Method, device and system for registration of hard tissue

Abstract

The present specification provides a registration method, device and system of hard tissue, wherein the method comprises: designing and manufacturing a negative model of a solid according to the image of the hard tissue, so that the first surface of the negative model matches the target surface of the hard tissue model, and determining the registration matrix according to the first coordinates of the mark points on the negative model in the image coordinate system and the second coordinates in the target coordinate system. According to the present scheme, the model of the hard tissue is established according to the image of the hard tissue, and then the negative model is determined according to the hard tissue model, and the registration operation is performed by means of the negative model. Only 3 coordinates of points are needed to realize fast registration, the requirement for the surgeon is lower, and the registration efficiency is higher.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of medical equipment, in particular to a hard tissue registration method, device and system. BACKGROUND

[0002] Surgical navigation is to accurately correspond preoperative or intraoperative image data of a patient with an anatomical structure of the patient on an operating table, to track a surgical instrument in surgery and to update and display a position of the surgical instrument in the form of a virtual probe on the image of the patient in real time, so that a surgeon can intuitively know the position of the surgical instrument relative to the anatomical structure of the patient, and the surgical operation is faster, more accurate and safer. The operation of accurately corresponding the preoperative or intraoperative image data of the patient with the anatomical structure of the patient on the operating table is called registration. Registration is a key step to realize surgical navigation.

[0003] At present, the existing technology usually adopts the following method for registration: before surgery, a hard tissue model of a patient is obtained by using CT segmentation of the patient; during surgery, a point cloud on a surface of the hard tissue is collected by using a sharp probe tracked by an optical tracking system, as shown in FIG. 1, and then the point cloud is registered to the hard tissue model obtained by preoperative segmentation, so that a transformation relationship between a preoperative CT coordinate system and a coordinate system of the hard tissue of the patient in surgery can be obtained. Figure 1

[0004] The existing technology has the following problems: when the point cloud on the surface of the hard tissue is collected by using the probe in surgery, the hand-eye coordination problem exists according to the guidance of the navigation screen, a long learning curve is required, and therefore the requirement for the surgeon is high; in order to achieve the registration requirement, 30-40 points are required to be collected for registration, and the collected points have a range and sequence requirement, which is time-consuming and affects the surgical efficiency. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a hard tissue registration method, device and system to solve the problems of high requirement for the surgeon and long time consumption of the existing registration method.

[0006] The first aspect of the present specification provides a hard tissue registration method, comprising: obtaining first coordinates of a plurality of marker points on a negative model in an image coordinate system; a first surface of the negative model is matched with a target surface of a hard tissue model; the image coordinate system is a coordinate system determined when an image of the hard tissue is taken before surgery, and the negative model and the marker points on the negative model are designed and made according to the image of the hard tissue; after the first surface of the negative model is matched to the target surface of the hard tissue, second coordinates of each marker point in a target coordinate system are obtained; and a registration matrix of the image coordinate system and the target coordinate system is determined according to the first coordinates and the second coordinates.

[0007] ​In some embodiments, the marking points are located on a second surface of the negative model, the second surface being opposite to the first surface.

[0008] In some embodiments, the second surface of the negative model is provided with a first interface for mounting a target, the target being used to determine second coordinates of the marking points in the target coordinate system during surgery; or the second surface of the negative model is integrally provided with a target protruding from the second surface.

[0009] In some embodiments, determining the registration matrix of the image coordinate system and the target coordinate system according to the first coordinates and the second coordinates comprises: determining a first transformation matrix between the first coordinates and the second coordinates by using a least square method; calculating third coordinates of the marking points by transforming the first coordinates by using the first transformation matrix; judging whether a difference between the third coordinates and the second coordinates of the marking points reaches a predetermined condition; and if yes, taking the first transformation matrix as the registration matrix of the image coordinate system and the target coordinate system.

[0010] In some embodiments, obtaining the second coordinates of the marking points in the target coordinate system comprises: obtaining fourth coordinates of the marking points in the negative model coordinate system determined before surgery; obtaining poses of a target on the negative model and a target of the target coordinate system in the target coordinate system; the second surface of the negative model is provided with a target protruding from the second surface, and the second surface is opposite to the first surface; determining a second transformation matrix from the negative model coordinate system to the target coordinate system according to the poses of the target on the negative model and the target of the target coordinate system in the target coordinate system; and transforming the fourth coordinates of the marking points to the target coordinate system according to the second transformation matrix to obtain the second coordinates of the marking points in the target coordinate system.

