Method and system for measuring bone needle positioning depth

Abstract

The present invention proposes a method and system for measuring the positioning depth of a bone needle, which relates to the technical field of medical device auxiliary equipment. The method includes: obtaining the position information of an optical marker element; wherein the optical marker element is installed on the bone needle; determining the exposed length of the bone needle according to the position information of the optical marker element; and determining the positioning depth of the bone needle according to the exposed length of the bone needle in a first state and the exposed length of the bone needle in a second state. The present invention installs an optical marker element on the bone needle, and accurately calculates the positioning depth of the bone needle by locating the position change of the optical marker element combined with the bending deformation theory of the rod. The present invention has a simple structure, is easy to operate, has a low manufacturing and assembly cost, and has high calculation efficiency and accuracy. It is conducive to the visualization of the positioning depth of the bone needle and provides great convenience for the insertion of the bone needle.

Description

Technical Field

[0001] The present invention relates to the technical field of medical device auxiliary equipment, and in particular to a method and system for measuring the positioning depth of a bone needle. Background Art

[0002] This section is intended to provide a background or context to the embodiments of the invention recited in the claims. No admission is made that the description herein is prior art by inclusion in this section.

[0003] Bone pins are often used to fix fractures of the hands and feet. The depth of the bone pins is usually determined by the surgeon's clinical experience. If the depth is too long or too short, repeated insertion may be required. In order to locate the position of the bone pins, the prior art proposes a positioning device for the bone pins, which measures the insertion depth of the bone pins by adding additional mechanical components such as bone pin limiters, fixing components, and guide components. However, the device is large in size and weight, requires a large operating space, and has a complex operating process and high manufacturing and assembly costs.

[0004] In summary, there is an urgent need for a technical solution for measuring the positioning depth of bone needles that can overcome the above-mentioned defects. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the present invention proposes a method and system for measuring the positioning depth of a bone needle. The method and system install an optical marking element at the end of the bone needle, and measure the positioning depth of the bone needle by measuring the position change of the optical marking element. The overall solution has a small size and light weight, does not require a large operating space, has high efficiency and accuracy in measuring the positioning depth of the bone needle, is easy to operate, and has low manufacturing and assembly costs.

[0006] In a first aspect of an embodiment of the present invention, a method for measuring a bone needle positioning depth is provided, comprising:

[0007] Acquiring position information of an optical marking element; wherein the optical marking element is mounted on a bone needle;

[0008] Determine the exposed length of the bone needle according to the position information of the optical marking element;

[0009] The bone needle positioning depth is determined according to the exposed length of the bone needle in the first state and the exposed length of the bone needle in the second state.

[0010] In a second aspect of an embodiment of the present invention, a system for measuring the positioning depth of a bone needle is provided, comprising: a bone needle, a guide, an optical marking element, a binocular vision device and a positioning depth measuring device; wherein,

[0011] The optical marking element is mounted on the bone needle; the guide is used to guide the movement direction of the bone needle;

[0012] The binocular vision device is used to obtain the position information of the optical marking element;

[0013] The positioning depth measuring device is used to determine the exposed length of the bone needle according to the position information of the optical marking element; during the movement of the bone needle, the bone needle positioning depth is determined according to the exposed length of the bone needle in the initial state and the exposed length of the bone needle in the current state.

[0014] In a third aspect of an embodiment of the present invention, a computer device is proposed, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a method for measuring a bone needle positioning depth when executing the computer program.

[0015] In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, a method for measuring a bone needle positioning depth is implemented.

[0016] In a fifth aspect of the embodiments of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, a method for measuring a bone needle positioning depth is implemented.

[0017] The method and system for measuring the positioning depth of a bone needle proposed in the present invention install an optical positioning element on the bone needle, collect the position change of the optical marking element, and calculate the exposed length of the bone needle in combination with the bending deformation theory of the rod, and measure the positioning depth of the bone needle according to the change in the exposed length of the bone needle. The hardware structure of the present invention is simple, and the operation is convenient, which effectively reduces the manufacturing and assembly costs. When measuring the positioning depth of the bone needle, a preset algorithm is used to measure the positioning depth of the bone needle, and the calculation efficiency and accuracy are high, which is conducive to the visualization of the depth. During the operation, the positioning depth of the bone needle can be fed back to the operator in real time as the operation progresses, so that the operator can understand the insertion depth of the bone needle in time, which provides great convenience for the bone needle insertion operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a schematic diagram of an application scenario of an embodiment of the present invention.

[0020] Figure 2 The figure is a schematic diagram of the structural relationship of a guide according to a specific embodiment of the present invention.

[0021] Figure 3 It is a schematic structural diagram of a binocular vision device according to a specific embodiment of the present invention.

[0022] Figure 4 It is a schematic structural diagram of an optical marking element and a bone needle according to a specific embodiment of the present invention.

[0023] Figure 5 It is a schematic flow chart of a method for measuring the positioning depth of a bone needle according to an embodiment of the present invention.

[0024] Figure 6 It is a schematic diagram of the relationship between the world coordinate system and the positioning point coordinate system according to a specific embodiment of the present invention.

