A navigation and positioning method and system

Abstract

This specification provides a navigation and positioning method and system. By imaging two non-coplanar marking surfaces on a positioning component in different orientations, a first perspective image and a second perspective image are obtained. After determining a first target point on the first perspective image, a first virtual point obtained by transforming the first target point to a first plane and a second virtual point obtained by transforming it to a second plane are determined; after obtaining a second target point selected on the second perspective image, a third virtual point obtained by transforming the second target point to a third virtual plane and a fourth virtual point obtained by transforming it to a fourth virtual plane are determined; the coordinates of the spatial intersection point of a first straight line passing through the first virtual point and the second virtual point and a second straight line passing through the third virtual point and the fourth virtual point are determined as the spatial coordinates of the target point. Since the spatial coordinates of the marking points and the imaging planes are in the middle and end segments of the imaging light rays, the magnitude of the calculation error amplification is small, and thus the error of the determined spatial coordinates of the target point is small.

Description

Technical Field

[0001] This specification relates to the technical field of medical devices, and particularly to a navigation and positioning method and system. Background Art

[0002] During the navigation and positioning process of a surgical robot, two-dimensional images (such as X-ray fluoroscopy images) are usually used for positioning and surgical planning. Existing navigation and positioning methods usually use a positioning component as a reference benchmark for spatial positioning, and place the positioning component beside the patient between the light source and the imaging plane for imaging. During the operation, image acquisition is performed on the target site from the frontal and lateral views of the patient, and the spatial coordinates of the planned target point in the target site are determined by combining the frontal image and the lateral image.

[0003] The existing method for spatial positioning by combining the frontal image and the lateral image usually needs to first calculate the spatial coordinates of the light source when the frontal image and the lateral image are taken, and then determine the spatial coordinates of the planned target point by combining the spatial coordinates of the light source.

[0004] However, the spatial coordinates of the planned target point obtained by this method usually have a large error. Summary of the Invention

[0005] The purpose of the embodiments of this application is to provide a navigation and positioning method and system to solve the problem of large errors in existing navigation and positioning methods.

[0006] The first aspect of this specification provides a navigation and positioning method, including: An intraoperative navigation and positioning method, including: obtaining a first perspective image and a second perspective image including a target object and a positioning component, where the positioning component is in a first imaging posture relative to the target object in the first perspective image, and the positioning component is in a second imaging posture relative to the target object in the second perspective image, and the first imaging posture and the second imaging posture are different; the positioning component includes at least a first marking surface and a second marking surface; calculating a first transformation matrix between the first marking surface and the first perspective image, a second transformation matrix between the second marking surface and the first perspective image in the first imaging posture, a third transformation matrix between the first marking surface and the second perspective image in the second imaging posture, and a fourth transformation matrix between the second marking surface and the second perspective image; after obtaining a first target point selected on the first perspective image, calculating a first virtual point according to the first transformation matrix, calculating a second virtual point according to the second transformation matrix, and determining a first straight line according to the first virtual point and the second virtual point; after obtaining a second target point selected on the second perspective image, calculating a third virtual point according to the third transformation matrix, calculating a fourth virtual point according to the fourth transformation matrix, and determining a second straight line according to the third virtual point and the fourth virtual point; determining the intersection point of the second straight line and the first straight line as the planned target point, and the planned target point is displayed on the image to be planned.

[0007] In some embodiments, the positioning component includes at least one third marking surface. Correspondingly, the method further includes: calculating a fifth transformation matrix between the third marking surface and the first perspective image in the first imaging posture, and a sixth transformation matrix between the third marking surface and the second perspective image in the second imaging posture; determining the first straight line according to the first virtual point and the second virtual point includes: after obtaining a first target point selected on the first perspective image, calculating a seventh virtual point according to the fifth transformation matrix, calculating the fitting straight line of the first virtual point, the second virtual point, and the seventh virtual point, and taking the fitting straight line as the first straight line; and / or, determining the second straight line according to the third virtual point and the fourth virtual point includes: after obtaining a second target point selected on the second perspective image, calculating an eighth virtual point according to the sixth transformation matrix, calculating the fitting straight line of the third virtual point, the fourth virtual point, and the eighth virtual point, and taking the fitting straight line as the second straight line.

[0008] In some embodiments, the first transformation matrix is determined by the following method: obtaining the first image coordinates of each marked point on the first marked surface of the positioning component in the first perspective image, and collecting the first spatial coordinates of each marked point on the first marked surface of the positioning component in the target object coordinate system under the first imaging pose; calculating the first transformation matrix based on the one-to-one corresponding first image coordinates and first spatial coordinates; and / or, the second transformation matrix is determined by the following method: obtaining the second image coordinates of each marked point on the second marked surface of the positioning component in the first perspective image, and collecting the second spatial coordinates of each marked point on the second marked surface of the positioning component in the target object coordinate system under the first imaging pose; calculating the second transformation matrix based on the one-to-one corresponding second image coordinates and second spatial coordinates; and / or, the third transformation matrix is determined by the following method: obtaining the third image coordinates of each marked point on the first marked surface of the positioning component in the second perspective image, and collecting the third spatial coordinates of each marked point on the first marked surface of the positioning component in the target object coordinate system under the second imaging pose; calculating the third transformation matrix based on the one-to-one corresponding third image coordinates and third spatial coordinates; and / or, the fourth transformation matrix is determined by the following method: obtaining the fourth image coordinates of each marked point on the second marked surface of the positioning component in the second perspective image, and collecting the fourth spatial coordinates of each marked point on the second marked surface of the positioning component in the target object coordinate system under the second imaging pose; calculating the fourth transformation matrix based on the one-to-one corresponding fourth image coordinates and fourth spatial coordinates.

[0009] In some embodiments, the spatial coordinates of each marked point on the target marked surface of the positioning component in the target coordinate system under the target imaging pose are collected by the following method: collecting the fifth spatial coordinates of each marked point on the target marked surface of the positioning component in the tool coordinate system under the target imaging pose; converting the fifth spatial coordinates into the spatial coordinates in the target coordinate system according to the transformation matrix between the tool coordinate system and the target object coordinate system.

[0010] In some embodiments, before obtaining the second target point selected on the second perspective image, it further includes: obtaining the projection matrix under the second imaging pose; projecting the first virtual point and the second virtual point onto the second perspective image plane respectively by using the projection matrix to obtain a fifth virtual point and a sixth virtual point; determining the target line according to the fifth virtual point and the sixth virtual point; and displaying the target line in the second perspective image for selecting the second target point on the target line.