[0011] In some embodiments, the acquiring the second coordinates of the marker points in the target coordinate system comprises: acquiring fifth coordinates of the target points on the target of the negative model in the image coordinate system; the second surface of the negative model is provided with the target protruding from the second surface, and the second surface is oppositely arranged with the first surface; based on the fifth coordinates of the target points on the target of the negative model in the image coordinate system, a negative model target coordinate system is established, and a third transformation matrix between the image coordinate system and the negative model target coordinate system is determined; acquiring poses of the target of the negative model and the target of the target coordinate system in the target coordinate system respectively; determining a fourth transformation matrix from the negative model target coordinate system to the target coordinate system according to the poses of the target of the negative model and the target of the target coordinate system in the target coordinate system respectively; taking the target points on the target of the negative model as the marker points, and transforming the fifth coordinates of the target points on the target of the negative model in the image coordinate system to the second coordinates of the marker points in the target coordinate system according to the third transformation matrix and the fourth transformation matrix.

[0012] In some embodiments, before the acquiring the poses of the target of the negative model and the target of the target coordinate system in the target coordinate system respectively, the method further comprises: acquiring a first positional relationship between a check point on the second surface of the negative model and the target of the negative model; the first positional relationship is determined before surgery; after the negative model is attached to the target surface of the hard tissue, a second positional relationship between the check point and the target of the negative model is acquired; in a case where a deviation between the first positional relationship and the second positional relationship is within a second predetermined threshold range, the acquiring the poses of the target of the negative model and the target of the target coordinate system in the target coordinate system is performed.

[0013] In some embodiments, before the acquiring the first coordinates of the plurality of marker points on the negative model in the image coordinate system, the method further comprises: acquiring an image of the hard tissue; reconstructing a three-dimensional model image of the hard tissue according to the image of the hard tissue; marking the target surface exposed outside during surgery on the three-dimensional model image of the hard tissue, and determining a three-dimensional model image of the negative model according to the marked target surface.

[0014] The second aspect of the specification provides a registration device for hard tissue, comprising: a first obtaining unit configured to obtain first coordinates of a plurality of marker points on a negative model in an image coordinate system; a first surface of the negative model is matched with a target surface of a hard tissue model; the image coordinate system is determined when an image of the hard tissue is taken before surgery, and the negative model and the marker points on the negative model are designed and manufactured according to the image of the hard tissue; a second obtaining unit configured to obtain second coordinates of each marker point in a target coordinate system after the first surface of the negative model is matched with the target surface of the hard tissue; and a first determining unit configured to determine a registration matrix of the image coordinate system and the target coordinate system according to the first coordinates and the second coordinates.

[0015] In some embodiments, the marker points are located on a second surface of the negative model, and the second surface is arranged opposite to the first surface.

[0016] In some embodiments, a first interface is arranged on the second surface of the negative model, and the first interface is configured to mount a target, and the target is configured to determine the second coordinates of each marker point in the target coordinate system during surgery; or the second surface of the negative model is integrally arranged with a target protruding from the second surface.

[0017] In some embodiments, the first determining unit comprises: a first determining subunit configured to determine a first transformation matrix between the first coordinates and the second coordinates by using a least square method; a first calculating subunit configured to calculate third coordinates of each marker point by transforming the first coordinates by using the first transformation matrix; a judging subunit configured to judge whether a difference between the third coordinates and the second coordinates of each marker point reaches a predetermined condition; and a second determining subunit configured to, if yes, take the first transformation matrix as the registration matrix of the image coordinate system and the target coordinate system.

[0018] In some embodiments, the second obtaining unit comprises: a first obtaining subunit configured to obtain fourth coordinates of each marker point in the negative model coordinate system determined before surgery; a second obtaining subunit configured to obtain poses of a target on the negative model and a target of the target coordinate system in the target coordinate system; the second surface of the negative model is arranged with a target protruding from the second surface, and the second surface is arranged opposite to the first surface; a third determining subunit configured to determine a second transformation matrix from the negative model coordinate system to the target coordinate system according to the poses of the target on the negative model and the target of the target coordinate system in the target coordinate system; and a first transformation subunit configured to transform the fourth coordinates of each marker point to the target coordinate system to obtain the second coordinates of each marker point in the target coordinate system according to the second transformation matrix.

[0019] In some embodiments, the second obtaining unit comprises: a third obtaining subunit configured to obtain fifth coordinates of each target point of the target on the negative model in the image coordinate system; a second surface of the negative model is provided with a target protruding from the second surface, and the second surface is oppositely arranged with the first surface; a fourth determining subunit configured to establish a negative model target coordinate system based on the fifth coordinates of each target point on the target of the negative model in the image coordinate system, and determine a third transformation matrix between the image coordinate system and the negative model target coordinate system; a fourth obtaining subunit configured to obtain poses of the target of the negative model and the target of the target coordinate system in the target coordinate system respectively; a fifth determining subunit configured to determine a fourth transformation matrix from the negative model target coordinate system to the target coordinate system according to the poses of the target of the negative model and the target of the target coordinate system in the target coordinate system respectively; and a second transformation subunit configured to take the target points on the target of the negative model as marker points, and transform the fifth coordinates of each target point of the target on the negative model in the image coordinate system to second coordinates of each marker point in the target coordinate system according to the third transformation matrix and the fourth transformation matrix.