[0025] Figure 7 It is a schematic diagram of the relationship between the optical positioning mark array and the coordinate system of a specific embodiment of the present invention.

[0026] Figure 8 It is a schematic diagram of a process of obtaining position information of an optical marking element according to an embodiment of the present invention.

[0027] Fig. 9 It is a schematic diagram of the relationship between the exposed lengths of bone needles in a specific embodiment of the present invention.

[0028] Fig.10 It is a schematic diagram of the change in the degree of bending during the insertion of a bone needle in a specific embodiment of the present invention.

[0029] Fig.11 It is a schematic diagram of a process for determining the exposed length of a bone needle according to an embodiment of the present invention.

[0030] Fig.12 It is a schematic diagram of the deformation of the tip of a bone needle under the action of concentration and force according to a specific embodiment of the present invention.

[0031] Fig.13 It is a schematic flow chart of a multiple fitting method according to a specific embodiment of the present invention.

[0032] Fig.14 It is a schematic diagram of the relationship between the exposed lengths of the bone needles in the initial state of a specific embodiment of the present invention.

[0033] Fig.15 It is a schematic diagram of the relationship between the exposed length of the bone needle during the bone needle insertion process of a specific embodiment of the present invention.

[0034] Fig.16 It is a schematic diagram of the structural relationship between the optical marking element and the bone needle according to a specific embodiment of the present invention.

[0035] Fig.17 It is a schematic structural diagram of a reflective ball according to a specific embodiment of the present invention.

[0036] Fig.18 It is a schematic diagram of the relationship between a connector, an optical positioning element and a bone needle according to a specific embodiment of the present invention.

[0037] Fig.19 It is a structural schematic diagram of a connecting piece according to a specific embodiment of the present invention.

[0038] Fig. 20 Schematic diagram of a system architecture for measuring the positioning depth of a bone needle according to an embodiment of the present invention.

[0039] Fig.21 It is a schematic diagram of the structure of a computer device according to an embodiment of the present invention.

[0040] Description of Figure Numbers:

[0041] 110-base; 120-mechanical arm; 130-guide; 140-bone needle; 150-binocular vision device; 160-positioning depth measurement device; 170-optical positioning identification array; 180-optical marking element; 190-connector;

[0042] G-gravity;

[0043] F', Ft'-load;

[0044] L', L i , L f - Exposed length of spicules;

[0045] L d - Depth of bone pin positioning;

[0046] A1, A2, A3 - status of spicules;

[0047] M-axis;

[0048] S1, S2, S3-steps for calculating positioning depth;

[0049] S101, S102, S103, S104—steps of calculating position information;

[0050] S201, S202-steps of calculating the exposed length of the bone needle;

[0051] S301, S302-steps of calculating rigidity parameters;

[0052] WCD (X, Y, Z) - world coordinate system;

[0053] CS (X', Y', Z') - coordinate system of the anchor point. DETAILED DESCRIPTION

[0054] The principles and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are provided only to enable those skilled in the art to better understand and implement the present invention, and are not intended to limit the scope of the present invention in any way. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0055] Those skilled in the art will appreciate that the embodiments of the present invention may be implemented as a system, device, apparatus, method or computer program product. Therefore, the present disclosure may be specifically implemented in the following forms, namely: complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0056] According to an embodiment of the present invention, a method and system for measuring the positioning depth of a bone needle are proposed, which relate to the technical field of medical device auxiliary equipment.

[0057] The principle and spirit of the present invention are explained in detail below with reference to several representative embodiments of the present invention.

[0058] Application Scenario Overview

[0059] refer to Figure 1 , which illustrates application scenarios in which embodiments of the present invention may be implemented. Figure 1 The application scenario shown in the figure includes: a base 110, a robotic arm 120, a guide 130, a bone needle 140, a binocular vision device 150 and a positioning depth measurement device 160.

[0060] Among them, the robotic arm 120 is set on the base 110 and moves according to the control instructions; the guide 130 is set on the robotic arm 120; the bone needle 140 passes through the guide 130 and moves in the direction of the guide; the binocular vision device 150 is used to collect the position information of the optical marking element on the bone needle; the positioning depth measurement device 160 is used to determine the exposed length of the bone needle according to the position information of the optical marking element.

[0061] During the operation, as the bone needle moves, the position of the optical marking element will change. The position change of the bone needle can be determined based on the position change of the optical marking element, thereby calculating the change in the positioning depth of the bone needle. The change in the positioning depth of the bone needle can be displayed to medical staff through visualization devices such as display screens, so that medical staff can know the depth of bone needle insertion based on the change in the length of the bone needle and understand the progress of treatment in a timely manner.

[0062] The present invention installs an optical marking element on the bone needle, and accurately calculates the bone needle positioning depth by locating the position change of the optical marking element combined with the rod bending deformation theory. It has a simple structure, is easy to operate, has low manufacturing and assembly costs, and has high calculation efficiency and accuracy. It is conducive to the visualization of the bone needle positioning depth and provides great convenience for the insertion of the bone needle.