[0011] In some embodiments, the projection matrix is determined by the following method: obtaining the image coordinates of each marker point on the target marker surface of the positioning component in the second perspective image, and collecting the spatial coordinates of each marker point on the target marker surface of the positioning component in the target object coordinate system under the second imaging pose; the target marker surface includes the first marker surface and / or the second marker surface; determining the correspondence between the image coordinates and the spatial coordinates of each marker point on the target marker surface of the positioning component, and constructing an image coordinate matrix and a spatial coordinate matrix according to the correspondence; constructing a projection matrix, where the elements in the projection matrix contain unknown variables; and solving the variables in the projection matrix according to the image coordinate matrix and the spatial coordinate matrix to obtain a projection matrix with all elements being constant values.

[0012] In some embodiments, the number of planned target points is two, and the line connecting the two planned target points serves as the implantation path of the implant.

[0013] In some embodiments, the implant is a screw.

[0014] The second aspect of this specification provides an intraoperative navigation and positioning device, including: a first acquisition unit configured to acquire a first perspective image and a second perspective image including a target object and a positioning component, where the positioning component is in a first imaging pose relative to the target object in the first perspective image, and the positioning component is in a second imaging pose relative to the target object in the second perspective image, and the first imaging pose and the second imaging pose are different; the positioning component includes at least a first marker surface and a second marker surface; a first calculation unit configured to calculate a first transformation matrix of the first marker surface and the first perspective image and a second transformation matrix of the second marker surface and the first perspective image in the first imaging pose, and a third transformation matrix of the first marker surface and the second perspective image and a fourth transformation matrix of the second marker surface and the second perspective image in the second imaging pose; a second calculation unit configured to, after obtaining a first target point selected on the first perspective image, calculate a first virtual point according to the first transformation matrix, calculate a second virtual point according to the second transformation matrix, and determine a first straight line according to the first virtual point and the second virtual point; a third calculation unit configured to, after obtaining a second target point selected on the second perspective image, calculate a third virtual point according to the third transformation matrix, calculate a fourth virtual point according to the fourth transformation matrix, and determine a second straight line according to the third virtual point and the fourth virtual point; and a first determination unit configured to determine the intersection point of the second straight line and the first straight line as a planned target point, and display the planned target point on the image to be planned.

[0015] The third aspect of this specification provides a navigation and positioning system, including: an image trolley configured to implement the method according to any one of the first aspect.

[0016] In some embodiments, the navigation and positioning system further includes: an optical imaging device, including a light source and an imaging plane arranged opposite to each other; a positioning component, including a rod body and two marking surfaces; the first end of the rod body is detachably arranged at the end of the robotic arm, and the two marking surfaces are arranged at the second end of the rod body; the two marking surfaces are not coplanar, and a set of marking points is arranged on each of the two marking surfaces; wherein, the marking points on the positioning component are used to be imaged between the light source and the imaging plane together with the target object.

[0017] In some embodiments, the navigation and positioning system further includes: an execution trolley, the execution trolley includes a host computer and a robotic arm; an end effector, detachably installed at the end of the robotic arm; a tool tracer, the tracer is installed at the end of the robotic arm; a target object tracer, the target object tracer is installed on the target object; a position tracking device, the position tracking device is used to identify the tool tracer and the target object tracer to track the end effector and the target object; wherein, the host computer controls the movement of the robotic arm according to the implantation path of the implant so that the pose of the end effector matches the implantation path, and the implantation path of the implant includes a connection line between two planned target points.

[0018] In some embodiments, the image trolley includes: a human-computer interaction subsystem, configured to display the first fluoroscopic image and the second fluoroscopic image, and obtain the selected first target point and second target point.

[0019] The fourth aspect of this specification provides a computer storage medium, which stores computer program instructions, and when the computer program instructions are executed, the steps of the method according to any one of the first aspect are implemented.

[0020] For the navigation and positioning method, device and system provided in this specification, by imaging two non-coplanar marking surfaces on the positioning component in different orientations to obtain a first fluoroscopic image and a second fluoroscopic image, and determining the spatial coordinates of the planned target point according to the image coordinates of each marking point on each marking surface in the two images and the spatial coordinates of each marking point when each fluoroscopic image is imaged. Since the spatial coordinates of the marking points and the imaging plane are in the middle and end sections of the imaging light, the amplitude of the calculation error is less amplified. Therefore, the error of the spatial coordinates of the planned target point determined according to this navigation and positioning method is small. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 Shows a schematic diagram of a navigation and positioning system;

[0023] Figure 2 Shows a schematic diagram of a positioning component installed at the end of a robotic arm;

[0024] Figure 3 Shows a schematic structural diagram of a positioning component;

[0025] Figure 4 Shows another schematic structural diagram of a positioning component;

[0026] Figure 5 Shows a frontal image obtained by imaging using a positioning component;

[0027] Figure 6 Shows a lateral image obtained by imaging using a positioning component;

[0028] Figure 7 Shows a schematic diagram of an image coordinate system;

[0029] Figure 8 Shows a flowchart of a navigation and positioning method provided in this specification;

[0030] Figure 9 Shows a schematic diagram of the principle of determining the coordinates of a planned target point in space based on a frontal image and a lateral image;

[0031] Figure 10 Shows a schematic diagram of an image for identifying the marker points on the first marker surface and the second marker surface in a frontal image;

[0032] Figure 11 Shows a schematic diagram of an image for identifying the marker points on the first marker surface and the second marker surface in a lateral image;

[0033] Figure 12 Shows a flowchart of another navigation and positioning method provided in this specification;

[0034] Figure 13 Shows another schematic diagram of the principle of determining the coordinates of a planned target point in space based on a frontal image and a lateral image;

[0035] Figure 14 Shows for Figure 7Schematic diagram for extracting marking points from the frontal image shown;

[0036] Figure 15 Shows the Figure 8 Schematic diagram for extracting marking points from the lateral image shown;

[0037] Figure 16 Schematic diagram showing the imaging principle of an optical imaging device modeled using a pinhole camera model;

[0038] Figure 17 Schematic block diagram showing the principle of the navigation and positioning device provided in this specification. Specific implementation manners

[0039] In order to enable those skilled in the art to better understand the technical solutions in this application, the following will clearly and completely describe the technical solutions in the embodiments of this application in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of this application.

[0040] Regarding the problem that the spatial coordinates of the planned target points obtained by the existing positioning methods usually have large errors, the inventors found through research that when calculating the spatial coordinates of the light source, it is necessary to first calculate multiple rays based on the spatial coordinates and image coordinates of multiple marking points on the positioning component, and then use the least squares method to calculate the spatial coordinates of the intersection points of these rays as the spatial coordinates of the light source. Since there is a deviation between the spatial coordinates of the light source calculated by the least squares method and the actual situation, and the light source position is at the head end of the imaging light rays, far from the planned target points and the imaging plane, the calculation error of the light source coordinates will be amplified during projection, which leads to a large deviation when determining the spatial coordinates of the planned target points in combination with the spatial coordinates of the light source. Based on this, this specification proposes a navigation and positioning method that does not require calculating the light source coordinates.