[0020] In some embodiments, the second obtaining unit further comprises: a fifth obtaining subunit configured to obtain a first positional relationship between a check point on the second surface of the negative model and the target of the negative model; the first positional relationship is determined before surgery; and a sixth obtaining subunit configured to obtain a second positional relationship between the check point and the target on the negative model after the negative model is attached to the target surface of the hard tissue; the fourth obtaining subunit performs the obtaining of the poses of the target on the negative model and the target of the target coordinate system in the target coordinate system respectively in a case where a deviation between the first positional relationship and the second positional relationship is within a second predetermined threshold range.

[0021] In some embodiments, the device further comprises: a third obtaining unit configured to obtain an image of the hard tissue; a reconstruction unit configured to reconstruct a three-dimensional model image of the hard tissue according to the image of the hard tissue; and a marking unit configured to mark a target surface exposed during surgery on the three-dimensional model image of the hard tissue, and determine a three-dimensional model image of the negative model according to the marked target surface.

[0022] The third aspect of the present specification provides a navigation trolley, which executes the hard tissue registration method of any one of the first aspect.

[0023] The fourth aspect of the present specification provides a hard tissue registration system, which comprises: a probe and an optical tracking system configured to obtain coordinates of target points; and a controller configured to execute the hard tissue registration method of any one of the first aspect.

[0024] The fifth aspect of the present specification provides a computer storage medium, which stores computer program instructions, and the computer program instructions are executed to implement the steps of the method of any one of the first aspect.

[0025] The registration method, device and system of hard tissue provided by the present specification establish a model of hard tissue according to an image of the hard tissue, then determine a negative model according to the hard tissue model, and perform registration operation by means of the negative model, so that registration can be realized by collecting coordinates of only 3 points, the requirement for the surgeon is lower, and the registration efficiency is higher. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0027] Figure 1 A distribution diagram of points collected on a three-dimensional model of a hip joint (i.e. a hard tissue model) reconstructed according to a CT image when registration is performed on the hip joint in the prior art is shown;

[0028] Figure 2 A schematic diagram of a surgical robot system is shown;

[0029] Figure 3 A flowchart of a registration method of hard tissue provided by the present specification is shown;

[0030] Figure 4 A schematic diagram of a hip joint model and its negative model is shown;

[0031] Figure 5 A schematic diagram of a soft tissue space reserved between a hip joint model and its negative model is shown;

[0032] Figure 6 A structural schematic diagram of a negative model is shown;

[0033] Figure 7 A schematic diagram of segmentation and surface reconstruction of a CT image of hard tissue is shown;

[0034] Figure 8 A schematic diagram of a placement position of a negative model of a hip joint during registration is shown;

[0035] Figure 9 A schematic diagram of registration by using Figure 6 the negative model shown is shown;

[0036] Figure 10A schematic diagram of another negative model is shown;

[0037] Figure 11 It shows Figure 10 A schematic diagram of the assembly of the negative model and the target shown;

[0038] Figure 12 It shows the use of Figure 11 A schematic diagram showing the registration of the negative model with the target assembly;

[0039] Figure 13 A schematic diagram of another negative model is shown;

[0040] Figure 14 It shows the use of Figure 13 The diagram shows the determination of target coordinates preoperatively when the negative model is registered.

[0041] Figure 15 It shows the use of Figure 13 The diagram shows the registration of the negative model. Detailed Implementation

[0042] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0043] Registration methods for hard tissues such as bones and teeth are complex due to their irregular shapes and complex surface structures. This specification provides a registration method for hard tissues, which cleverly designs and utilizes auxiliary modules to achieve registration.

[0044] The hard tissue registration method provided in this manual can be used for Figure 2 In the surgical robot system shown, 11 represents the operating trolley, 12 represents the robotic arm, 21 represents the tool target, 22 represents the femoral target, 23 represents the pelvic target, 24 represents the base target, 31 represents the osteotomy guide tool, 41 represents the navigation device, 42 represents the auxiliary display, 51 represents the controller in the navigation trolley, 52 represents the main display, 53 represents the keyboard, 61 represents the femur, 62 represents the pelvis, 63 represents the patient, and 71 represents the operating table.

[0045] The overall steps of the procedure in this example are as follows:

[0046] The doctor imports the preoperative plan of the patient into the computer. The preoperative planning steps mainly include obtaining patient image data, image segmentation, image three-dimensional reconstruction, anatomical landmark marking and prosthesis positioning, etc. The preoperative planning data mainly include bone cutting position coordinates, prosthesis model and prosthesis installation orientation, etc. The computer includes a main display 52, a keyboard 53 and a controller 51 located in the navigation trolley.

