A navigation system for minimally invasive surgery of femoral neck fractures

Abstract

The present invention relates to an orthopedic minimally invasive surgery navigation system, and relates to the field of surgical path navigation. Before performing an operation, a three-dimensional CT image is DRR projected, and the obtained two-dimensional DRR projection image is registered with a two-dimensional X-ray image scanned on an operating table. The position of a mechanical arm is adjusted according to the registration result to perform surgical auxiliary navigation. During the operation, multiple X-ray imaging or CT scanning is not required. Compared with the prior art, the system can ensure the accuracy of surgical auxiliary navigation, reduce the radiation cost during the operation, improve the effect of surgical path auxiliary navigation, and thus improve the quality of the operation.

Description

Technical Field

[0001] The invention relates to the field of surgical path navigation, and in particular to a minimally invasive surgical navigation system for femoral neck fractures. Background Art

[0002] The femoral neck is responsible for the movement and support functions of most human activities, and the treatment effect of its fracture will directly affect the patient's quality of life after surgery. At present, femoral neck fractures account for 3.6% of all fractures in the body and half of hip fractures. They are more common in middle-aged and elderly people with osteoporosis. With the serious aging of society, the incidence rate is increasing year by year. Robotic arm-assisted femoral neck fracture surgery is of great significance.

[0003] Currently, most of the femoral neck fracture surgical navigation systems on the market achieve high-precision surgical path assisted navigation through 3D CT imaging registration during surgery. However, due to the need for continuous CT imaging, the cost and radiation damage to patients are too high. Some surgical navigation systems only perform X-ray plane registration during surgery. The imaging cost and radiation damage are low, but the accuracy of surgical path assisted navigation cannot be guaranteed. During surgery, how to low-cost and low-radiation align the actual surgical site with the three-dimensional image of the surgical site obtained by preoperative scanning to guide the surgery is a hot topic and difficulty currently studied by clinicians and engineering experts. Summary of the invention

[0004] The purpose of the present invention is to provide a minimally invasive surgical navigation system for femoral neck fractures, which improves the effect of surgical path auxiliary navigation.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A minimally invasive surgical navigation system for femoral neck fractures, comprising: an optical tracer, an optical tracker, a main control device and a mechanical arm; the optical tracker and the mechanical arm are respectively connected to the main control device;

[0007] The optical tracer includes a plurality of groups of optical markers, and each group of optical markers is coplanar but not colinear; the optical tracer is used to identify the position of a specified object in a surgical scene, and the specified object includes a femur of a patient, an operating table, and the robotic arm;

[0008] The optical tracker is used to track the optical tracer in real time and photograph the surgical scene;

[0009] The main control device includes a projection module, a registration module and a navigation module;

[0010] The projection module is used to perform DRR projection at different angles on the three-dimensional femoral CT image to obtain a plurality of two-dimensional DRR projection images; the three-dimensional femoral CT image contains a three-dimensional surgical path;

[0011] The registration module is used to determine the two-dimensional DRR projection image with the same femur posture in each two-dimensional X-ray image from the plurality of two-dimensional DRR projection images, obtain a plurality of target DRR projection images, and determine the three-dimensional target surgical path according to the two-dimensional surgical path in each of the target DRR projection images; the two-dimensional X-ray image includes X-ray plane images taken of the femur at different angles;

[0012] The navigation module is used to adjust the position of the robotic arm according to the three-dimensional target surgical path and the surgical scene image taken by the optical tracker, so that the robotic arm moves according to the three-dimensional target surgical path.

[0013] Optionally, the two-dimensional X-ray image includes a plurality of non-collinear development mark points; the spatial positional relationship between the development mark points and the optical mark points is known.