[0041] First, this specification provides a navigation and positioning system, including an image trolley, which is configured to implement the navigation and positioning method provided in this specification.

[0042] In some embodiments, the navigation and positioning system further includes an optical imaging device and a positioning component.

[0043] The optical imaging device is used to image the target part of the target object to obtain a two-dimensional image. The optical imaging device uses the projection principle for imaging. Such as Figure 1As shown, the imaging device may include a light source 11 and an imaging plane 12 that are relatively arranged. The light source 11 is used to generate light for imaging. For example, the light source 11 may generate X-rays, gamma rays, etc. A film is usually disposed on the imaging plane 12.

[0044] Taking X-ray imaging as an example, the imaging principle of the imaging device is as follows: X-rays have penetrability, fluorescence effect, and photosensitive effect. When X-rays pass through different tissue structures of the human body, the differences in density and thickness between human tissues cause different degrees of X-ray reception, so that the energy of the X-rays reaching the imaging plane is different, thus forming images with different light and dark or black and white contrasts on the imaging plane.

[0045] In some embodiments, the imaging device may be a C-arm product 6.

[0046] The positioning component, such as Figure 1 、 Figure 2 and Figure 3 As shown, it includes a rod body 21 and a first marking surface 21 and a second marking surface 22. The first end of the rod body 21 is detachably disposed at the end of the robotic arm 4, and the first marking surface 22 and the second marking surface 23 are disposed on the second end of the rod body 21. The two marking surfaces are not coplanar and may be parallel (that is, the plane where the first marking surface is located and the plane where the second marking surface is located are two parallel planes, rather than one plane), and a plurality of marking points are disposed on each marking surface. The plurality of marking points on each marking surface are not collinear, that is, a plane can be uniquely determined according to any three marking points. During imaging, the marking points on the positioning component and the target object are imaged together between the light source and the imaging plane.

[0047] The "two planes are parallel" mentioned in this specification may not be strictly parallel, but there may be an included angle between the two planes, but the included angle is less than a predetermined angle and is within the allowable error range.

[0048] The first group of marking points disposed on the first marking surface 22 and the second group of marking points disposed on the second marking surface 23 are different in at least one of material, size, layout method, etc., so as to facilitate distinguishing the marking points on the two marking surfaces from the image. The marking points are usually small balls made of metal material.

[0049] For example, as Figure 2 and Figure 3 shown, the diameters of the marking point balls on the first marking surface 22 and the second marking surface 23 are different, and the layout methods are also different.

[0050] The number of marking points on each marking surface is more than three, and these marking points on each surface are not completely collinear, that is, a plane can theoretically be uniquely determined by the marking points on one surface. In some embodiments, the number of marking points on each marking surface can be more, for exampleFigure 3 There are 9 fiducial points on each fiducial surface; in some embodiments, the number of fiducial points on each fiducial surface can be less, for example Figure 4 There are 5 fiducial points on each fiducial surface. When there are fewer fiducial points on each fiducial surface, the influence of the metal balls serving as fiducial points on diagnosis and surgical planning can be reduced. However, fewer fiducial points will reduce the positioning accuracy. Figure 3 and Figure 4 The positioning components shown in

[0051] In some embodiments, the first fiducial surface 22 and the second fiducial surface 23 can be arranged opposite to each other, or can be not arranged opposite to each other, and both can be used to implement the navigation and positioning method provided in this specification. The structure of not being arranged opposite to each other is as shown in Figure 3 shown. Figure 5 shows the anteroposterior image obtained by imaging using the positioning component with the first fiducial surface and the second fiducial surface not arranged opposite to each other, Figure 6 shows the lateral image obtained by imaging using the positioning component with the first fiducial surface and the second fiducial surface not arranged opposite to each other. It can be seen therefrom that in the image obtained by imaging using the positioning component with the first fiducial surface and the second fiducial surface not arranged opposite to each other, the images of the fiducial points on the first fiducial surface and the second fiducial surface do not coincide and are relatively easy to distinguish, thereby reducing the workload of image processing.

[0052] In some embodiments, the navigation and positioning system may further include a human-computer interaction subsystem for presenting the first fluoroscopic image and the second fluoroscopic image mentioned below to the surgeon and obtaining the selected first target point and second target point. The human-computer interaction subsystem can be the host computer 5 shown in Figure 1 or a VR (Virtual Reality) device, etc.

[0053] When performing the operation during imaging using the Figure 1 shown navigation and positioning system, after the target object lies on the bed 7, adjust the light source 11 and the imaging plane 12 of the imaging device so that the light source 11 is above the target part of the target object and the imaging plane 12 is below the target object. Such an imaging posture can be called anteroposterior. Place the positioning component 2 near the target part of the target object and keep the skew angle between the plane of the positioning component 2 and the imaging plane 12 within a first predetermined angle range (for example, within 0 - 10°). The first fluoroscopic image obtained by imaging with this orientation can also be called an anteroposterior image, as shown in Figure 5As shown. Then, keeping the target part of the target object stationary, adjust the light source 11 and the imaging plane 12 of the imaging device to the left and right sides of the target part of the target object respectively. Such an imaging posture can be called the lateral position. Place the positioning component 2 near the target part of the target object and keep the skew angle between the plane of the positioning component 2 and the imaging plane 12 within a first predetermined angle range (for example, between 0 - 10°). The second perspective image obtained by imaging with this orientation can also be called a lateral image, as Figure 6 shown. After obtaining the first perspective image and the second perspective image, the controller can then execute the navigation and positioning method provided in this specification by combining the first perspective image and the second perspective image.

[0054] During imaging, the target object tracer 31 is installed on the target object, and the position tracking device 33 identifies the target object tracer 31 to track the target object.

[0055] In orthopedic surgery, the above-mentioned imaging operations for the frontal image and the lateral image can be performed first, and then the optical imaging device is removed, and the execution trolley is started to be used. The surgical device includes a host computer 5 and a robotic arm 4. The end of the robotic arm 4 is detachably installed with an end tool, and this end tool serves as an auxiliary tool for the surgery. Specifically, the end tool can be an implant placement pose guide. A tool tracer 32 is also installed at the end of the robotic arm 4, and the position tracking device 33 can identify the tool tracer 32 to track the end tool. The host computer 5 can determine the placement pose of the end tool according to the planned target point, thereby framing the implant placement pose in the surgical space. The surgeon implants the screw according to the pose framed by the positioning guide under the assistance of this positioning guide.