[0047] The operating trolley and the navigation trolley are placed in a suitable position beside the patient's bed, and the pelvic marker 23, the femoral marker 22, the base marker 24, the sterile bag, the bone cutting guide tool 31, the tool marker 21, etc. are installed.

[0048] The doctor uses the optical tracking probe to point the characteristic points of the patient's pelvis and femur. The optical tracking system records the positions of the bone characteristic points based on the pelvic and femoral markers, and sends the bone characteristic point positions to the computer. Then the computer obtains the correspondence between the actual orientation of the pelvis and femur and the CT image orientation through the fast registration algorithm of the application, and associates the actual orientation of the pelvis and femur with the corresponding markers installed on the pelvis and femur, so that the pelvic and femoral markers can track the actual position of the bone in real time.

[0049] The doctor adjusts and confirms the intraoperative surgical plan based on the actual situation during the operation.

[0050] The navigation device 41 sends the planned bone cutting coordinates to the mechanical arm, which positions the bone cutting position through the tool marker 21 and moves to the predetermined position. The doctor can use a drill or other tool to perform bone cutting and drilling operations through the bone cutting guide tool 31.

[0051] The hard tissue registration method provided in the specification can be used in the navigation device 41 of the above-mentioned surgical robot system.

[0052] As shown in Figure 3 The hard tissue registration method provided in the specification includes the following steps:

[0053] S110: Obtain the first coordinates of the plurality of marker points on the negative model in the image coordinate system.

[0054] The negative model is a hard entity model, and the first surface of the negative model matches the target surface of the hard tissue model.

[0055] The target surface of the hard tissue model refers to the surface of the corresponding hard tissue of the hard tissue model exposed outside during the surgery. In the present specification, "exposed outside" refers to, in the surgery, the soft tissue of the target tissue surface is cut and removed, so that the hard tissue can be contacted by the instrument at the end of the mechanical arm of the surgical robot. At this time, the surface area of the hard tissue that can be observed by the image acquisition component mounted on the surgical robot is the "exposed outside" target surface.

[0056] Figure 4 A schematic diagram of a hip joint model and its negative model is shown. Wherein, 1 represents the hard tissue model, that is, the hip joint model, 2 represents the negative model, from Figure 4 It can be seen from the figure that the left surface of the negative model 2 is fitted with the lower right surface of the hip joint model, without gap or coincidence.

[0057] When the hard tissue model is obtained by segmentation and reconstruction of the CT image of the patient, since the cartilage is not included in the CT, when designing the negative model, the bone-cartilage part needs to be left with sufficient space to avoid the negative model and the hard tissue surface from being unable to fit during the surgery. As shown in the figure, 1 represents the hard tissue model, that is, the hip joint model, 3 represents the negative model, 2 represents the possible cartilage, and 4 represents the cartilage space reserved when designing the negative model. Figure 5

[0058] The image coordinate system can be the coordinate system established when the image is taken, or can be the coordinate system used when the hard tissue model is reconstructed. The marker points on the negative model and the negative model are designed and made according to the image of the hard tissue taken.

[0059] In some embodiments, the negative model is designed by the following method: reconstructing a three-dimensional model image of the hard tissue according to the image of the hard tissue, marking the target surface exposed outside during the surgery on the three-dimensional model image of the hard tissue, and determining the three-dimensional model image of the negative model according to the marked target surface. The specific expression of the design method can be referred to steps S130, S140 and S150 in the following.

[0060] After designing the three-dimensional model image of the negative model, the positions of the marker points can also be designed on the three-dimensional model image. The three-dimensional model image of the hard tissue and the three-dimensional model image of the negative model are reconstructed in the same three-dimensional coordinate system (hereinafter referred to as design coordinate system). Therefore, the coordinates of the marker points on the negative model in the design coordinate system are known. On this basis, the first coordinates of the marker points on the three-dimensional model image of the negative model in the image coordinate system can be determined according to the transformation relationship between the design coordinate system and the image coordinate system.

[0061] ​The number of the marking points on the negative model is at least three, and the marking points are not on the same straight line, so that the pose of the negative model can be uniquely determined by the marking points. The marking points are dispersed on the second surface of the negative model as much as possible. The second surface of the negative model refers to a surface opposite to the first surface. As shown in FIG. 1, A represents the first surface of the negative model, and B represents the second surface. The small circles beside 1, 2, and n represent the marking points, and 1, 2, and n are the labels of the marking points. Figure 6

[0062] In some embodiments, the design and fabrication of the negative model can be performed by other devices, and the surgical robot system only needs to perform the steps during the surgery. In some embodiments, the design operation of the negative model can also be performed by the surgical robot system, and then the steps S140, S150, and S160 can be further included before S110.

