used to obtain the first coordinate information of the repair skeleton;

[0083] As described in step S1 above, the background system acquires the initial skeletal image of the patient before skeletal repair using a fluoroscopic imaging device. The fluoroscopic imaging device can be a CT scanner, X-ray machine, or MRI scanner. The initial skeletal image is a fluoroscopic photograph of the skeleton generated by the fluoroscopic image generation device, such as an X-ray photograph, CT photograph, or MRI photograph. After acquiring the initial skeletal image, the background system obtains a first preset coordinate system and, based on the initial skeletal image, obtains the first coordinate information of the initial skeleton. The first coordinate information is the position coordinate of the initial skeleton in the first preset coordinate system, which can be a two-dimensional coordinate system or a three-dimensional coordinate system. It is understood that the background system is generally a background server. Furthermore, the background system can be an independent server or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. This invention does not limit this.

[0084] S2. Add the first coordinate information to the first preset coordinate system to generate an initial position coordinate system;

[0085] As described in step S2 above, the background system adds the first coordinate information to the first preset coordinate system, thereby generating an initial position coordinate system with the position coordinates of the initial skeleton on the first preset coordinate system.

[0086] S3. Generate several repair implantation points on the initial position coordinate system. The repair implantation points are used to position the skeleton repositioning device on the repair skeleton and implant the bone needle.

[0087] As described in step S3 above, the backend system generates several repair implantation points on the initial position coordinate system. These repair implantation points are input by the backend staff on the initial position coordinate system, thereby generating the repair implantation points at the positions corresponding to the repair skeleton and the initial position coordinate system. It can be understood that the number of repair implantation points can be single or multiple. The number of repair implantation points generated can be set by the backend staff. This invention does not limit the number of repair implantation points. Afterward, the skeleton resetting device implants the bone needles at the repair implantation point positions of the repair skeleton, thereby achieving the fixation effect of the repair skeleton. When the repair skeleton is split into multiple split parts, the repair implantation points can also be generated on each of the split parts. After the skeleton resetting device implants the bone needles at the repair implantation points corresponding to the split parts, the skeleton resetting device can also move each of the split parts by moving the bone needles, thereby achieving the effect of restoring the repair skeleton.

[0088] For example, if the back-end staff is a hospital doctor and the repair skeleton is the patient's pelvis after a fracture, then the repair skeleton is split into two pieces with displacement after the fracture. At this time, the hospital doctor can generate a repair implantation point on each piece of the repair skeleton, and control the skeleton repositioning device to implant the bone pin on the repair skeleton according to the position of the repair implantation point. By moving the bone pin, the repair skeleton is moved to achieve the effect of skeleton repositioning.

[0089] S4. Obtain the skeleton calibration image of the repair skeleton after the bone needle is implanted and the second preset coordinate system. The skeleton calibration image is used to obtain the second coordinate information of the repair skeleton after the bone needle is implanted and the coordinate information of the bone needle.

[0090] As described in step S4 above, the background system obtains a skeleton calibration image of the repaired skeleton after the bone needle is implanted through a fluoroscopic image inspection device. At this time, the skeleton calibration image contains a fluoroscopic image of the repaired skeleton after the bone needle is implanted and an image of the bone needle. Then, the background system obtains the second preset coordinate system and obtains the second coordinate information of the repaired skeleton after the bone needle is implanted and the coordinate information of the bone needle from the skeleton calibration image.

[0091] S5. Add the second coordinate information of the repaired skeleton after the bone needle is inserted and the coordinate information of the bone needle into the second preset coordinate system to generate the bone needle position coordinate system.

[0092] As described in step S5 above, the background system adds the second coordinate information of the repair skeleton after the bone needle is implanted and the coordinate information of the bone needle to the second preset coordinate system, thereby generating a bone needle position coordinate system. This generates a bone needle position coordinate system with the second coordinate information of the repair skeleton and the coordinate information of the bone needle. Since the coordinate position of the repair skeleton changes after the bone needle is implanted, the second coordinate position of the repair skeleton in the bone needle position coordinate system is not consistent with the first coordinate position of the repair skeleton in the initial position coordinate system. Therefore, it is necessary to re-register the coordinate position of the repair skeleton. It is understood that the bone needle position coordinate system can be a two-dimensional coordinate system or a three-dimensional coordinate system, and the present invention does not limit it.