[0056] After obtaining the first perspective image and the second perspective image, transformation matrices related to imaging can be calculated, including the first transformation matrix from the first perspective image to the virtual plane where the first marking plane is located in the first imaging posture, the second transformation matrix from the first perspective image to the virtual plane where the second marking plane is located in the first imaging posture, the third transformation matrix from the second perspective image to the virtual plane where the first marking plane is located in the second imaging posture, the fourth transformation matrix from the second perspective image to the virtual plane where the second marking plane is located in the second imaging posture. The first projection matrix in the first imaging posture and the second projection matrix in the second imaging posture can also be calculated. These calculated matrices are used to determine the planned target point in the target object coordinate system based on the first target point selected on the first perspective image and the second target point selected on the second perspective image.

[0057] The target object coordinate system can be a spatial coordinate system with any point on the target object as the origin.

[0058] Figure 8The flowchart of the navigation and positioning method provided in this specification is shown. This navigation and positioning method can determine the spatial coordinates of the planned target point based on the above-mentioned first perspective image and second perspective image. As Figure 8 shown, the method includes the following steps:

[0059] S10: Obtain the first perspective image and the second perspective image of the target object and the positioning component. In the first perspective image, the positioning component is in a first imaging pose relative to the target object, and in the second perspective image, the positioning component is in a second imaging pose relative to the target object. The first imaging pose and the second imaging pose are different. The positioning component includes at least two non-coplanar first marking surfaces and second marking surfaces.

[0060] During imaging, the target object is located between the light source and the imaging plane (i.e., the imaging plane), the positioning component is located near the target object, and the skew angle between the first marking surface and the imaging plane is within a first predetermined angle range (for example, between 0 and 10°), and the skew angle between the second marking surface and the imaging plane is within the first predetermined angle range (for example, between 0 and 10°).

[0061] The target object can refer to a person, an animal, etc.

[0062] The different first imaging pose and second imaging pose can refer to the above-mentioned frontal imaging pose and lateral imaging pose, or other first imaging pose and second imaging pose. The angle between the imaging directions when imaging in the first imaging pose and the second imaging pose should be within a second predetermined angle range (for example, any angle between 30° and 90°), where the imaging direction refers to the direction from the light source to the imaging plane. The closer the angle between the imaging directions of the two orientations is to 90°, the higher the accuracy of the navigation and positioning method.

[0063] Since the first marking surface and the second marking surface of the positioning component are non-coplanar, the first marking surface and the second marking surface can be in a parallel relationship, and the first marking surface, the second marking surface and the imaging plane can be approximately parallel. Therefore, the distances from the light source to the first marking surface and the second marking surface are different.

[0064] Figure 9The imaging principle diagrams of the frontal image and the lateral image are shown. Among them, N is the target part of the target object; Q1 is the light source position during the frontal image imaging, P1 is the plane where the first marking surface of the positioning component corresponding to the frontal image is located (i.e., the first plane), P2 is the plane where the second marking surface of the positioning component corresponding to the frontal image is located (i.e., the second plane), M1 represents the frontal image; Q2 is the light source position during the lateral image imaging, P3 is the plane where the first marking surface of the positioning component corresponding to the lateral image is located (the third plane), P4 is the plane where the second marking surface of the positioning component corresponding to the lateral image is located (the fourth plane), and M2 represents the lateral image. As can be seen from Figure 9 this, when imaging, the first distance from the light source to the plane where the first marking surface is located is different from the second distance from the light source to the plane where the second marking surface is located. The navigation and positioning method provided in this specification realizes spatial positioning based on the difference between the first distance and the second distance.

[0065] S20: Calculate the first transformation matrix between the first marking surface and the first perspective image, the second transformation matrix between the second marking surface and the first perspective image in the first imaging pose, the third transformation matrix between the first marking surface and the second perspective image, and the fourth transformation matrix between the second marking surface and the second perspective image in the second imaging pose.

[0066] The first transformation matrix can be determined by the following method: Obtain the first image coordinates of each marking point on the first marking surface of the positioning component in the first perspective image, and collect the first spatial coordinates of each marking point on the first marking surface of the positioning component in the target object coordinate system in the first imaging pose; Calculate the first transformation matrix based on the one-to-one corresponding first image coordinates and first spatial coordinates.

[0067] For example, the first transformation matrix can be obtained through the following steps S91 to S94.

[0068] S91: Extract the images of each marking point on the first marking surface of the positioning component from the first perspective image, and determine the first image coordinates of the each marking point on the first perspective image.

[0069] The image coordinates in this specification refer to the two-dimensional coordinate system established on the image. As Figure 7 shown, the coordinate origin can be set on the edge of the image, and the image coordinate system is uov.

[0070] Figure 10 The diagram shows the Figure 5 schematic diagram of extracting the marking points from the frontal image shown in Figure 11 The diagram shows the Figure 6Schematic diagram of extracting marking points from the lateral image shown, where L1 to L9 are the images of the marking points on the first marking surface of the positioning component, and S1 to S9 are the images of the marking points on the second marking surface of the positioning component. Step S91 is to determine Figure 9 the image coordinates of the marking points L1 to L9 in the image.

[0071] S92: Obtain the first spatial coordinates of each marking point on the first marking surface of the positioning component in the first imaging pose.

[0072] For example, when imaging the anteroposterior image shown in Figure 5 the first spatial coordinates of each marking point on the first marking surface in the target object coordinate system.

[0073] S93: Determine the correspondence between the first image coordinates and the first spatial coordinates of each marking point on the first marking surface of the positioning component, and construct a first image coordinate matrix and a first spatial coordinate matrix according to the correspondence.

[0074] Among them, the elements in the first image coordinate matrix are the image coordinates of each marking point on the first marking surface in the first image, and the elements in the first spatial coordinate matrix are the spatial coordinates of each marking point on the first marking surface when the first image is imaged.

[0075] S93 can be to sequentially determine the spatial coordinates of the marking points according to the predetermined order of the marking points on the first marking surface to obtain a first spatial coordinate sequence, and sequentially determine the image coordinates of the marking points according to the predetermined order of the marking points on the first marking surface to obtain a first image coordinate sequence. Then, the coordinates at the corresponding positions in the first spatial coordinate sequence and the first image coordinate sequence are those corresponding to the same marking point. Thus, a first spatial coordinate matrix can be constructed according to the first spatial coordinate sequence, and a first image coordinate matrix can be constructed according to the first image coordinate sequence.