[0063] S140: Obtain an image of the hard tissue.

[0064] The image herein generally refers to an image obtained by imaging the hard tissue using CT imaging, X-ray imaging, ultrasonic imaging, nuclear magnetic imaging, etc. before or during the surgery. The image is usually a two-dimensional image.

[0065] S150: Reconstruct a three-dimensional model image of the hard tissue according to the image of the hard tissue.

[0066] Specifically, after obtaining the image of the hard tissue, the image can be segmented first to obtain all the pixels contained in the hard tissue image, and the segmentation result is reconstructed to obtain the surface structure of the hard tissue. Figure 7 A schematic diagram of segmentation and surface reconstruction of the CT image of the hard tissue is shown. The reconstruction of the three-dimensional model image of the hard tissue according to the image of the hard tissue can be performed by those skilled in the art, and the method will not be described in detail in this specification.

[0067] S160: Mark the target surface exposed during the surgery on the three-dimensional model image of the hard tissue, and determine the three-dimensional model image of the negative model according to the marked target surface.

[0068] The step S160 can be performed before the surgery, and the target surface exposed during the surgery is a surface region estimated before the surgery to be possibly exposed during the surgery, or a surface region planned to be exposed during the surgery when the surgery is planned before the surgery. That is, S160 can mark the target surface “expected” to be exposed during the surgery on the three-dimensional model image of the hard tissue.

[0069] ​The step S160 can also be performed at the time of surgery, and the target surface exposed at the time of surgery is the surface area of the hard tissue actually exposed at the time of surgery, that is, S160 can mark the hard tissue area actually exposed at the time of surgery on the three-dimensional model image of the hard tissue.

[0070] In the present specification, “exposed” means that in surgery, the soft tissue of the target tissue surface is cut and pushed away, so that the hard tissue can be contacted by the instrument at the end of the mechanical arm of the surgical robot. At this time, the surface area of the hard tissue that can be observed by the image acquisition component mounted on the surgical robot is the target surface exposed.

[0071] In some embodiments, the surgical robot system further comprises a 3D printer, and the manufacturing operation of the negative model of the hard tissue model can also be performed by the surgical robot system, that is, after S160, the 3D printer can also be controlled to print the negative model.

[0072] In some embodiments, as shown in Figure 6 The negative model used in the registration method of the hard tissue provided in the present specification comprises a first surface A, a second surface B, and a mark point, wherein the second surface B is oppositely arranged with the first surface A, and the mark point is located on the second surface B of the negative model. Of course, in addition to the first surface A and the second surface B, the negative model can also have other surfaces, and the present scheme does not limit the shape of the other surfaces (including the second surface B) other than the first surface A.

[0073] In some embodiments, as shown in Figure 10 The negative model used in the registration method of the hard tissue provided in the present specification can also be based on the negative model shown in Figure 6 The first interface P is used to install a target with a rod-shaped body before surgery or at the time of surgery, and the target is used to determine the second coordinates of each mark point in the target coordinate system at the time of surgery. The target can include a rod-shaped body and a target point arranged at the first end of the rod-shaped body, and the second end of the rod-shaped body is provided with a second interface matched with the first interface. The specific form of the first interface P can be a groove with threads on the inner side as shown in Figure 10 , or a protruding stud from the second surface B, of course, it can also be other forms, as long as it matches the second interface on the target, and the present specification does not limit the specific structure of the first interface. Figure 11 A schematic view of the target installed to Figure 10 The negative model shown in Figure 10 M2 represents the negative model shown in

[0074] The rod-shaped body C1 on the target C can expose the target point (the target point refers to the marked point on the target) outside even if the marked point on the second surface B of the negative model is covered by soft tissue after the target is installed to the negative model.

[0075] In some embodiments, as shown in Figure 13 The negative model used in the registration method of hard tissue provided by the present disclosure can also be a negative model with a target protruding from the second surface of the negative model, as shown in Figure 6 The target can include a rod-shaped body and a target point arranged at the first end of the rod-shaped body, and the second end of the rod-shaped body is integrally arranged on the second surface of the negative model. The rod-shaped body on the target can expose the target point (the target point refers to the marked point on the target) outside even if the marked point on the second surface of the negative model is covered by soft tissue after the target is installed to the negative model. Therefore, Figure 13 The difference between the negative model shown in Figure 10 and the negative model shown in Figure 13 The target of the negative model shown in

[0076] In the case where the target of the negative model is integrally arranged on the negative model, when it is necessary to determine the coordinates of the target point on the target of the negative model in the target coordinate system, it is usually necessary to install a marked point entity on the position of the marked point on the prepared negative model entity. A marked ball can be used as the marked point entity, and the material of the marked ball is usually determined according to the acquisition method of the intraoperative coordinates. For example, the marked point can be a small metal ball, a fluorescent small ball, etc.