[0063] Figure 2 FIG. 1 is a schematic diagram showing the structural relationship of a guide in a specific embodiment of the present invention. Figure 2 As shown, the guide 130 provides a position and direction for the introduction of the bone needle 140, and the guide 130 is set on the robot 120; the optical positioning mark array 170 is set at the front end of the robot 120, and the robot 120 can be guided to move to a specified position through the optical positioning mark array 170, so that the guide 130 is located at the specified position and direction. If the optical positioning mark array 170 is not set, the robot 120 can be controlled to move to a specified position through a preset program code.

[0064] The optical positioning identification array 170 can also be set at other positions of the robot arm 120 or on the guide 130, and the specific position can be adjusted according to actual needs; however, the position of the optical positioning identification array 170 must be recognizable by the binocular vision device.

[0065] Figure 3 FIG. 1 is a schematic diagram of the structure of a binocular vision device according to a specific embodiment of the present invention. Figure 3 As shown, the binocular vision device 150 can locate the position of the optical positioning identification array and the optical marking element in space by using the parallax principle.

[0066] The optical marking element is fixedly mounted on the bone needle. During the insertion of the bone needle, the optical marking element cannot move on the bone needle, otherwise it will affect the accuracy of calculating the exposed length of the bone needle.

[0067] Figure 4 FIG. 1 is a schematic diagram of the structure of an optical marking element and a bone needle according to a specific embodiment of the present invention. Figure 4 As shown, the optical marking element 180 is fixedly mounted on the end of the bone needle 140.

[0068] Exemplary Methods

[0069] Combine the following Figure 1 For application scenarios, refer to Figure 5 A method for measuring the positioning depth of a bone needle according to an exemplary embodiment of the present invention is introduced.

[0070] It should be noted that the above application scenarios are only shown to facilitate understanding of the spirit and principle of the present invention, and the embodiments of the present invention are not limited in this respect. On the contrary, the embodiments of the present invention can be applied to any applicable scenario.

[0071] refer to Figure 5 , is a schematic flow chart of a method for measuring the positioning depth of a bone needle according to an embodiment of the present invention.

[0072] like Figure 5 As shown, the method includes:

[0073] S1, obtaining position information of an optical marking element; wherein the optical marking element is installed on a bone needle;

[0074] S2, determining the exposed length of the bone needle according to the position information of the optical marking element;

[0075] S3, determining the bone needle positioning depth according to the exposed length of the bone needle in the first state and the exposed length of the bone needle in the second state.

[0076] In order to explain the above method for measuring the positioning depth of the bone needle more clearly, each step is described in detail below.

[0077] S1:

[0078] like Figure 6 As shown, the optical marking element 180 is installed at the end of the bone needle 140 (the bone needle is bent due to the gravity G). When obtaining the position information of the optical marking element 180, at least two coordinate systems are used: the world coordinate system WCD (X, Y, Z) and the positioning point coordinate system CS (X', Y', Z').

[0079] When the binocular vision device 150 is performing positioning, the coordinate information obtained is the coordinate value in the world coordinate system. When calculating the position change of the bone needle, the coordinate value in the positioning point coordinate system is required. Therefore, when establishing two coordinate systems, a coordinate mapping relationship T is established at the same time so that the coordinate values ​​of the two coordinate systems can be converted.

[0080] Specifically, Figure 7 As shown, the optical positioning identification array 170 is positioned by the binocular vision device 150, a world coordinate system WCD (X, Y, Z) and a positioning point coordinate system CS (X', Y', Z') are established, and a coordinate mapping relationship T is determined.

[0081] The Z′ axis of the positioning point coordinate system is in the same direction as the guide 130 ; the origin of the positioning point coordinate system is the lower end of the guide 130 .

[0082] In this embodiment, if Figure 8As shown, the specific method for obtaining the position information of the optical marking element is:

[0083] S101, obtaining the axis position and direction of the guide;

[0084] S102, establishing a positioning point coordinate system according to the axis position and direction of the guide;

[0085] S103, establishing a world coordinate system, and determining a mapping relationship between the world coordinate system and the positioning point coordinate system;

[0086] S104, acquiring the position information of the optical marking element in the world coordinate system through a binocular vision device, and obtaining the position information of the optical marking element in the positioning point coordinate system according to the mapping relationship.

[0087] When establishing the positioning point coordinate system, it is necessary to first determine the axis position and direction of the guide.

[0088] In actual application scenarios, an optical positioning mark array is usually set on the robotic arm or guide, and the relative position of the axis of the guide and the optical positioning mark array is known. Therefore, the position of the optical positioning mark array can be obtained through a binocular vision device to determine the axis position and direction of the guide.

[0089] If no optical positioning marking array is set on the robot arm or the guide, the relative position of the axis of the guide and the base can be calculated through the output of the encoders of each joint of the robot arm and the calibration value of the guide, thereby determining the axis position and direction of the guide.

[0090] If the axial position of the guide cannot be obtained by the above method, the axial position of the guide can be determined by fitting method: since the bone needle always moves along the guide, the position of the optical marking element can be measured to fit the axial position and direction of the guide.