[0076] S94: Determine the first transformation matrix from the first image to the first plane according to the first image coordinate matrix and the first spatial coordinate matrix.

[0077] The second transformation matrix is determined by the following method: Obtain the second image coordinates of each marking point on the second marking surface of the positioning component in the first perspective image, and collect the second spatial coordinates of each marking point on the second marking surface of the positioning component in the target object coordinate system in the first imaging pose; Calculate the second transformation matrix based on the one-to-one correspondence between the second image coordinates and the second spatial coordinates.

[0078] The calculation method of this second transformation matrix can refer to the calculation method of the first transformation matrix, with the difference being that the second marking surface is concerned when calculating the second transformation matrix.

[0079] The third transformation matrix is determined by the following method: obtaining the third image coordinates of each marked point on the first marked surface of the positioning component in the second perspective image, and collecting the third spatial coordinates of each marked point on the first marked surface of the positioning component in the target object coordinate system under the second imaging pose; calculating the third transformation matrix based on the one-to-one corresponding third image coordinates and third spatial coordinates.

[0080] The calculation method of this third transformation matrix can refer to the calculation method of the first transformation matrix, the difference being that when calculating the second transformation matrix, attention is paid to the second imaging pose and the second perspective image.

[0081] The fourth transformation matrix is determined by the following method: obtaining the fourth image coordinates of each marked point on the second marked surface of the positioning component in the second perspective image, and collecting the fourth spatial coordinates of each marked point on the second marked surface of the positioning component in the target object coordinate system under the second imaging pose; calculating the fourth transformation matrix based on the one-to-one corresponding fourth image coordinates and fourth spatial coordinates.

[0082] The calculation method of this third transformation matrix can refer to the calculation method of the first transformation matrix, the difference being that when calculating the second transformation matrix, attention is paid to the second imaging pose, the second perspective image, and the second marked surface.

[0083] Before calculating the above transformation matrices, the spatial coordinates of each marked point on the target marked surface of the positioning component in the target coordinate system under the target imaging pose can be collected by the following method: collecting the fifth spatial coordinates of each marked point on the target marked surface of the positioning component in the tool coordinate system under the target imaging pose; according to the transformation matrix between the tool coordinate system and the target object coordinate system, converting the fifth spatial coordinates into the spatial coordinates in the target coordinate system.

[0084] For example, in Figure 1 the system shown, the fifth spatial coordinates of each marked point in the tool coordinate system determined by the tool tracer 32 can be determined by the position tracking device 33. The position tracking device 33 can also determine the coordinates of each target point on the target object tracer 31 and the coordinates of each target point on the tool tracer 32, determine the transformation matrix between the tool coordinate system and the target coordinate system according to the coordinates of each target point on the target object tracer 31 and the coordinates of each target point on the tool tracer 32, and convert the fifth spatial coordinates into the spatial coordinates in the target coordinate system according to this transformation matrix. Among them, the target coordinate system is determined according to the target object tracer 31.

[0085] S30: After obtaining the first target point selected on the first perspective image, calculate the first virtual point according to the first transformation matrix, calculate the second virtual point according to the second transformation matrix, and determine the first straight line according to the first virtual point and the second virtual point.

[0086] The first plane is the plane where the first marking surface is located when the first perspective image is formed; the second plane is the plane where the second marking surface is located when the first perspective image is formed.

[0087] The first target point can be transformed to a first virtual point on the first plane by using a first transformation matrix, and the first target point can be transformed to a second virtual point on the second plane by using a second transformation matrix.

[0088] The first target point can be determined by the surgeon, or can be automatically determined by the surgical system and confirmed by the surgeon. In the case where the surgeon determines the first target point, the first perspective image can be presented to the surgeon through the man-machine interaction subsystem before this step S30.

[0089] As Figure 9 shown, the first target point is X. S30 can transform the first target point X to the first plane P1 to obtain the coordinates of the first virtual point X1 according to the first transformation matrix, transform the first target point to the second plane P2 to obtain the coordinates of the second virtual point X2 according to the second transformation matrix, and use the straight line passing through the first virtual point X1 and the second virtual point X2 as the first straight line.

[0090] S40: After obtaining the second target point selected on the second perspective image, calculate a third virtual point according to a third transformation matrix, calculate a fourth virtual point according to a fourth transformation matrix, and determine a second straight line according to the third virtual point and the fourth virtual point.

[0091] The third plane is the plane where the first marking surface is located when the second perspective image is formed, and the fourth plane is the plane where the second marking surface is located when the second perspective image is formed.

[0092] The second target point can be transformed to a third virtual point on the third plane by using a third transformation matrix, and the second target point can be transformed to a fourth virtual point on the fourth plane by using a fourth matrix.

[0093] The second target point can be determined surgically, or can be automatically determined by the surgical system and confirmed by the surgeon. In the case where the surgeon determines the second target point, the second perspective image can be presented to the surgeon through the man-machine interaction subsystem before this step S40.

[0094] As Figure 9 shown, the second target point is Y. S40 can transform the second target point Y to the third plane P3 to obtain the coordinates of the third virtual point Y1 according to the third transformation matrix, transform the second target point to the fourth plane P4 to obtain the coordinates of the fourth virtual point Y2 according to the fourth transformation matrix, and use the straight line passing through the third virtual point Y1 and the fourth virtual point Y2 as the second straight line.

[0095] S50: Determine the intersection point of the second straight line and the first straight line as the planned target point, and the planned target point is displayed on the image to be planned.

[0096] Since the spatial coordinates of the first virtual point and the second virtual point have been determined, the expression of the first straight line passing through these two points can be determined according to the coordinates of these two points; since the spatial coordinates of the third virtual point and the fourth virtual point have been determined, the expression of the second straight line passing through these two points can be determined according to the coordinates of these two points. According to the expressions of the first straight line and the second straight line, the coordinates of the intersection point of these two straight lines can be solved, that is, the spatial coordinates of the planned target point are obtained.

[0097] In some embodiments, there may be three or more marking surfaces on the positioning component. In the case of having more than three marking surfaces, the first straight line and the second straight line may be straight lines obtained by fitting three or more virtual points.

[0098] Specifically, the fifth transformation matrix between the third marking surface and the first perspective image in the first imaging pose, and the sixth transformation matrix between the third marking surface and the second perspective image in the second imaging pose can be calculated first. Then, determining the first straight line according to the first virtual point and the second virtual point includes: after obtaining the first target point selected on the first perspective image, calculating the seventh virtual point according to the fifth transformation matrix, calculating the fitting straight line of the first virtual point, the second virtual point, and the seventh virtual point, and taking the fitting straight line as the first straight line. Similarly, determining the second straight line according to the third virtual point and the fourth virtual point includes: after obtaining the second target point selected on the second perspective image, calculating the eighth virtual point according to the sixth transformation matrix, calculating the fitting straight line of the third virtual point, the fourth virtual point, and the eighth virtual point, and taking the fitting straight line as the second straight line.