[0077] Figure 13 The structure of the negative model with the target integrally arranged on the negative model is shown in the schematic diagram, wherein f1, f2, f3, and f4 represent the positions of the target points, Figure 14 The schematic diagram of the small ball that can be tracked installed at the position of the target point on the negative model shown in Figure 13 is shown.

[0078] S120: After the first surface of the negative model is attached to the target surface of the hard tissue, the second coordinates of each marked point in the target coordinate system are obtained.

[0079] The target coordinate system can be the coordinate system used for action control of the surgical robot.

[0080] The target coordinate system can be a coordinate system established based on any fixed point during surgery. During surgery on the pelvis, a pelvis coordinate system can be established based on a point on the pelvis, and the pelvis coordinate system is taken as the target coordinate system. During surgery on the femur, a femur coordinate system can be established based on a point on the femur, and the femur coordinate system is taken as the target coordinate system. During surgery on the tibia, a tibia coordinate system can be established based on a point on the tibia, and the tibia coordinate system is taken as the target coordinate system.

[0081] In some embodiments, during surgery, to obtain the pose coordinates of the target part on the patient in the robot coordinate system, the pose coordinates of a fixed point on the patient in the robot coordinate system can be determined first, and then the pose of the target part on the patient relative to the fixed point on the patient is determined. Based on this, the pose coordinates of the target part on the patient in the robot coordinate system can be obtained through coordinate transformation. For example, in Figure 8 , X represents the pelvis, Y represents the femur, Z represents the skin incision, M1 represents the negative model shown in Figure 6 During surgery near the hip joint, the patient is in a lying state, and the pelvis is fixed in pose. Therefore, a pelvis coordinate system can be established based on any point on the pelvis, and then the pose coordinates of the target part on the patient in the pelvis coordinate system are determined. In this case, the pelvis coordinate system can be taken as the target coordinate system.

[0082] S130: Determine the registration matrix of the image coordinate system and the target coordinate system according to the first coordinates and the second coordinates.

[0083] After the first coordinates of the plurality of marker points on the negative model in the image coordinate system and the second coordinates of the plurality of marker points in the target coordinate system are known, registration can be performed according to the first coordinates and the second coordinates.

[0084] The registration method of hard tissue provided in the specification can establish a model of hard tissue according to an image of the hard tissue, and then determine a negative model according to the hard tissue model. The registration operation is performed by means of the negative model, and only 3 points of coordinates are needed to achieve fast registration, the requirements for the surgeon are lower, and the registration efficiency is higher.

[0085] In some embodiments, step S20 can adopt scheme A: the second coordinates of the marker points on the negative model in the target coordinate system are collected one by one through the probe.

[0086] For example, as shown in Figure 9 , the coordinates of the marker points on the negative model in the probe coordinate system can be collected through the probe that can be tracked, and then the coordinates of the marker points in the probe coordinate system are transformed into the coordinates in the pelvis coordinate system (i.e., the target coordinate system) according to the transformation relationship between the probe coordinate system and the pelvis coordinate system. In Figure 9In the middle, X represents the pelvis, Y represents the femur, Z represents the skin incision, M1 represents Figure 6 The negative model is shown, T represents the probe, Q represents the target of the pelvis coordinate system, and the pelvis coordinate system is taken as the above-mentioned target coordinate system.

[0087] In some embodiments, step S20 can adopt scheme B, that is, first determine the fourth coordinates of the marker points in the negative model coordinate system before the operation, then determine the positional relationship between the target of the negative model coordinate system and the target of the target coordinate system during the operation, determine the transformation relationship between the "negative model coordinate system-target coordinate system", and then transform the fourth coordinates to the target coordinate system based on the transformation relationship to obtain the second coordinates. Accordingly, S20 can include the following steps B1 to B4.

[0088] B1: Obtain the fourth coordinates of each marker point in the negative model coordinate system.

[0089] B2: Obtain the poses of the target on the negative model and the target of the target coordinate system in the target coordinate system.

[0090] The negative model coordinate system can be a coordinate system established according to any point on the negative model, and the target on the negative model is the target of the negative model coordinate system.

[0091] To obtain the pose of the target on the negative model, after the negative model is attached to the target surface of the hard tissue during the operation, a probe that can be tracked is used to collect the coordinates of the marker points on the target of the negative model in the probe coordinate system, and then the coordinates of the marker points on the target of the negative model in the probe coordinate system are transformed to the target coordinate system according to the transformation relationship between the probe coordinate system and the target coordinate system, and then the pose of the target on the negative model in the target coordinate system is determined according to the coordinates of the marker points on the target of the negative model in the target coordinate system.

[0092] The pose of the target of the target coordinate system is usually determined when the target coordinate system is established.