[0014] Optionally, the femur includes a femoral head and a femoral neck, and the main control device further includes: a preprocessing module;

[0015] The preprocessing module is used to preprocess the femoral image in the three-dimensional femoral CT image and the two-dimensional X-ray image; the preprocessing module includes: a femoral head fitting unit, a femoral feature circle generating unit, a femoral coordinate system establishing unit and a femoral feature point selecting unit;

[0016] The femoral head fitting unit is used to fit the femoral head into a circle to obtain a femoral head fitting circle;

[0017] The femoral characteristic circle generating unit is used to generate a femoral characteristic circle with the center of the femoral head fitting circle and a preset multiple of the radius of the femoral head fitting circle; the femoral characteristic circle intersects with the femoral neck contour line at two initial femoral characteristic points;

[0018] The femoral coordinate system establishing unit is used to establish a femoral coordinate system by taking a line connecting a midpoint of a line connecting two initial femoral feature points and a center of the femoral feature circle as a coordinate axis of the femoral coordinate system;

[0019] The femoral feature point selection unit is used to generate multiple line segments parallel to the line connecting the two initial femoral feature points, and take the intersection points of each line segment and the femoral neck contour line as the femoral feature point.

[0020] Optionally, the registration module includes: a femur coordinate system coincidence unit and a femur feature point comparison unit;

[0021] The femoral coordinate system coincidence unit is used to coincide the femoral coordinate system of the two-dimensional DRR projection image with the two-dimensional X-ray image;

[0022] The femoral feature point registration unit is used to match the femoral feature point positions of the two-dimensional DRR projection image and the two-dimensional X-ray image one by one.

[0023] Optionally, the main control device further includes: a simulation module;

[0024] The simulation module is used to perform collision detection simulation between the robot arm and the patient and the operating table according to a bounding box detection algorithm.

[0025] Optionally, the femoral neck fracture minimally invasive surgery navigation system further comprises: a medical image acquisition device; the medical image acquisition device is connected to the main control device;

[0026] The medical image acquisition device is used to acquire the three-dimensional femur CT image and the two-dimensional X-ray image.

[0027] Optionally, a gyroscope is installed on the medical image acquisition device;

[0028] The gyroscope is used to measure the rotation angle of the medical image acquisition device.

[0029] Optionally, an image correction module is installed on the medical image acquisition device;

[0030] The image correction module is used to perform distortion correction on the two-dimensional X-ray image.

[0031] Optionally, the robot arm comprises: a terminal navigation and positioning component, and the optical tracker is provided on all surfaces of the terminal navigation and positioning component to track the terminal navigation and positioning component at full angles in the optical tracker.

[0032] Optionally, the robot arm comprises: an end guide cylinder, in which an optical identification probe is inserted, and the optical identification probe is provided with the optical tracer to track the end guide cylinder at a full angle in the optical tracker.

[0033] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects: a minimally invasive surgical navigation system for femoral neck fracture provided by the present invention comprises: an optical tracer, an optical tracker, a main control device and a robotic arm; the optical tracker and the robotic arm are respectively connected to the main control device; the optical tracer comprises a plurality of groups of optical markers, and each group of optical markers is coplanar but not colinear; the optical tracer is used to identify the position and posture of a specified object in a surgical scene, and the specified objects include a patient's femoral part, an operating table and a robotic arm; the optical tracker is used to track the optical tracer in real time and to shoot the surgical scene; the main control device comprises a projection module, a registration module and a navigation module; the projection module is used to The bone CT image is subjected to DRR projection at different angles to obtain several two-dimensional DRR projection images; the three-dimensional femoral CT image contains a three-dimensional surgical path; a registration module is used to determine a two-dimensional DRR projection image with the same femoral posture as in each two-dimensional X-ray image from several two-dimensional DRR projection images to obtain multiple target DRR projection images, and determine a three-dimensional target surgical path according to the two-dimensional surgical path in each target DRR projection image; the two-dimensional X-ray image includes X-ray plane images taken of the femoral part at different angles; a navigation module is used to adjust the posture of the robotic arm according to the three-dimensional target surgical path and the surgical scene image taken by the optical tracker, so that the robotic arm moves according to the three-dimensional target surgical path. The present invention performs DRR projection on the three-dimensional CT image before the operation, and aligns the obtained two-dimensional DRR projection image with the two-dimensional X-ray image, and adjusts the posture of the robot arm according to the alignment result to perform surgical assisted navigation. During the operation, there is no need to perform multiple X-ray imaging or CT scans. Compared with the existing technology, it can not only ensure the accuracy of surgical assisted navigation, but also reduce the radiation cost during the operation, thereby improving the effect of surgical path assisted navigation and thus improving the quality of surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A structural block diagram of a minimally invasive surgical navigation system for femoral neck fracture provided by the present invention;