[0091] In one embodiment, since the relative relationship between the lower end of the guide and the axial position and direction of the guide is known, after determining the axial position and direction of the guide, the position of the lower end of the guide can be determined; the lower end of the guide is used as the origin of the positioning point coordinate system, and the direction of the guide is used as the Z' axis of the positioning point coordinate system to establish the positioning point coordinate system.

[0092] In actual application scenarios, optical marking elements will form true images and artifacts in the image. In order to eliminate artifacts, the following methods can be used:

[0093] If the position of the guide axis is known, the image closest to the guide axis is selected as the true image to exclude artifacts.

[0094] If there is no guide axis position, the above method can be used to determine the guide axis position. Specifically, since the bone needle always moves along the guide, when the bone needle is relatively rigid, the optical marker element position is measured multiple times, and the measurement results of the optical marker element twice or more before and after are removed. The guide axis position is fitted based on the remaining measurement results, and then the artifact is eliminated by selecting the image closest to the needle entry point.

[0095] S2:

[0096] refer to Fig. 9 As shown, the bone needle 140 is usually in an inclined state in the guide 130, and the end of the bone needle is subjected to a concentrated load (F'). For example, the bone needle will bend due to the influence of the rigidity and mass of the bone needle and the mass of the optical marking element.

[0097] The exposed length L' of the bone needle is the length of the bone needle on the end side of the bone needle exposed outside the guide 130. As the bone needle 140 is inserted, the exposed length L' of the bone needle will change, and the position of the optical marking element 180 will also change.

[0098] The present invention calculates the exposed length of the bone needle according to the position change of the optical marking element in combination with the bending deformation theory of the rod, and measures the positioning depth of the bone needle according to the change of the exposed length of the bone needle.

[0099] Specifically, refer to Fig.10 FIG. 1 is a schematic diagram showing the change in the bending degree of the bone needle during the insertion process of a specific embodiment of the present invention.

[0100] A1 is when the bone needle is in an ideal straight state.

[0101] A2 is the spicule in its natural state, and the exposed length of the spicule is the same as A1; the end of the spicule is subjected to a concentrated load, causing the spicule to bend. Due to the longer exposed length of the spicule and lower rigidity, the degree of bending is greater.

[0102] A3 is the natural state of the bone needle after it has been inserted to a certain length; compared to A2, since the bone needle has been inserted to a certain length, the exposed length of the bone needle is shortened, the rigidity is increased, and the degree of bending is reduced.

[0103] As the outer diameter of the bone needle increases from large to small and the exposed length of the bone needle increases from small to large, its rigidity gradually decreases. For this, a rigid model can be established. The rigid parameters of the rigid model can be determined by collecting multiple coordinate information of the optical marking element, and then the exposed length of the bone needle can be calculated using the rigid model.

[0104] In one embodiment, if Fig.11 As shown, the methods for determining the exposed length of the bone needle include:

[0105] S201, establishing a rigid model, inputting a plurality of position information of the optical marking element in the positioning point coordinate system into the rigid model, and determining the rigid parameters of the rigid model;

[0106] S202, determining, according to the rigid model, the exposed lengths of the bone needles corresponding to the different positions of the optical marking element.

[0107] Specifically, the present invention adopts the following two methods to determine the exposed length of the bone needle.

[0108] Method 1: Fitting method (no need to measure the exposed length of the bone needle):

[0109] like Fig.12 As shown, the end of the spicule is subjected to a concentrated load (Ft'), which will cause the spicule 140 to deform. The curve after deformation should be a cubic function of the exposed length of the spicule and is related to the elastic modulus and moment of inertia of the spicule. When the deformation is large, the rigidity model is nonlinear and difficult to derive, so the fitting method is used to determine the rigidity parameters. The specific process is as follows:

[0110] Acquire position information of at least 4 different positions of the optical marking element in the positioning point coordinate system;

[0111] The acquired position information is input into the rigid model, and the rigid parameters of the rigid model are determined by the fitting method, where the relationship between the rigid parameters is:

[0112]

[0113] Among them, X', Y' and Z' are the position information of the optical marking element in the positioning point coordinate system; A, B, C and D are rigidity parameters.

[0114] To improve fitting accuracy, more position information can be obtained, and 4 is the minimum number.

[0115] In a specific embodiment, the coordinate values ​​P1, P2, P3, and P4 of the world coordinate system WCD (X, Y, Z) of the optical marking element at four different positions are measured by a binocular vision device, and the coordinates are converted by a coordinate mapping relationship T:

[0116] P1'=T*P1,

[0117] P2'=T*P2,

[0118] P3'=T*P3,

[0119] P4' = T*P4;

[0120] Obtain the coordinate values ​​P1', P2', P3', and P4' in the positioning point coordinate system CS (X', Y', Z'), bring the four converted coordinate values ​​into the rigid model, solve the equations simultaneously, and obtain the values ​​of A, B, C, and D, thus determining the rigid model of the bone needle.

[0121] According to the stiffness model, the exposed length of the spicule can be calculated by integrating the curve length:

[0122]

[0123] Wherein, L' is the exposed length of the spicule.