[0093] B3: Determine the second transformation matrix from the negative model coordinate system to the target coordinate system according to the poses of the target on the negative model and the target of the target coordinate system in the target coordinate system.

[0094] B4: Transform the fourth coordinates of each marker point to the target coordinate system according to the second transformation matrix to obtain the second coordinates of each marker point in the target coordinate system.

[0095] The above-mentioned scheme B can be applicable to the case where the target of the negative model and the negative model are integrally arranged, and can also be applicable to the case where the target and the negative model are separately arranged.

[0096] Figure 12A diagram showing the determination of the coordinates of the marker points on the negative model in the target coordinate system according to the above steps B1 to B4 can be shown, wherein X represents the pelvis, Y represents the femur, Z represents the skin incision, Q represents the target of the pelvis coordinate system, M2+C represents the assembly of the target and the negative model shown. Figure 11 The assembly of the target and the negative model shown.

[0097] Figure 15 Another diagram showing the determination of the coordinates of the marker points on the negative model in the target coordinate system according to the above steps B1 to B4 can be shown, wherein X represents the pelvis, Y represents the femur, Z represents the skin incision, Q represents the target of the pelvis coordinate system, M3 represents the negative model shown. Figure 13 Or Figure 14 The negative model shown.

[0098] The above steps B1 to B4, by setting the target on the negative model, make it possible to determine the coordinates of the marker points on the negative model in the target coordinate system in advance before the operation, and further convert the coordinates of the marker points on the negative model in the negative model coordinate system determined in advance before the operation into the coordinates in the target coordinate system through the negative model target and the target of the target coordinate system during the operation, so that only the pose of the exposed target needs to be determined during the operation, thereby making it possible to conveniently obtain the coordinates of the marker points in the target coordinate system even if the marker points on the second surface of the negative model are covered by soft tissues, and reducing the difficulty of complex operations.

[0099] In some embodiments, step S20 can adopt a C scheme, that is, when the negative model is designed according to the image, the target of the negative model can also be set, so that the coordinates of the target points on the target of the negative model in the image coordinate system can be known. The target coordinate system is established based on the coordinates of the target points on the target of the negative model in the image coordinate system, and the transformation relationship between the negative model target coordinate system and the image coordinate system can be calculated before the operation; during the operation, the pose of the negative model target and the pose of the pelvis target can be determined, and the transformation relationship between the negative model target coordinate system and the pelvis coordinate system can be determined accordingly, and the transformation relationship between the image coordinate system and the pelvis coordinate system can be determined. Accordingly, S20 includes the following steps C1 to C5:

[0100] C1: Obtain the fifth coordinates of the target points of the target on the negative model in the image coordinate system.

[0101] In step C1, the target on the negative model can be integrally set with the negative model, or can be separately set. In the case of integral setting, the negative model target is integrally set when the negative model is designed. In the case of separate setting, the position or even the structure of the negative model target can be designed when the negative model is designed, so that the negative model target entity has a unique positional relationship with the negative model entity after assembly.

[0102] C2: based on the fifth coordinates of each target point on the negative model target in the image coordinate system, a negative model target coordinate system is established, and a third transformation matrix between the image coordinate system and the negative model target coordinate system is determined.

[0103] C3: the poses of the targets of the negative model and the target coordinate system in the target coordinate system are obtained.

[0104] C4: according to the poses of the targets of the negative model and the target coordinate system in the target coordinate system, a fourth transformation matrix from the negative model target coordinate system to the target coordinate system is determined.

[0105] C5: taking the targets on the negative model target as marker points, the fifth coordinates of each target point of the negative model target in the image coordinate system are transformed to the second coordinates of each marker point in the target coordinate system according to the third transformation matrix and the fourth transformation matrix.

[0106] Figure 12 A schematic diagram for determining the coordinates of the marker points on the negative model in the target coordinate system according to the above steps B1 to B4 can be shown, wherein X represents the pelvis, Y represents the femur, Z represents the skin incision, Q represents the target of the pelvis coordinate system, M2+C represents Figure 11 The assembly of the negative model and the target shown.

[0107] Figure 15 Another schematic diagram for determining the coordinates of the marker points on the negative model in the target coordinate system according to the above steps B1 to B4 can be shown, wherein X represents the pelvis, Y represents the femur, Z represents the skin incision, Q represents the target of the pelvis coordinate system, M3 represents Figure 13 Or Figure 14 The negative model shown.

[0108] The above steps C1 to C5, when designing the negative model in the image coordinate system, the targets are set at the same time, so that the negative model target coordinate system can be established in advance before the operation, and the transformation relationship between the image coordinate system and the negative model target coordinate system is determined, so that only the pose of the exposed target needs to be determined during the operation, thereby the coordinates of the marker points in the target coordinate system can still be conveniently obtained in the case that the marker points on the second surface of the negative model are covered by soft tissue, and the difficulty of complex operation is reduced.