[0093] S6. Register the initial position coordinate system and the bone needle position coordinate system to generate a repair coordinate system;

[0094] As described in step S6 above, the backend system registers the initial position coordinate system and the bone needle position coordinate system to prevent the coordinate position of the repair skeleton from changing after the bone needle is implanted. After the backend system registers the initial position coordinate system and the bone needle position coordinate system, the backend system can obtain a repair coordinate system with the coordinate position of the bone needle. It can be understood that the repair coordinate system can be a two-dimensional coordinate system or a three-dimensional coordinate system, and the present invention does not limit it.

[0095] S7. Obtain the skeleton coordinate information of the repair skeleton and the bone needle coordinate information of the bone needle in the repair coordinate system, and add the skeleton coordinate information and the bone needle coordinate information to the skeleton calibration image to generate a registered skeleton image.

[0096] As described in step S7 above, the background system obtains the skeleton coordinate information of the repair skeleton from the repair coordinate system, thereby obtaining the accurate coordinate position of the repair skeleton. At the same time, the background system obtains the bone needle coordinate information of the bone needle from the repair coordinate system, thereby obtaining the accurate coordinate position of the bone needle. Then, the background system adds the skeleton coordinate information and the bone needle coordinate information to the skeleton calibration image to generate a skeleton calibration image with the skeleton coordinate information and the bone needle coordinate information.

[0097] S8. Display the registered skeleton image.

[0098] As shown in step S8 above, the background system outputs the registered skeleton image to an external display device for display, so that the background staff can accurately identify the repair skeleton and its coordinate position on the display device, thereby achieving the function of accurately locating the repair skeleton.

[0099] This embodiment, through the above method, obtains the initial position coordinate system of the repair skeleton before bone pin installation and the bone pin position coordinate system after bone pin installation. It then registers the initial position coordinate system and the bone pin position coordinate system into the same repair coordinate system, and adds the skeleton coordinate information and bone pin coordinate information within the repair coordinate system to the registered image of the repair skeleton for display. This achieves accurate and intuitive display of the registered repair skeleton image and the coordinate information of each part of the repair skeleton. It solves the problems of existing skeleton positioning methods requiring multiple X-ray images for continuous confirmation, and the insufficiently intuitive mapping between the images and the actual pelvic position, requiring doctors to rely on experience for judgment. This leads to inaccurate skeleton positioning and the inability to combine the acquired skeleton coordinate information with the medical images of the repair skeleton. Therefore, it improves the accuracy of the repair skeleton image and the coordinate information of each part of the repair skeleton.

[0100] In one embodiment, the repair skeleton includes a movable part and a fixed part;

[0101] After step S8, the method further includes:

[0102] S9. Control the skeleton resetting device to move the bone pin, thereby adjusting the relative position between the moving part and the fixed part, obtain the repair skeleton image after adjustment, determine whether there is misalignment between the fixed part and the moving part based on the repair skeleton image, and if not, send bone pin stop information.

[0103] As described in the above embodiments, bone pins are fixed on both the moving part and the fixed part. When there is a misalignment between the moving part and the fixed part, the back-end staff controls the skeleton repositioning device to move the bone pins, thereby adjusting the relative position between the moving part and the fixed part. At the same time, the back-end system synchronously acquires the repair skeleton image through the fluoroscopic image examination device, and obtains the position information of the moving part and the fixed part in the repair coordinate system in real time based on the repair skeleton image. It also determines whether there is a misalignment between the fixed part and the moving part. If not, it sends a bone pin stop information, which is displayed on the display device. The back-end staff can stop moving the bone pins according to the bone pin stop information, thereby achieving the effect of repositioning the repair skeleton.

[0104] This embodiment, through the above method, moves the repair skeleton by the bone needle and judges whether the repair skeleton is misaligned based on the repair skeleton image after repair, thus achieving accurate identification of whether the repair skeleton is still misaligned after repair, and improving the repair effect of the repair skeleton.

[0105] In one embodiment, the repair implantation point includes a fixed implantation point and a movable implantation point;

[0106] Step S3 specifically includes:

[0107] S10. Obtain the input implantation location information, which includes the fixed implantation point location and the movable implantation point location. Generate the fixed implantation point on the initial position coordinate system based on the fixed implantation point location. Generate the movable implantation point on the initial position coordinate system based on the movable implantation point location. Control the skeleton repositioning device to implant the bone needle on the fixed implantation point and the movable implantation point.