[0036] Figure 2 A schematic diagram of the structure of a preprocessing module in the surgical navigation system provided by the present invention;

[0037] Figure 3 A schematic diagram of the structure of a registration module in the surgical navigation system provided by the present invention;

[0038] Figure 4 A schematic diagram of a minimally invasive surgical navigation system for femoral neck fracture provided by the present invention;

[0039] Figure 5 A schematic diagram of the structure of a positioning navigation component at the end of a robotic arm in a surgical navigation system provided by the present invention;

[0040] Figure 6 A schematic diagram of the structure of a guide cylinder at the end of a robotic arm in the surgical navigation system provided by the present invention;

[0041] Figure 7 Another structural schematic diagram of the guide cylinder at the end of the robot arm in the surgical navigation system provided by the present invention;

[0042] Figure 8 A schematic diagram of image preprocessing during operation of the surgical navigation system provided by the present invention;

[0043] Fig. 9 A schematic diagram of the structure of an image locator in the surgical navigation system provided by the present invention;

[0044] Fig.10 A schematic diagram of the structure of a medical imaging device in the surgical navigation system provided by the present invention;

[0045] Fig.11 A schematic diagram of simulation during operation of the surgical navigation system provided by the present invention;

[0046] Fig.12 This is a schematic diagram of the postoperative three-dimensional surgical accuracy evaluation of the surgical navigation system provided by the present invention.

[0047] In the figure, 1: robotic arm; 2: main control device; 3: optical tracker; 4: medical imaging device; 5: image locator; 6-10: optical marker points; 11: optical identification ring; 12: special probe; 13-18: optical marker points; 19: C-arm; 20: gyroscope; 21: probe; 22: operating table; 23: semi-cylinder; 24: rectangular block; 25: cylinder; 26-28: development marker points. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] The purpose of the present invention is to provide a minimally invasive surgical navigation system for femoral neck fractures, which improves the effect of surgical path auxiliary navigation.

[0050] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] The present invention provides a minimally invasive surgical navigation system for femoral neck fractures. The femur includes a femoral head and a femoral neck. Figure 1 As shown, the femoral neck fracture minimally invasive surgical navigation system of the present invention comprises: an optical tracer, a main control device, an optical tracker and a mechanical arm; the optical tracker and the mechanical arm are respectively connected to the main control device;

[0052] An optical tracer includes a plurality of groups of optical markers, and each group of optical markers is coplanar but not colinear; the optical tracer is used to identify the position of a specified object in a surgical scene, and the specified object includes a femoral part of a patient, an operating table, and a robotic arm;

[0053] An optical tracker, used to track the optical tracer in real time and take photos of the surgical scene;

[0054] The main control device includes a projection module, a registration module and a navigation module;

[0055] A projection module is used to perform DRR projection at different angles on the three-dimensional femoral CT image to obtain a number of two-dimensional DRR projection images; the three-dimensional femoral CT image contains a three-dimensional surgical path;

[0056] A registration module is used to determine a two-dimensional DRR projection image with the same femur posture as that in each two-dimensional X-ray image from a plurality of two-dimensional DRR projection images, obtain a plurality of target DRR projection images, and determine a three-dimensional target surgical path according to the two-dimensional surgical path in each target DRR projection image; the two-dimensional X-ray image includes X-ray plane images taken of the femur at different angles;

[0057] The navigation module is used to adjust the position of the robotic arm according to the three-dimensional target surgical path and the surgical scene image taken by the optical tracker, so that the robotic arm moves according to the three-dimensional target surgical path to assist doctors in performing minimally invasive surgery for femoral neck fractures.