[0099] The method shown in Figure 8 can be used to obtain one planned target point or multiple target points. In orthopedic implant surgery, the number of planned target points can be two, and the line connecting these two planned target points is used as the implant path of the implant. For example, in the case of implanting a screw, these two planned target points are the screw insertion point and the screw exit point respectively, and the line connecting the two planned target points is used as the implant path of the implant, that is, through these two planned target points, the pose of the screw implanted in the bone can be determined.

[0100] The navigation and positioning method, device, and system provided in this specification obtain a first perspective image and a second perspective image by imaging two non-coplanar marking surfaces on a positioning component in different orientations, and determine the spatial coordinates of a planned target point based on the image coordinates of each marking point on each marking surface in the two perspective images and the spatial coordinates of each marking point during each perspective imaging. Since the spatial coordinates of the marking points and the imaging plane are in the middle and end segments of the imaging light rays, the amplitude of the calculation error magnification is small, and thus the error of the spatial coordinates of the planned target point determined according to this navigation and positioning method is small.

[0101] In some embodiments, Figure 8 and Figure 9 in the embodiments shown, both the first target point and the second target point can be selected by the surgeon based on experience. That is, when selecting the second target point, the selection result of the first target point is not referred to, but only the images originally displayed on the first perspective image and the second perspective image are referred to.

[0102] In some embodiments, such as Figure 12 and Figure 13 shown, between S30 and S40, the following steps are further included: S50 - S80.

[0103] S50: Obtain the projection matrix in the second imaging pose.

[0104] S60: Use the projection matrix to project the first virtual point and the second virtual point onto the second perspective image plane respectively to obtain a fifth virtual point and a sixth virtual point.

[0105] S70: Determine the target line according to the fifth virtual point and the sixth virtual point.

[0106] S80: Display the target line in the second perspective image for selecting the second target point on the target line.

[0107] S60 can project the first virtual point onto the second perspective image plane to obtain the fifth virtual point by using a pre-calculated second projection matrix, and project the second virtual point onto the second perspective image plane to obtain the sixth virtual point by using the pre-calculated second projection matrix. After determining the coordinates of the fifth virtual point and the sixth virtual point on the second perspective image, a straight line can be uniquely determined on the second perspective image, and this straight line is used as the target line and displayed on the second perspective image. When the surgeon selects the second target point, they can only consider selecting on this target line, thereby reducing the difficulty of interactive positioning through the first perspective image and the second perspective image.

[0108] Such as Figure 13As shown, the coordinates of the fifth virtual point Z1 obtained by projecting the first virtual point X1 onto the second perspective image plane can be determined according to the second projection matrix, and the coordinates of the sixth virtual point Z2 obtained by projecting the second virtual point X2 onto the second perspective image can be determined according to the second projection matrix. The line Z1Z2 is then displayed on the second perspective image.

[0109] Figure 14 It shows that the first target point T is selected in the frontal image. Figure 15 It shows Figure 14 a schematic diagram of the first target point T selected on the frontal image on the lateral image. As can be seen from Figure 15 it, the points on the frontal image are projected onto the lateral image and shown as a line.

[0110] In the case where there are more than three marking surfaces on the positioning component, the first target point selected on the first perspective image is transformed into a seventh virtual point. In the above step S60, the projection matrix can also be used to project the seventh virtual point onto the second perspective image plane to obtain an eighth virtual point. Then, in step S70, the target line can be obtained by fitting the fifth virtual point, the sixth virtual point, and the eighth virtual point.

[0111] Before S50, the projection matrix can be obtained through the following steps S101 to S104:

[0112] S101: Obtain the image coordinates of each marking point on the target marking surface of the positioning component in the second perspective image, and collect the spatial coordinates of each marking point on the target marking surface of the positioning component in the target object coordinate system in the second imaging pose. The target marking surface includes the first marking surface and / or the second marking surface.

[0113] Corresponding to Figure 10 and Figure 11 , step S101 is to obtain the image coordinates of the marking points L1 to L9 in the image and / or the image coordinates of the marking points S1 to S9 in the image.

[0114] S102: Determine the correspondence between the image coordinates and the spatial coordinates of each marking point on the target marking surface of the positioning component, and construct a fifth image coordinate matrix and a fifth spatial coordinate matrix according to the correspondence.

[0115] Among them, the elements in the fifth image coordinate matrix are the image coordinates of each marking point on the target marking surface in the second perspective image, and the elements in the fifth spatial coordinate matrix are the spatial coordinates of each marking point on the target marking surface when the second perspective image is formed.

[0116] S102 may be to sequentially determine the spatial coordinates of the marking points according to the order of the marking points on the predetermined target marking surface to obtain a fifth spatial coordinate sequence, and sequentially determine the image coordinates of the marking points according to the order of the marking points on the predetermined target marking surface to obtain a fifth image coordinate sequence. Then, the coordinates at the corresponding positions in the fifth spatial coordinate sequence and the fifth image coordinate sequence are corresponding to the same marking point. Thus, a fifth spatial coordinate matrix can be constructed according to the fifth spatial coordinate sequence, and a fifth image coordinate matrix can be constructed according to the fifth image coordinate sequence.

[0117] S103: Construct a projection matrix, where the elements in the projection matrix contain unknown variables.

[0118] The imaging principle of the imaging device can be modeled by a pinhole camera model. As Figure 16 shown, the light source 11 is equivalent to the pinhole of the pinhole camera, and the imaging light (such as X-ray) is equivalent to the ordinary light in the pinhole camera model. The camera model includes internal parameters and external parameters. The internal parameters are related to the camera itself, and the external parameters are related to the position and orientation of the camera in the world coordinate system. The world coordinate system here refers to Figure 1 the absolute position coordinate system of the navigation and positioning system shown.

[0119] Assume that the image captured by the camera is as Figure 7 shown, the image coordinate system is uov, and the world coordinate system is x w y w z w . The projection transformation relationship from the coordinates of any point in space (in this specification, the spatial coordinates are also the coordinates in the world coordinate system) to the image coordinate system can be expressed as:

[0120] where

[0121] Z c represents the z-axis coordinate of any point in space in the camera coordinate system; M1 is the internal parameter matrix, which is invariant once the camera and lens are determined; M2 is the external parameter matrix, which is related to the position and orientation of the camera in the world coordinate system; u0, v0 are the coordinates of the center point of the image, f is the focal length of the lens, dx, dy are the pixel sizes, t x , t y , t z are, and r 11 to r 33 are parameters.