[0108] As described in the above embodiments, the backend system obtains the implantation location information input by the backend staff. The implantation location information includes several fixed implantation points and several movable implantation points. Then, the backend system generates the fixed implantation points on the initial position coordinate system according to the positions of the fixed implantation points. The fixed implantation points are used to implant the bone needles on the fixation part. At the same time, the backend system generates the movable implantation points on the initial position coordinate system according to the positions of the movable implantation points. The movable implantation points are used to implant the bone needles on the movable part. Then, the backend system controls the skeleton repositioning device to implant the bone needles at the positions corresponding to the fixed implantation points on the fixation part and at the positions corresponding to the movable implantation points on the movable part.

[0109] This embodiment, through the above method, generates the mobile implantation point on the initial position coordinate system by obtaining the position of the mobile implantation point, and implants the bone needle at both the fixed implantation point and the mobile implantation point, thereby achieving accurate identification of the position of the bone needle implanted on the repair skeleton and improving the accuracy of the bone needle implantation position selection.

[0110] In one embodiment, the bone pin includes a movable bone pin and a fixed bone pin;

[0111] The control of the skeleton repositioning device to implant the bone needle at the fixed implantation point and the movable implantation point specifically includes:

[0112] S11. Control the skeleton repositioning device to implant the fixed bone pin on the fixed part according to the fixed implantation point, and control the skeleton repositioning device to implant the movable bone pin on the movable part according to the movable implantation point.

[0113] As described in the above embodiments, the number of movable bone pins matches the number of movable implantation points, and the number of fixed bone pins matches the number of fixed implantation points. After the background system obtains the fixed implantation points and the movable implantation points, it displays the fixed implantation points and the movable implantation points on the display device. The background staff controls the skeleton repositioning device to implant the fixed bone pins into the positions corresponding to the fixed implantation points on the fixed part. At the same time, the background staff controls the skeleton repositioning device to implant the movable bone pins into the positions corresponding to the movable implantation points on the movable part, thereby completing the bone pin fixation step of repositioning the repair skeleton.

[0114] This embodiment, through the above method, by implanting the fixed bone pin at the fixed implantation point on the fixed part, and simultaneously implanting the movable bone pin at the movable implantation point on the movable part, enables the implantation of different types of bone pins according to different conditions of the repair skeleton, thereby improving the restoration effect of the repair skeleton.

[0115] In one embodiment, step S4 specifically includes:

[0116] S10. Register the initial position coordinate system and the bone pin position coordinate system to generate an initial registration coordinate system. Obtain the skeleton reset path. The skeleton reset path is used to allow the skeleton reset device to control the moving bone pin to follow the movement. Add the skeleton reset path to the initial registration coordinate system to generate a registration coordinate system. Generate a bone pin positioning coordinate system based on the position information of the moving implantation point and the fixed implantation point. Register the registration coordinate system and the bone pin positioning coordinate system to the same preset optical coordinate system to generate a preset optical coordinate system with the skeleton reset path, the fixed implantation point, and the moving implantation point. The preset optical coordinate system is denoted as the repair coordinate system.

[0117] As described in the above embodiments, the backend system registers the initial position coordinate system and the bone needle position coordinate system into the same coordinate system, and records this coordinate system as the initial registration coordinate system. Then, the backend system obtains the skeleton reset path, which is the reset path input by the backend staff, and is used to enable the skeleton reset device to control the moving bone needle to follow the movement. Then, the backend system adds the skeleton reset path into the initial registration coordinate system, thereby generating the registration coordinate system. Then, the backend system generates a bone needle positioning coordinate system with bone needle position according to the moving implantation point and the fixed position information, and registers the registration coordinate system and the bone needle positioning coordinate system into the same preset optical coordinate system, thereby generating the preset optical coordinate system with the skeleton reset path, the fixed implantation point and the moving implantation point. The preset optical coordinate system is recorded as the repair coordinate system. It can be understood that the preset optical coordinate system has the advantage of high precision compared with general planar or three-dimensional coordinate systems, and can output more accurate positioning effect.

[0118] like Figure 2 , Figure 3 and Figure 4 The illustrated skeleton repositioning device repairs the skeleton by including a moving part and a fixing part. The skeleton repositioning device includes a robotic arm 10, a fixed slide rail 20, a fixed bone pin 30, a moving bone pin 40, and an optical tracker 50.