[0058] In order to facilitate the conversion of the three-dimensional target surgical path obtained from the two-dimensional X-ray image into the surgical path in the surgical scene photographed by the ray tracker, the two-dimensional X-ray image includes several non-collinear development marker points; the surgical scene photographed by the optical tracker includes several optical marker points, and the spatial position relationship between the development marker points and the optical marker points is known, thereby obtaining the spatial position relationship between the three-dimensional target surgical path and the optical marker points.

[0059] In some implementations, the main control device further includes: a pre-processing module;

[0060] A preprocessing module is used to preprocess the femur image in the three-dimensional femur CT image and the two-dimensional X-ray image; Figure 2 As shown, the preprocessing module includes: a femoral head fitting unit, a femoral characteristic circle generating unit, a femoral coordinate system establishing unit and a femoral characteristic point selecting unit;

[0061] A femoral head fitting unit is used to fit the femoral head into a circle to obtain a femoral head fitting circle;

[0062] The femoral characteristic circle generating unit is used to generate the femoral characteristic circle with the center of the femoral head fitting circle and the radius of the femoral head fitting circle of a preset multiple; the femoral characteristic circle intersects with the femoral neck contour line at two initial femoral characteristic points; the preset multiple is usually 2-4 times.

[0063] A femoral coordinate system establishing unit, used to establish a femoral coordinate system by taking a line connecting a midpoint of a line connecting two initial femoral feature points and a center of a femoral feature circle as a coordinate axis of the femoral coordinate system;

[0064] The femoral feature point selection unit is used to generate multiple line segments parallel to the line connecting the two initial femoral feature points, and take the intersection points of each line segment and the femoral neck contour line as the femoral feature point.

[0065] In some embodiments, Figure 3 As shown, the registration module includes: a femur coordinate system coincidence unit and a femur feature point comparison unit;

[0066] A femoral coordinate system coincidence unit, used for coinciding the femoral coordinate systems of the two-dimensional DRR projection image and the two-dimensional X-ray image;

[0067] The femoral feature point registration unit is used to match the femoral feature point positions of the two-dimensional DRR projection image and the two-dimensional X-ray image one by one.

[0068] In some implementations, the main control device further includes: a simulation module;

[0069] The simulation module is used to simulate the collision detection between the robot arm and the patient and the operating table according to the bounding box detection algorithm. For example, the spatial positions of the operating table, the patient and the robot arm are obtained; the operating table is fitted into a rectangular block; the patient is fitted into a half cylinder; the robot arm is fitted into multiple cylinders, and the robot arm is controlled according to the surgical path to simulate the collision detection of the patient and the operating table.

[0070] In some embodiments, the femoral neck fracture minimally invasive surgical navigation system further includes: a medical image acquisition device; the medical image acquisition device is connected to the main control device;

[0071] The medical image acquisition device is used to acquire three-dimensional femoral CT images and two-dimensional X-ray images, and transmit the acquired images to the main control device.

[0072] In order to ensure accurate control of the medical image acquisition device, in some embodiments, a gyroscope is installed on the medical image acquisition device;

[0073] Gyroscopes are used to measure the rotation angle of medical image acquisition equipment.

[0074] To ensure that the collected medical images are free of deformity or severe deformation, in some embodiments, an image correction module is installed on the medical image acquisition device;

[0075] The image correction module is used to perform distortion correction on two-dimensional X-ray images.

[0076] To ensure the accuracy of tracking the robotic arm, in some embodiments, the robotic arm includes: an end navigation positioning component, and optical trackers are provided on all surfaces of the end navigation positioning component to track the end navigation positioning component at all angles in the optical tracker.

[0077] In some embodiments, the robot arm includes: an end guide cylinder, an optical identification probe is inserted in the end guide cylinder, and an optical tracer is provided on the optical identification probe to track the end guide cylinder at all angles in the optical tracker.

[0078] In some embodiments, the robotic arm includes: an end guide cylinder, an optical identification sleeve is sleeved on the outer surface of the end guide cylinder, so as to track the optical identification sleeve at all angles in the optical tracker and align it with the standard circular sleeve to accurately identify the position and posture of the end guide cylinder.