[0124] Method 2: Multiple fitting method (the exposed length of the bone needle needs to be measured in advance):

[0125] The rigidity parameters of the rigid model are determined by using multiple position information of the optical marker element and the exposed length of the bone needle corresponding to each position information; then, based on the rigid model, the exposed length of the bone needle is calculated through the position information of the optical marker element.

[0126] refer to Fig.13 As shown, the specific method is:

[0127] S301, obtaining position information of the optical marking element at multiple different positions in the positioning point coordinate system, and measuring the exposed length of the bone needle corresponding to each position information;

[0128] S302, inputting the acquired position information and the measured exposed length of the bone needle into the rigid model, and using a multiple fitting method to determine the rigid parameters of the rigid model.

[0129] The method can use quadratic, cubic or higher order fitting methods to determine the rigidity model.

[0130] In one embodiment, the quadratic fitting method is:

[0131] Obtaining position information of at least 6 different positions of the optical marking element in the positioning point coordinate system, and measuring the exposed length of the bone needle corresponding to each position information;

[0132] The acquired position information and the measured exposed length of the bone needle are input into the rigid model, and the rigid parameters of the rigid model are determined by the quadratic fitting method, where the relationship between the rigid parameters is:

[0133]

[0134] Wherein, L' is the exposed length of the bone needle; X', Y' and Z' are the position information of the optical marking element in the positioning point coordinate system; A, B, C, D, E and F are rigidity parameters.

[0135] It should be noted that 6 position information (and the exposed length of the bone needle corresponding to each position information) is the minimum number. More data can be obtained according to actual conditions. The more data there are, the more accurate the rigidity parameters of the fitting will be.

[0136] In one embodiment, the cubic fitting method is:

[0137] Obtaining position information of at least 8 different positions of the optical marking element in the positioning point coordinate system, and measuring the exposed length of the bone needle corresponding to each position information;

[0138] The acquired position information and the measured exposed length of the bone needle are input into the rigid model, and the rigid parameters of the rigid model are determined by the cubic fitting method, where the relationship between the rigid parameters is:

[0139]

[0140] Wherein, L' is the exposed length of the bone needle; X', Y' and Z' are the position information of the optical marking element in the positioning point coordinate system; A, B, C, D, E, F, G and H are rigidity parameters.

[0141] It should be noted that 8 position information (and the exposed length of the bone needle corresponding to each position information) is the minimum number. More data can be obtained according to actual conditions. The more data there are, the more accurate the rigidity parameters of the fitting will be.

[0142] After the rigid model is determined, the exposed length L' of the bone needle can be calculated based on the position information of the optical marker element at different positions in the positioning point coordinate system obtained (during the operation).

[0143] In actual application scenarios, the bone needle will rotate when inserted; accordingly, the optical marking element will shake. In order to overcome the impact of shaking on the measurement results, the present invention has made improvements in the hardware structure of the bone needle and the optical marking element, the position acquisition and the algorithm for measuring the positioning depth.

[0144] For the hardware structure, please refer to the following embodiment regarding the improvement of the bone needle and the optical marking element (the corresponding figure is Figures 16 to 18 ).

[0145] When the binocular vision device collects the position of the optical marking element, a high-frequency reading method can be used to collect multiple position information of the optical marking element per unit time, and the multiple position information can be used to calculate the exposed lengths of multiple bone needles respectively, and the average value of the multiple exposed lengths of bone needles is further calculated to obtain the exposed length of the bone needle at the current moment.

[0146] Specifically, when collecting the position of the optical marking element, 40 frames of position information can be collected per second (the specific number of frames is set according to different devices and is only used as an example here); using the 40 frames or selecting a part of the position information in the 40 frames, multiple bone needle exposure lengths are calculated respectively, and then the average value of the multiple bone needle exposure lengths is calculated to obtain the bone needle exposure length at the current moment.

[0147] S3:

[0148] The bone needle positioning depth is determined according to the exposed length of the bone needle in the first state and the exposed length of the bone needle in the second state.

[0149] In actual application scenarios, the bone needle positioning depth can be measured by calculating the difference between the exposed length of the bone needle when it is at the initial position and the exposed length of the bone needle when it moves to the current position.

[0150] like Fig.14 As shown, in the initial state, the initial position coordinates of the optical marking element 180 are measured by the binocular vision device 150, and then the exposed length L of the bone needle in the initial state is obtained by the calculation method S2. i ;

[0151] like Fig.15 As shown, as the bone needle 140 is inserted, the exposed length of the bone needle will change, and the position of the optical marker element 180 will also change; the current position coordinates of the optical marker element 180 are measured by the binocular vision device 150, and then the exposed length L of the bone needle at the current position is obtained by the calculation method of S2. f .

[0152] Finally, according to the exposed length of the bone needle L i And the exposed length of bone needle L f , calculate the bone needle positioning depth:

[0153] L d =L i -L f ;

[0154] Among them, L d Position the depth for the bone pins.

[0155] First state:

[0156] The first state is the initial state for measuring the bone needle positioning depth. Usually, the bone needle positioning depth in the first state is 0.