[0119] One end of the fixed bone pin 30 is inserted into the fixed slide rail 20, and the other end of the fixed bone pin 30 is inserted into the fixed part. One end of the movable bone pin 40 is fixed to the front end of the robotic arm 10, and the other end of the movable bone pin 40 is inserted into the movable part. The optical tracker 50 is set on one side of the robotic arm 10 and the fixed slide rail 20. The optical tracker 50 and the robotic arm 10 are also connected to the background system.

[0120] like Figure 3 As shown, the movable bone needle 40 includes a first bone needle fixation box 41 and a first medical bone needle 42;

[0121] The bone needle fixation box 41 is fixed to the front end of the robotic arm 1. One end of the first medical bone needle 42 is fixed inside the bone needle fixation box 41, and the other end of the first medical bone needle 42 is inserted into the moving part. The outer wall of the first bone needle fixation box 42 is provided with reflective marks 43 for coordinate system positioning.

[0122] As described in the above embodiment, the backstage staff moves the fixed bone pin 30 to a designated position via the fixed slide rail 2, inserts the fixed bone pin 30 into the fixed part, and fixes the fixed bone pin 30, thereby achieving the effect of fixing the fixed part. Then, the backstage staff moves the moving bone pin 40 to a designated position via the robotic arm 10, inserts the moving bone pin 40 into the moving part, and fixes the moving bone pin 40, thereby achieving the effect that the moving part can be controlled and moved by the robotic arm 10. At the same time, the optical tracker 50 obtains the current coordinate position of the moving bone pin 40 in real time through the reflective mark 43 on the first bone pin fixing box 41, thereby preventing the moving bone pin 40 from being misaligned during the process of following the robotic arm 10.

[0123] like Figure 4 As shown, in one embodiment, the fixed slide rail 20 includes a longitudinal slide rail 21 and a transverse slide rail 22, and the fixed bone pin 30 includes a second bone pin fixing box 31 and a second medical bone pin 32.

[0124] One end of the transverse slide rail 22 is fixed to the longitudinal slide rail 21. The second bone needle fixation box 31 is fixed to the side wall of the transverse slide rail 22. One end of the second medical bone needle 31 is fixed inside the second bone needle fixation box 31, and the other end of the second medical bone needle 32 is inserted into the fixation part.

[0125] As described in the above embodiment, the back-end staff moves the position of the second medical bone needle 32 by means of the longitudinal slide rail 21 and the transverse slide rail 22, and locks the longitudinal slide rail 21 and the transverse slide rail 22 after the second medical bone needle 32 is inserted into the fixation part, thereby fixing the position of the second medical bone needle 32 and achieving the effect of fixing the fixation part.

[0126] like Figure 5 The illustrated skeleton positioning device includes a skeleton repositioning device with bone pins. The device comprises:

[0127] The first image acquisition unit 1 is used to acquire an initial skeleton image of the repair skeleton and a first preset coordinate system, wherein the initial skeleton image is used to acquire the first coordinate information of the repair skeleton.

[0128] The first coordinate system generation unit 2 is used to add the first coordinate information into the first preset coordinate system, thereby generating an initial position coordinate system;

[0129] The implantation point generation unit 3 is used to generate a plurality of repair implantation points on the initial position coordinate system. The repair implantation points are used to position the skeleton repositioning device on the repair skeleton and implant the bone needle.

[0130] The second image acquisition unit 4 is used to acquire the skeleton calibration image of the repair skeleton after the bone needle is implanted and the second preset coordinate system. The skeleton calibration image is used to acquire the second coordinate information of the repair skeleton after the bone needle is implanted and the coordinate information of the bone needle.

[0131] The second coordinate system generation unit 5 is used to add the second coordinate information of the repaired skeleton and the coordinate information of the bone needle into the second preset coordinate system, thereby generating a bone needle position coordinate system.

[0132] Registration unit 6 is used to register the initial position coordinate system and the bone needle position coordinate system to generate a repair coordinate system;

[0133] The skeleton image acquisition unit 7 is used to acquire the skeleton coordinate information of the repair skeleton and the bone needle coordinate information of the bone needle in the repair coordinate system, and add the skeleton coordinate information and bone needle coordinate information to the skeleton calibration image to generate a registered skeleton image.

[0134] Display unit 8 is used to display the registered skeleton image.

[0135] Each of the above-mentioned units is responsible for executing the skeleton positioning device, and will not be described in detail here.

[0136] Figure 6 An internal structural diagram of a computer device in one embodiment is shown. This computer device may specifically be a server, including but not limited to high-performance computers and high-performance computer clusters. Figure 3 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program enables the processor to implement the employee status determination method. The internal memory may also store a computer program, which, when executed by the processor, enables the processor to execute the hand model generation method.