[0079] The femoral neck fracture minimally invasive surgical navigation system provided by the present invention is described below with reference to a specific example. Figure 4 As shown, the minimally invasive surgical navigation system for femoral neck fracture in this example includes a robotic arm 1, a main control device 2, an optical tracker 3, a medical imaging device 4 (which may be a C-arm with CT scanning and X-ray imaging), an image locator 5, an optical tracer, and matching surgical tools. The main control device 2 is used to plan navigation, and the robotic arm 1 is used to assist the doctor in completing surgical positioning navigation, thereby completing an accurate, safe, and fast minimally invasive surgery.

[0080] The medical imaging device 4, the optical tracker 3 and the robotic arm 1 are connected to the main control device 2. The main control device 2 is the main operating device, which is used to process the spatial coordinate conversion between three-dimensional CT images and two-dimensional X-ray images and surgical scene images taken by the optical tracker 3, as well as to perform medical image acquisition and processing, preoperative planning, intraoperative navigation and postoperative data analysis.

[0081] like Figure 5The end positioning and navigation component of the robot arm 1 is a conical polyhedron structure. The conical polyhedron is composed of multiple triangular faces. Each triangular face has three reflective balls. The two balls near the end of the robot arm 1 are located at the intersection of the two triangular faces. The two faces share a reflective ball. The optical tracker 3 can track the optical marker points 6-10 on the end positioning and navigation component of the robot arm 1 at all angles.

[0082] After the end positioning navigation component of the robot arm 1 is in place, Figure 6 As shown, an optical marking ring 11 made of reflective material is installed on the guide cylinder at the end of the robot arm 1. The optical tracker 3 can track the optical marking ring 11 at all angles and identify the position and posture of the guide cylinder at the end of the robot arm 1 by aligning it with the standard ring. Figure 7 As shown, the special probe 12 is inserted into the guide cylinder, and the tip of the probe 12 is tightly matched with the end guide cylinder of the robot arm 1. The optical tracker 3 determines the position and posture of the end guide cylinder of the robot arm 1 by identifying the position and posture of the special probe 12.

[0083] In this case, taking femoral neck fracture surgery as an example, the following operations are performed:

[0084] The first step is 3D CT image acquisition and surgical path planning:

[0085] 1.1) Perform CT scanning using medical imaging equipment 4, transmit the scanning information to the main control device 2, perform three-dimensional image reconstruction, and obtain a three-dimensional CT image of the patient's femur. The doctor plans the surgical path in the three-dimensional CT image, such as virtually assembling bone screws and screw plates, and planning needle entry and exit points.

[0086] 1.2) To achieve the subsequent registration operation, two-dimensional DRR projections at multiple angles are performed based on the three-dimensional CT image.

[0087] 1.3) If Figure 8 As shown, each two-dimensional DRR projection image is preprocessed, the femoral head is fitted into a sphere, and the outer contour of the femur is automatically generated, the projection coordinate system OXY of the affected bone is established, the two intersection points N9 and N10 of the characteristic circle and the outer contour of the femur are automatically generated, and a coordinate axis OX is established by connecting the center of the femoral head sphere and the midpoint of the line segment N9N10, and a series of straight lines parallel to the line segment N9N10 are automatically generated. This series of straight lines intersects with the outer contour of the femur at points N1, N2, N3, N4, N5, N6, N7, and N8, and these intersections are used as femoral feature points for registration. Subsequent two-dimensional X-ray images also use a similar method to obtain femoral feature points. After the operation is completed, all information can be saved.

[0088] The second step is 3D-2D image registration and surgical path navigation:

[0089] 2.1) Open the software of the main control device 2 and import the planned surgical path into the main control device 2.

[0090] 2.2) Fix the optical tracer on the femur of the patient and select an image locator 5 of appropriate size and structure, such as Fig. 9 As shown, the image locator 5 is installed with developing marking points 26-28 and six optical marking points 13-18, and the optical tracker 3 is used to record the spatial position information of the image locator 5 and the tracer.