[0157] The first state can be manually marked by the medical staff on the operating device; for example, a button is set, and when the medical staff is ready to insert the bone needle into the target, the button is manually clicked (this operation can be assisted by other medical staff) to mark the first state of the bone needle, and the positioning depth measurement device calculates the exposed length L of the bone needle in the first state. i .

[0158] Specifically, the bone needle positioning depth L is displayed in real time on the display screen in the operating room. d , the bone needle positioning depth displayed at this time is 0.

[0159] In a specific embodiment, the first state can also be marked by other methods; for example, during the process of bone needle insertion, it is automatically detected whether the bone needle is in contact with the target, and the first state of the bone needle is automatically marked when the bone needle is in contact with the target. This application only lists the above methods by way of example, and other methods can also be used in actual application scenarios, and this application does not strictly limit this.

[0160] Second state:

[0161] When marking the first state of the bone needle, the 0 position of the bone needle positioning depth can be obtained; then the bone needle enters the second state. In the second state of the bone needle, the medical staff will insert the bone needle into the target according to the treatment plan, and the exposed length of the bone needle will change.

[0162] As the bone needle is inserted, the position of the optical marking element changes, and the positioning depth measuring device calculates the exposed length L of the bone needle in the second state. f , according to L f With L i The bone needle positioning depth L is calculated by the difference between d .

[0163] The bone needle positioning depth L is displayed in real time on the display screen in the operating room. d Specifically, voice broadcasting can also be used to broadcast the bone needle positioning depth L in real time. d , so that medical staff can understand the insertion depth.

[0164] In a specific embodiment, by presetting a plurality of bone needle positioning depth thresholds, a real-time early warning reminder of the progress of bone needle insertion is provided according to the change of the bone needle positioning depth.

[0165] For example, multiple bone needle positioning thresholds such as 2 cm, 2.5 cm, and 3 cm are set respectively.

[0166] During the bone needle insertion process, when the bone needle positioning depth reaches 2cm, a prominent display will be shown on the display screen to remind you to insert 2cm, or a voice announcement will be made to remind medical staff; when it reaches 2.5cm and 3cm, early warning reminders will be given in turn to ensure the smooth implementation of the treatment plan.

[0167] The bone needle positioning threshold can be set according to surgical requirements, and this application does not strictly limit this.

[0168] In a specific embodiment, the depth of the bone needle positioning can be fed back to the medical staff in real time during the operation, so that the medical staff can timely understand the depth of the bone needle insertion and make timely adjustments to the surgical plan to ensure the smooth progress of the operation. At the same time, the changes in the depth of the bone needle positioning can be saved in the database to facilitate later review and restoration of the surgical process.

[0169] After introducing the method of measuring the positioning depth of the bone needle, the improvement of the bone needle is described in detail below.

[0170] In order to measure the positioning depth of the bone needle, the present invention makes adaptive improvements to the structure of the bone needle.

[0171] refer to Fig.16 , is a schematic diagram of the structural relationship between the optical marking element and the bone needle according to a specific embodiment of the present invention. Fig.16 As shown, an optical marking element 180 is installed at the end of the bone needle 140, wherein, when there is no external force, the center of the optical marking element 180 should be on the axis M of the bone needle 140.

[0172] Since the bone needle is usually in an inclined state in the guide, the end of the bone needle is subjected to the concentrated load, and the bone needle will bend. During the insertion of the bone needle, the position of the optical marker element will change in space. The present invention obtains the position change of the optical marker element through a binocular vision device, so that the position change of the bone needle in space can be calculated, and the positioning depth of the bone needle can be measured.

[0173] In actual application scenarios, in order to ensure the accuracy of measuring the positioning depth of the bone needle, the following three issues need to be considered during the process of inserting the bone needle and measuring the positioning depth of the bone needle:

[0174] 1. The bone needle will rotate when inserted. If the mass or moment of inertia of the optical marker element is large, the bone needle will swing, and the optical marker element will also swing, which may affect the treatment process and the measurement of the depth positioning of the bone needle. In addition, the optical marker element will have a certain impact on the bending degree of the bone needle. Therefore, the mass and moment of inertia of the optical marker element are required to be low to reduce the swing of the bone needle during rotation and ensure the measurement accuracy.

[0175] 2. Bone needles are usually inserted at an angle, and their rigidity will change during the insertion process, causing the position and angle of the optical marker element to change. Therefore, it is necessary to make the viewing angle of the optical marker element larger to ensure that the binocular vision device can accurately obtain the position change of the optical marker element.

[0176] 3. After the bone needle is inserted, the guide, drill and other equipment need to be withdrawn along the end of the bone needle. Therefore, the optical marking element should be detachable or its connection should be cut off.

[0177] In order to meet the above requirements, refer to Figures 17 to 19 The present invention further improves the bone needle and the optical marking element:

[0178] For the first and second questions, the optical marking element may be a lens, a reflective ball or other elements with reflective properties.

[0179] refer to Fig.17 , is a schematic diagram of the structure of a reflective ball according to a specific embodiment of the present invention. Fig.17 As shown, the reflective ball is a preferred solution for the optical marking element; the reflective ball has a lower moment of inertia and a larger viewing angle.