[0122] Analogous to the above projection transformation relationship of camera imaging, it can be assumed that the projection transformation relationship of the imaging subsystem imaging is:

[0123] where, as Figure 7The image coordinate system shown is uov, and the world coordinate system is xyz. The coordinates of any point refer to the coordinates of any point in the world coordinate system, q 11 to q 34 are the parameters to be determined of the projection matrix. The matrix containing the position variables constructed in step S103 can be the above matrix Q.

[0124] S104: According to the fifth image coordinate matrix and the fifth spatial coordinate matrix, solve the variables in the projection matrix to obtain a projection matrix with all constant elements.

[0125] In some embodiments, before S104, the elements in the fifth image coordinate matrix and the fifth spatial coordinate matrix can be normalized first, then S104 uses the normalized fifth image coordinate matrix and the fifth spatial coordinate matrix to solve the projection matrix, and finally the projection matrix calculated in S104 is denormalized to obtain the final projection matrix. Through the process of normalization and denormalization, the calculation accuracy of the projection matrix can be improved.

[0126] This specification provides a navigation and positioning device, which can be used to implement Figure 8 the navigation and positioning method shown. As Figure 17 shown, the device includes a first acquisition unit 10, a first calculation unit 20, a second calculation unit 30, a third calculation unit 40, and a first determination unit 50.

[0127] The first acquisition unit 10 is used to acquire a first perspective image and a second perspective image including a target object and a positioning component. In the first perspective image, the positioning component is in a first imaging posture relative to the target object, and in the second perspective image, the positioning component is in a second imaging posture relative to the target object. The first imaging posture and the second imaging posture are different; the positioning component includes at least a first marking surface and a second marking surface.

[0128] The first calculation unit 20 is used to calculate a first transformation matrix of the first marking surface and the first perspective image, a second transformation matrix of the second marking surface and the first perspective image in the first imaging posture, a third transformation matrix of the first marking surface and the second perspective image, and a fourth transformation matrix of the second marking surface and the second perspective image in the second imaging posture.

[0129] The second calculation unit 30 is used to, after obtaining a first target point selected on the first perspective image, calculate a first virtual point according to the first transformation matrix, calculate a second virtual point according to the second transformation matrix, and determine a first straight line according to the first virtual point and the second virtual point.

[0130] The third calculation unit 40 is configured to, after obtaining the second target points selected on the second perspective image, calculate a third virtual point according to a third transformation matrix, calculate a fourth virtual point according to a fourth transformation matrix, and determine a second straight line based on the third virtual point and the fourth virtual point.

[0131] The first determination unit 50 is configured to determine the intersection point of the second straight line and the first straight line as a planned target point, and the planned target point is displayed on the image to be planned.

[0132] This specification provides a navigation and positioning system, including: an image trolley configured to implement Figure 8 the navigation and positioning method shown.

[0133] In some embodiments, the navigation and positioning system further includes: an optical imaging device including a light source and an imaging plane arranged opposite to each other; a positioning assembly including a rod body and two marking surfaces; the first end of the rod body is detachably arranged at the end of a robotic arm, and the two marking surfaces are arranged at the second end of the rod body; the two marking surfaces are not coplanar, and a set of marking points is arranged on each of the two marking surfaces; wherein, the marking points on the positioning assembly are used to be imaged together with a target object between the light source and the imaging plane.

[0134] In some embodiments, the navigation and positioning system further includes: an execution trolley including a host computer and a robotic arm; an end effector detachably installed at the end of the robotic arm; a tool tracer installed at the end of the robotic arm; a target object tracer installed on the target object; a position tracking device configured to identify the tool tracer and the target object tracer to track the end effector and the target object; wherein, the host computer controls the movement of the robotic arm according to the implantation path of the implant so that the pose of the end effector matches the implantation path, and the implantation path of the implant includes a connection line between two planned target points.

[0135] In some embodiments, the image trolley includes: a human-computer interaction subsystem configured to display the first perspective image and the second perspective image, and obtain the selected first target point and second target point.

[0136] The description of the above navigation and positioning system can refer to Figures 1 to 4 the corresponding description, which will not be elaborated herein.

[0137] This specification also provides a computer storage medium storing computer program instructions, and when the computer program instructions are executed, they implement Figure 8 or Figure 12 the steps of the corresponding embodiments.

[0138] Those skilled in the art can understand that to implement all or part of the processes in the above-described embodiment methods, it can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-described method embodiments. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memories.

[0139] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the hardware + program type embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0140] The above has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order from that in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0141] Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, it is entirely possible to logically program the method steps so that the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. to achieve the same function. Therefore, such a controller can be regarded as a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or structures within the hardware component.

[0142] The above are only examples of the embodiments of this specification and are not intended to limit the embodiments of this specification. For those skilled in the art, various modifications and variations can be made to the embodiments of this specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of this specification shall be included within the scope of the claims of the embodiments of this specification.

Claims

1. A navigation and positioning system, characterized in that, Comprising: An image trolley configured to implement an intraoperative navigation and positioning method, the method comprising: Obtaining a first perspective image and a second perspective image including a target object and a positioning component, wherein in the first perspective image, the positioning component is in a first imaging pose relative to the target object, and in the second perspective image, the positioning component is in a second imaging pose relative to the target object, and the first imaging pose and the second imaging pose are different; the positioning component at least comprises a non-coplanar first marking surface and a second marking surface; Calculating a first transformation matrix between the first marking surface and the first perspective image and a second transformation matrix between the second marking surface and the first perspective image in the first imaging pose, as well as a third transformation matrix between the first marking surface and the second perspective image and a fourth transformation matrix between the second marking surface and the second perspective image in the second imaging pose; After obtaining a first target point selected on the first perspective image, calculating a first virtual point according to the first transformation matrix, calculating a second virtual point according to the second transformation matrix, and determining a first straight line based on the first virtual point and the second virtual point; After obtaining a second target point selected on the second perspective image, calculating a third virtual point according to the third transformation matrix, calculating a fourth virtual point according to the fourth transformation matrix, and determining a second straight line based on the third virtual point and the fourth virtual point; Determining the intersection point of the second straight line and the first straight line as a planned target point, and displaying the planned target point on the planned image.