[0091] 2.3) Collect two two-dimensional X-ray images of the femur of the patient; install an image correction module at the image intensifier end of the medical imaging device 4, such as Fig.10 As shown, the rotation angle of the C-arm 19 when taking a two-dimensional X-ray image is determined by the display angle of the gyroscope 20, and image correction is performed based on the rotation angle.

[0092] The rotation angle of the C-arm 19 when taking a two-dimensional X-ray image is calculated by the equivalent axis-angle coordinate formula. Assuming that the C-arm 19 rotates by an angle θ, the equivalent axis-angle coordinate formula is:

[0093]

[0094] Among them, vθ=1-cosθ, cθ=cosθ, sθ=sinθ, [k x ,k y ,k z ] is the unit direction vector of the rotation axis K of the C-arm 19.

[0095] According to the rotation angle actually displayed by the gyroscope 20 when the C-arm 19 rotates, the rotation matrix relative to the initial position can be obtained as follows:

[0096]

[0097] [r 11 ,r 21 ,r 31 ]、[r 12 ,r 22 ,r 32 ]、[r 13 ,r 23 ,r 33 ] respectively represent the projection components of the three principal axis unit vectors of the rotated coordinate system relative to the three principal axes of the original coordinate system.

[0098] Then the rotation angle θ of the C-arm 19 is:

[0099]

[0100] 2.4) The main control device 2 performs 3D-2D image information registration, and automatically registers each 2D DRR projection image with the 2D X-ray image; the femoral coordinate system of the 2D DRR projection image and the 2D X-ray image is overlapped, and the similarity of the feature points N1, N2, N3, N4, N5, N6, N7, N8, N9, and N10 is compared. If the two images match successfully within the error range, the 2D surgical path of the 2D DRR projection image is obtained, and the two 2D surgical paths corresponding to the two 2D X-ray images are obtained.

[0101] 2.5) The three-dimensional surgical path is determined according to the dual-plane method, and the actual surgical path is obtained after spatial coordinate transformation based on the position relationship between the imaging landmarks and the optical landmarks.

[0102] 2.6) If Fig.11 As shown, the probe 21 is used to calibrate the spatial positions of the operating table 22 and the patient, the semi-cylinder 23 and the cuboid 24 are used to envelop the safety space, and the simplified model of each joint of the robot 1 is established using the enveloping method of multiple cylinders 25. The robot 1 uses a bounding box detection algorithm to perform collision detection simulation with the operating table 22 and the patient along the actual surgical path.

[0103] 2.7) Control the robotic arm 1 with six rotating joints in series to perform navigation and positioning operations according to the actual surgical path to assist doctors in performing minimally invasive surgery for femoral neck fractures.

[0104] The third step is postoperative information processing:

[0105] 3.1) Fig.12 , use probe 21 to detect the distance between the entry points and parallelism of the three Kirschner wires, and establish the three-dimensional surgical accuracy and parallelism evaluation index:

[0106]

[0107]

[0108]

[0109] Where B1E1, B2E2 and B3E3 are the spatial positions of the three Kirschner wires exposed outside the patient, B1, B2 and B3 are the starting positions of the three Kirschner wires, and E1, E2 and E3 are the end positions of the three Kirschner wires; θ 1 ,θ 2 and θ 3 Respectively represent the angle between every two Kirschner wires.

[0110] Take a CT or X-ray of the patient to display the position of the bone screws, and conduct a comparative analysis between the preoperatively planned surgical path and the postoperative bone screw position, which can also include comparison of patient data information.