[0180] The optical marking element can be made of a material with a smaller mass, thereby reducing the impact on the measurement of the bone needle positioning depth.

[0181] In response to the third problem, the present invention uses a connector to connect the optical marking element and the bone needle.

[0182] refer to Fig.18 A connector 190 may be disposed between the optical marking element 180 and the bone needle 140 , and the optical marking element 180 and the bone needle 140 may be connected by the connector 190 .

[0183] When the optical marking element 180 needs to be removed, it can be disassembled and separated through the connecting piece 190 .

[0184] In a specific embodiment, the structure of the connecting member is as follows Fig.19 As shown, the top of the connector is used to install the optical marking element (reflective ball), and the bottom is connected to the bone needle. The connection method can be:

[0185] a. Plug-in; the contact surface is cylindrical, conical or other shapes.

[0186] b. Thread.

[0187] c. Magnetic attraction.

[0188] d. Soft cover; similar to an injection needle.

[0189] e. Gluing.

[0190] f. Welding.

[0191] g. One-piece molding.

[0192] The specific connection method is not limited to this, and the connection method can be selected according to actual needs.

[0193] If a detachable connection method is used (such as a, plug-in, b, magnetic attraction, c, thread, d, soft sleeve), at the end of the operation, the medical staff can quickly remove the optical marking element to withdraw the guide along the end of the bone needle.

[0194] If an inseparable method is used (such as e, gluing, f, welding, g, integral molding), the connecting part between the connector and the bone needle can be made of a material that is easy to break. At the end of the operation, the medical staff can break the connecting part and remove the optical marking element to withdraw the end of the guide petrous bone needle.

[0195] In one embodiment, multiple optical marker elements may be installed on the bone needle, and each optical marker element may respectively use the above calculation method to calculate multiple exposed lengths of the bone needle, and the calculation results may be corrected using the multiple exposed lengths of the bone needle. It should be noted that when installing multiple optical marker elements, they should be installed along the axis of the bone needle and kept fixed to ensure the accuracy of the calculation results during the insertion of the bone needle.

[0196] In practical application scenarios, this method is also applicable to the positioning depth measurement of other needle-like objects.

[0197] It should be noted that, although the operations of the method of the present invention are described in a specific order in the above embodiments and the accompanying drawings, this does not require or imply that the operations must be performed in the specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0198] Exemplary Systems

[0199] After introducing the method of the exemplary embodiment of the present invention, next, refer to Fig. 20 A system for measuring the positioning depth of a bone needle according to an exemplary embodiment of the present invention is introduced.

[0200] The implementation of the system for measuring the positioning depth of the bone needle can refer to the implementation of the above method, and the repeated parts will not be repeated. The terms "module" or "unit" used below can be a combination of software and / or hardware that implements the predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0201] Based on the same inventive concept, the present invention also proposes a system for measuring the positioning depth of a bone needle, such as Fig. 20 As shown, the system includes: a bone needle 140, a guide 130, an optical marking element 180, a binocular vision device 150 and a positioning depth measurement device 160; wherein,

[0202] The optical marking element 180 is mounted on the bone needle 140; the guide 130 is used to guide the movement direction of the bone needle 140;

[0203] The binocular vision device 150 is used to obtain the position information of the optical marking element 180;

[0204] The positioning depth measuring device 160 is used to determine the exposed length of the bone needle according to the position information of the optical marking element 180; during the movement of the bone needle 140, the bone needle positioning depth is determined according to the exposed length of the bone needle in the initial state and the exposed length of the bone needle in the current state.

[0205] It should be noted that although several modules of the system for measuring the depth of bone needle positioning are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more modules described above can be embodied in one module. Conversely, the features and functions of one module described above can be further divided into multiple modules for embodiment.

[0206] Based on the above invention concept, Fig.21 As shown, the present invention also proposes a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the aforementioned method for measuring the positioning depth of a bone needle when executing the computer program.

[0207] Based on the aforementioned inventive concept, the present invention proposes a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the aforementioned method for measuring the positioning depth of a bone needle is implemented.

[0208] Based on the aforementioned inventive concept, the present invention proposes a computer program product, which includes a computer program. When the computer program is executed by a processor, a method for measuring the positioning depth of a bone needle is implemented.

[0209] The method and system for measuring the positioning depth of a bone needle proposed in the present invention install an optical positioning element on the bone needle, collect the position change of the optical marking element, and calculate the exposed length of the bone needle in combination with the bending deformation theory of the rod, and measure the positioning depth of the bone needle according to the change in the exposed length of the bone needle. The hardware structure of the present invention is simple, and the operation is convenient, which effectively reduces the manufacturing and assembly costs. When measuring the positioning depth of the bone needle, a preset algorithm is used to measure the positioning depth of the bone needle, and the calculation efficiency and accuracy are high, which is conducive to the visualization of the depth. During the operation, the positioning depth of the bone needle can be fed back to the operator in real time as the operation progresses, so that the operator can understand the insertion depth of the bone needle in time, which provides great convenience for the bone needle insertion operation.