[0137] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the computer device to which the present invention is applied. A specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0138] In one embodiment, the customer behavior recognition method provided in this application can be implemented as a computer program, which can be implemented in the form of, for example... Figure 3The computer device shown runs on this device. The computer device's memory can store various program templates that make up the automatic mail sorting and aggregation device. These include, for example, a first image acquisition unit 1, a first coordinate system generation unit 2, an implantation point generation unit 3, a second image acquisition unit 4, a second coordinate system generation unit 5, a registration unit 6, a skeleton image acquisition unit 7, and a display unit 8.

[0139] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the following steps:

[0140] An initial skeleton image of the repair skeleton and a first preset coordinate system are acquired. The initial skeleton image is used to obtain the first coordinate information of the repair skeleton. The first coordinate information is added to the first preset coordinate system to generate an initial position coordinate system. A plurality of repair implantation points are generated on the initial position coordinate system. The repair implantation points are used to position the skeleton repositioning device on the repair skeleton and implant the bone pin. A skeleton calibration image of the repair skeleton after the bone pin is implanted and a second preset coordinate system are acquired. The skeleton calibration image is used to obtain the second coordinate information of the repair skeleton and the coordinate information of the bone pin after the bone pin is implanted. The second coordinate information of the repair skeleton and the coordinate information of the bone pin after the bone pin is implanted are added to the second preset coordinate system to generate a bone pin position coordinate system. The initial position coordinate system and the bone pin position coordinate system are registered to generate a repair coordinate system. The skeleton coordinate information of the repair skeleton and the bone pin coordinate information of the bone pin in the repair coordinate system are acquired and added to the skeleton calibration image to generate a registered skeleton image. The registered skeleton image is then displayed.

[0141] In summary, the greatest benefit of this invention lies in the following: by acquiring the initial position coordinate system of the repair skeleton before bone pin installation and the bone pin position coordinate system after bone pin installation, and registering the initial position coordinate system and the bone pin position coordinate system into the same repair coordinate system, the skeleton coordinate information and bone pin coordinate information within the repair coordinate system are added to the registered image of the repair skeleton for display. This achieves accurate and intuitive display of the registered repair skeleton image and the coordinate information of each part of the repair skeleton. This solves the problems of existing skeleton positioning methods requiring multiple X-ray images for continuous confirmation, and the lack of intuitive mapping between the images and the actual pelvic position, requiring doctors to rely on experience to judge, leading to inaccurate skeleton positioning and the inability to combine the acquired skeleton coordinate information with the medical images of the repair skeleton. This improves the accuracy of the repair skeleton image and the coordinate information of each part of the repair skeleton.

[0142] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), and double data rate RAM.

[0143] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0144] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A skeleton positioning device, characterized in that, The skeletal repositioning device is equipped with bone pins, and the device includes: The first image acquisition unit is used to acquire an initial skeleton image of the repair skeleton and a first preset coordinate system, wherein the initial skeleton image is used to acquire the first coordinate information of the repair skeleton; The first coordinate system generation unit is used to add the first coordinate information into the first preset coordinate system to generate an initial position coordinate system. An implantation point generation unit is used to generate a plurality of repair implantation points on the initial position coordinate system. The repair implantation points are used to position the skeleton repositioning device on the repair skeleton and implant the bone needle. The second image acquisition unit is used to acquire a skeleton calibration image of the repair skeleton after the bone needle is implanted and a second preset coordinate system. The skeleton calibration image is used to acquire the second coordinate information of the repair skeleton after the bone needle is implanted and the coordinate information of the bone needle. The second coordinate system generation unit is used to add the second coordinate information of the repaired skeleton and the coordinate information of the bone needle into the second preset coordinate system, thereby generating the bone needle position coordinate system. The registration unit is used to register the initial position coordinate system and the bone needle position coordinate system to generate a repair coordinate system; obtain the skeleton reset path, which is used to allow the skeleton reset device to control the bone needle to follow the movement; and add the skeleton reset path into the repair coordinate system. The skeleton image acquisition unit is used to acquire the skeleton coordinate information of the repair skeleton and the bone needle coordinate information of the bone needle in the repair coordinate system, and add the skeleton coordinate information and bone needle coordinate information to the skeleton calibration image to generate a registered skeleton image. The display unit is used to display the registered skeleton image.

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