[0111] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A minimally invasive surgical navigation system for femoral neck fractures. It is characterized in that The femoral neck fracture minimally invasive surgical navigation system comprises: an optical tracer, an optical tracker, a main control device and a robotic arm; the optical tracker and the robotic arm are respectively connected to the main control device; The optical tracer includes a plurality of groups of optical markers, and each group of optical markers is coplanar but not colinear; the optical tracer is used to identify the position of a specified object in a surgical scene, and the specified object includes a femur of a patient, an operating table, and the robotic arm; The optical tracker is used to track the optical tracer in real time and photograph the surgical scene; The main control device includes a projection module, a registration module and a navigation module; The projection module is used to perform DRR projection at different angles on the three-dimensional femoral CT image to obtain a plurality of two-dimensional DRR projection images; the three-dimensional femoral CT image contains a three-dimensional surgical path; The registration module is used to determine the two-dimensional DRR projection image with the same femur posture in each two-dimensional X-ray image from the plurality of two-dimensional DRR projection images, obtain a plurality of target DRR projection images, and determine the three-dimensional target surgical path according to the two-dimensional surgical path in each of the target DRR projection images; the two-dimensional X-ray image includes X-ray plane images taken of the femur at different angles; The registration module includes: a femoral coordinate system coincidence unit and a femoral feature point registration unit; the femoral coordinate system coincidence unit is used to coincide the femoral coordinate system of the two-dimensional DRR projection image with the two-dimensional X-ray image; the femoral feature point registration unit is used to match the femoral feature point positions of the two-dimensional DRR projection image with the two-dimensional X-ray image one by one; The navigation module is used to adjust the posture of the robotic arm according to the three-dimensional target surgical path and the surgical scene image taken by the optical tracker, so that the robotic arm moves according to the three-dimensional target surgical path; The main control device also includes: a pre-processing module; The preprocessing module is used to preprocess the three-dimensional femur CT image and the femur image in the two-dimensional X-ray image; The preprocessing module includes: a femoral head fitting unit, a femoral characteristic circle generating unit, a femoral coordinate system establishing unit and a femoral characteristic point selecting unit; the femoral head fitting unit is used to fit the femoral head into a circle to obtain a femoral head fitting circle; The femoral characteristic circle generating unit is used to generate a femoral characteristic circle with the center of the femoral head fitting circle and a preset multiple of the radius of the femoral head fitting circle; the femoral characteristic circle intersects with the femoral neck contour line at two initial femoral characteristic points; The femoral coordinate system establishing unit is used to establish a femoral coordinate system by taking a line connecting a midpoint of a line connecting two initial femoral feature points and a center of the femoral feature circle as a coordinate axis of the femoral coordinate system; The femoral feature point selection unit is used to generate multiple line segments parallel to the line connecting the two initial femoral feature points, and take the intersection points of each line segment and the femoral neck contour line as the femoral feature point.

2. The minimally invasive surgical navigation system for femoral neck fracture according to claim 1, It is characterized in that The two-dimensional X-ray image includes a plurality of non-collinear development mark points; the spatial positional relationship between the development mark points and the optical mark points is known.

3. The minimally invasive surgical navigation system for femoral neck fracture according to claim 1, It is characterized in that The main control device also includes: a simulation module; The simulation module is used to perform collision detection simulation between the robot arm and the patient and the operating table according to a bounding box detection algorithm.

4. The minimally invasive surgical navigation system for femoral neck fracture according to claim 1, It is characterized in that The femoral neck fracture minimally invasive surgery navigation system further includes: a medical image acquisition device; the medical image acquisition device is connected to the main control device; The medical image acquisition device is used to acquire the three-dimensional femur CT image and the two-dimensional X-ray image.

5. The minimally invasive surgical navigation system for femoral neck fracture according to claim 4, It is characterized in that The medical image acquisition device is equipped with a gyroscope; The gyroscope is used to measure the rotation angle of the medical image acquisition device.

6. The minimally invasive surgical navigation system for femoral neck fracture according to claim 4, It is characterized in that The medical image acquisition device is equipped with an image correction module; The image correction module is used to perform distortion correction on the two-dimensional X-ray image.

7. The minimally invasive surgical navigation system for femoral neck fracture according to claim 1, It is characterized in that The robot arm comprises: a terminal navigation and positioning component, and the optical tracker is arranged on all surfaces of the terminal navigation and positioning component to track the terminal navigation and positioning component at full angles in the optical tracker.

8. The minimally invasive surgical navigation system for femoral neck fracture according to claim 1, It is characterized in that The robot arm comprises: a terminal guide cylinder, in which an optical identification probe is inserted, and the optical tracer is arranged on the optical identification probe to track the terminal guide cylinder at a full angle in the optical tracker.

Images