2. The navigation and positioning system according to claim 1, wherein The positioning component includes at least one third marking surface, and correspondingly, the method further comprises: Calculating a fifth transformation matrix between the third marking surface and the first perspective image in the first imaging pose, and a sixth transformation matrix between the third marking surface and the second perspective image in the second imaging pose; Determining a first straight line based on the first virtual point and the second virtual point, including: after obtaining a first target point selected on the first perspective image, calculating a seventh virtual point according to the fifth transformation matrix, calculating a fitting straight line of the first virtual point, the second virtual point, and the seventh virtual point, and taking the fitting straight line as the first straight line; And / or Determining a second straight line based on the third virtual point and the fourth virtual point, including: after obtaining a second target point selected on the second perspective image, calculating an eighth virtual point according to the sixth transformation matrix, calculating a fitting straight line of the third virtual point, the fourth virtual point, and the eighth virtual point, and taking the fitting straight line as the second straight line.

3. The navigation and positioning system according to claim 1, characterized in that, The first transformation matrix is determined by the following method: Obtaining the first image coordinates of each marking point on the first marking surface of the positioning component in the first perspective image, and collecting the first spatial coordinates of each marking point on the first marking surface of the positioning component in the target object coordinate system in the first imaging pose; Calculating the first transformation matrix based on the one-to-one corresponding first image coordinates and first spatial coordinates; And / or The second transformation matrix is determined by the following method: Obtain the second image coordinates of each marked point on the second marked surface of the positioning component in the first perspective image, and collect the second spatial coordinates of each marked point on the second marked surface of the positioning component in the target object coordinate system under the first imaging pose; Calculate the second transformation matrix based on the one-to-one corresponding second image coordinates and second spatial coordinates; And / or, The third transformation matrix is determined by the following method: Obtain the third image coordinates of each marked point on the first marked surface of the positioning component in the second perspective image, and collect the third spatial coordinates of each marked point on the first marked surface of the positioning component in the target object coordinate system under the second imaging pose; Calculate the third transformation matrix based on the one-to-one corresponding third image coordinates and third spatial coordinates; And / or, The fourth transformation matrix is determined by the following method: Obtain the fourth image coordinates of each marked point on the second marked surface of the positioning component in the second perspective image, and collect the fourth spatial coordinates of each marked point on the second marked surface of the positioning component in the target object coordinate system under the second imaging pose; Calculate the fourth transformation matrix based on the one-to-one corresponding fourth image coordinates and fourth spatial coordinates.

4. The navigation and positioning system according to claim 1, wherein Collect the spatial coordinates of each marked point on the target marked surface of the positioning component in the target coordinate system under the target imaging pose by the following method: Collect the fifth spatial coordinates of each marked point on the target marked surface of the positioning component in the tool coordinate system under the target imaging pose; Convert the fifth spatial coordinates into the spatial coordinates in the target coordinate system according to the conversion matrix between the tool coordinate system and the target object coordinate system.

5. The navigation and positioning system according to claim 1, wherein Before obtaining the second target point selected on the second perspective image, it further includes: Obtain the projection matrix under the second imaging pose; Use the projection matrix to project the first virtual point and the second virtual point onto the second perspective image plane respectively to obtain a fifth virtual point and a sixth virtual point; Determine the target line according to the fifth virtual point and the sixth virtual point; Display the target line in the second perspective image for selecting the second target point on the target line.

6. The navigation and positioning system according to claim 5, wherein The projection matrix is determined by the following method: Obtain the image coordinates of each marked point on the target marked surface of the positioning component in the second perspective image, and collect the spatial coordinates of each marked point on the target marked surface of the positioning component in the target object coordinate system under the second imaging pose; the target marked surface includes the first marked surface and / or the second marked surface; Determine the corresponding relationship between the image coordinates and the spatial coordinates of each marked point on the target marked surface of the positioning component, and construct an image coordinate matrix and a spatial coordinate matrix according to the corresponding relationship; Construct a projection matrix, and the elements in the projection matrix contain unknown variables; Solve the variables in the projection matrix according to the image coordinate matrix and the spatial coordinate matrix to obtain a projection matrix with all elements being constant values.

7. The navigation and positioning system according to claim 1, characterized in that, The number of planned target points is two, and the connection line between the two planned target points is used as the implantation path of the implant.

8. The navigation and positioning system according to claim 7, characterized in that, The implant is a screw.

9. The navigation and positioning system according to claim 1, wherein It further includes: An optical imaging device, including a light source and an imaging plane arranged oppositely; The positioning component includes a rod body and two marking surfaces; the first end of the rod body is detachably arranged at the end of the robotic arm, and the two marking surfaces are arranged at the second end of the rod body; the two marking surfaces are not coplanar, and a set of marking points is arranged on each of the marking surfaces; wherein, the marking points on the positioning component are used to be imaged together with the target object between the light source and the imaging plane.

10. The navigation and positioning system according to claim 1, characterized in that, It further includes: An execution trolley, which includes a host computer and a robotic arm; An end effector, detachably installed at the end of the robotic arm; A tool tracer, which is installed at the end of the robotic arm; A target object tracer, which is installed on the target object; A position tracking device, which is used to identify the tool tracer and the target object tracer to track the end effector and the target object; Wherein, the host computer controls the movement of the robotic arm according to the implantation path of the implant so that the pose of the end effector matches the implantation path, and the implantation path of the implant includes the connection line between two planned target points.

11. The navigation and positioning system according to claim 1, characterized in that, The image trolley includes: A human-computer interaction subsystem, which is used to display the first fluoroscopic image and the second fluoroscopic image, and obtain the selected first target point and second target point.

12. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, and when the computer program instructions are executed, an intraoperative navigation and positioning method is implemented. The method includes: Obtaining a first fluoroscopic image and a second fluoroscopic image including a target object and a positioning component. In the first fluoroscopic image, the positioning component is in a first imaging pose relative to the target object, and in the second fluoroscopic image, the positioning component is in a second imaging pose relative to the target object. The first imaging pose and the second imaging pose are different; the positioning component at least includes a non-coplanar first marking surface and a second marking surface; Calculating a first transformation matrix between the first marking surface and the first fluoroscopic image, a second transformation matrix between the second marking surface and the first fluoroscopic image in the first imaging pose, a third transformation matrix between the first marking surface and the second fluoroscopic image, and a fourth transformation matrix between the second marking surface and the second fluoroscopic image in the second imaging pose; After obtaining the first target point selected on the first fluoroscopic image, calculating a first virtual point according to the first transformation matrix, calculating a second virtual point according to the second transformation matrix, and determining a first straight line according to the first virtual point and the second virtual point; After obtaining the second target point selected on the second fluoroscopic image, calculating a third virtual point according to the third transformation matrix, calculating a fourth virtual point according to the fourth transformation matrix, and determining a second straight line according to the third virtual point and the fourth virtual point; Determining the intersection point of the second straight line and the first straight line as the planned target point, and the planned target point is displayed on the planned image.

Images