[0210] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0211] The present invention is described with reference to flowcharts and / or block diagrams of methods and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0212] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0213] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0214] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A system for measuring the positioning depth of a bone needle, characterized in that: include: Bone needle, guide, optical marking element, binocular vision device and positioning depth measurement device; wherein, The optical marking element is mounted on the bone needle; the guide is used to guide the movement direction of the bone needle; The binocular vision device is used to obtain the position information of the optical marking element; The positioning depth measuring device is used to determine the exposed length of the bone needle according to the position information of the optical marking element; during the movement of the bone needle, the positioning depth of the bone needle is determined according to the exposed length of the bone needle in the initial state and the exposed length of the bone needle in the current state; Wherein, obtaining the position information of the optical marking element includes: Obtaining the axis position and direction of the guide; wherein the guide is used to guide the movement direction of the bone needle; Establishing a positioning point coordinate system according to the axis position and direction of the guide; Obtaining position information of the optical marking element in the positioning point coordinate system; Wherein, determining the exposed length of the bone needle according to the position information of the optical marking element further includes: Establishing a rigid model, inputting a plurality of position information of the optical marking element in the positioning point coordinate system into the rigid model, and determining the rigid parameters of the rigid model; According to the rigid model, the exposed length of the bone needle corresponding to the optical marking element at different positions is determined; wherein, when the bone needle is inserted into the guide, the exposed length of the bone needle is the length of the bone needle on the side of the end of the bone needle that is exposed outside the guide.

2. The system according to claim 1, characterized in that Obtain the position information of the optical marking element in the positioning point coordinate system, including: Establish a world coordinate system and determine the mapping relationship between the world coordinate system and the positioning point coordinate system; The position information of the optical marking element in the world coordinate system is acquired through the binocular vision device, and the position information of the optical marking element in the positioning point coordinate system is obtained according to the mapping relationship.

3. The system according to claim 1, characterized in that Establishing a rigid model, inputting multiple position information of the optical marking element in the positioning point coordinate system into the rigid model, and determining the rigid parameters of the rigid model, including: Acquire position information of at least 4 different positions of the optical marking element in the positioning point coordinate system; The acquired position information is input into the rigid model, and the rigid parameters of the rigid model are determined by the fitting method, where the relationship between the rigid parameters is: Among them, X', Y' and Z' are the position information of the optical marking element in the positioning point coordinate system; A, B, C and D are rigidity parameters.

4. The system according to claim 3, characterized in that Determining the exposed length of the bone needle corresponding to the optical marker element at different positions according to the rigid model includes: The exposed length of the bone needle is calculated by the following formula: Wherein, L' is the exposed length of the spicule.

5. The system according to claim 1, characterized in that Establishing a rigid model, inputting multiple position information of the optical marking element in the positioning point coordinate system into the rigid model, and determining the rigid parameters of the rigid model, including: Obtaining position information of the optical marking element at multiple different positions in the positioning point coordinate system, and measuring the exposed length of the bone needle corresponding to each position information; The acquired position information and the measured exposed length of the bone needle were input into the rigid model, and the rigid parameters of the rigid model were determined by multiple fitting method.

6. The system according to claim 5, characterized in that include: The rigidity parameters of the rigid model are determined by the quadratic fitting method; Obtaining position information of at least 6 different positions of the optical marking element in the positioning point coordinate system, and measuring the exposed length of the bone needle corresponding to each position information; The acquired position information and the measured exposed length of the bone needle are input into the rigid model, and the rigid parameters of the rigid model are determined by the quadratic fitting method, where the relationship between the rigid parameters is: Wherein, L' is the exposed length of the bone needle; X', Y' and Z' are the position information of the optical marking element in the positioning point coordinate system; A, B, C, D, E and F are rigidity parameters.

7. The system according to claim 5, characterized in that include: The cubic fitting method is used to determine the rigid parameters of the rigid model; among them, Obtaining position information of at least 8 different positions of the optical marking element in the positioning point coordinate system, and measuring the exposed length of the bone needle corresponding to each position information; The acquired position information and the measured exposed length of the bone needle are input into the rigid model, and the rigid parameters of the rigid model are determined by the cubic fitting method, where the relationship between the rigid parameters is: Wherein, L' is the exposed length of the bone needle; X', Y' and Z' are the position information of the optical marking element in the positioning point coordinate system; A, B, C, D, E, F, G and H are rigidity parameters.

8. The system according to claim 1, characterized in that The system also includes: A plurality of position information of the optical marking element within a unit time is collected, and a plurality of exposed lengths of the bone needle are calculated respectively using the plurality of position information; and an average value of the plurality of exposed lengths of the bone needle is calculated to obtain the exposed length of the bone needle at the current moment.

9. The system according to claim 1, characterized in that The optical marking element is connected to the bone needle via a connecting piece; Wherein, the connecting piece can be detached from the bone needle.

10. The system according to claim 9, characterized in that At least one optical marking element is installed on the bone needle, and the optical marking element adopts a lens, a reflective ball or other elements with reflective properties; When no external force is applied, the center of the optical marking element is located on the axis of the bone needle.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for measuring the bone needle positioning depth corresponding to the system for measuring the bone needle positioning depth according to any one of claims 1 to 10 is implemented.

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