[0109] In the above scheme C, considering that the material of the negative model may be deformed due to the force of the soft tissue on the hard tissue and other factors, thereby affecting the registration result, the check points (such as Figure 13 And Figure 14If the second coordinate is determined according to the above-mentioned solution C, and the second coordinate is compared with the first coordinate of the check point P in the image coordinate system, then the relative positional relationship between the check point P and the negative model target in the image coordinate system can be known, and whether the relative positional relationship between the negative model target and the negative model changes or not can be determined according to the relative positional relationship. Only in the case that the relative positional relationship does not change or changes a little, the second coordinate determined by the above-mentioned solution C can meet the accuracy requirement.

[0110] Correspondingly, before the above-mentioned step C3 is performed, the following step is further included:

[0111] D1: obtaining a first positional relationship between a check point on the second surface of the negative model and a target of the negative model; the first positional relationship is determined before the operation.

[0112] D2: obtaining a second positional relationship between the check point and the target on the negative model after the negative model is attached to the target surface of the hard tissue.

[0113] D3: performing the above-mentioned step C3 in the case that the deviation between the first positional relationship and the second positional relationship is within a second predetermined threshold range.

[0114] In some embodiments, the S30 can be determined by a human being to adjust the attachment degree of the negative model and the hard tissue until the attachment degree meets the requirement, and then the registration matrix is determined according to the second coordinate and the third coordinate.

[0115] In some embodiments, the S30 can also be determined by the controller to determine whether the attachment degree of the negative model and the hard tissue meets the requirement, and to determine the registration matrix. Correspondingly, the S30 can include the following steps:

[0116] S31: determining a first transformation matrix between the first coordinate and the second coordinate by using the least square method.

[0117] S32: calculating the third coordinate of each mark point by transforming the first coordinate of each mark point by using the first transformation matrix.

[0118] Generally, in the registration, the first coordinate and the second coordinate of each mark point cannot be accurately registered, so that a very accurate transformation matrix cannot be obtained. The transformation matrix can be determined by using the least square method or other optimization methods, and the optimization target is to minimize the difference between the third coordinate and the second coordinate.

[0119] The difference between the third coordinate and the second coordinate of each mark point can be the sum of the absolute values of the differences between the third coordinate and the first coordinate of each mark point, i.e. (d1+d2+…+dn) / n; or can be the sum of the squares of the differences between the third coordinate and the first coordinate of each mark point, i.e. (d1 2 +d2 2 +…+dn 2) / n, wherein d1 represents the difference between the third coordinate and the first coordinate of the first marker point, d2 represents the difference between the third coordinate and the first coordinate of the first marker point, dn represents the difference between the third coordinate and the first coordinate of the first marker point, and n is the number of marker points.

[0120] S33: determining whether the difference between the third coordinate and the second coordinate of each marker point reaches a predetermined condition.

[0121] The predetermined condition can be that the difference between the third coordinate and the second coordinate is within a first predetermined threshold range, or that the difference corresponding to each adjustment is relatively constant, i.e., difficult to reduce further, when the pose of the negative model is adjusted multiple times to fit the hard tissue and the registration method described above is performed.

[0122] S34: if yes, the first transformation matrix is taken as the registration matrix.

[0123] Since the negative model is designed according to the structure of the hard tissue, for example, as shown in Figure 8 、 Figure 9 、 Figure 12 、 Figure 15 The negative model is designed according to the skeletal structure of the hip joint, and under normal circumstances, only one pose relationship can ensure that the negative model and the hard tissue perfectly fit, and it is relatively difficult to achieve perfect fitting. Under normal circumstances, the position relationship between the negative model and the hard tissue needs to be adjusted multiple times and the registration method described above is performed, so that the accuracy of the registration matrix meets the requirements.

[0124] The present specification provides a registration device for a hard tissue, which can be used to implement the registration method for a hard tissue as shown in Figure 3 The device comprises a first acquisition unit, a second acquisition unit and a first determination unit.

[0125] The first acquisition unit is configured to acquire first coordinates of a plurality of marker points on a negative model in an image coordinate system; the first surface of the negative model is matched and fitted to the target surface of a hard tissue model; the image coordinate system is a coordinate system determined when the image of the hard tissue is taken before surgery, and the negative model and the marker points on the negative model are designed and made according to the image of the hard tissue.

[0126] The second acquisition unit is configured to acquire second coordinates of each marker point in a target coordinate system after the first surface of the negative model is fitted to the target surface of the hard tissue.

[0127] The first determination unit is configured to determine a registration matrix of the image coordinate system and the target coordinate system according to the first coordinates and the second coordinates.

[0128] In some embodiments, the marker points are located on a second surface of the negative model, and the second surface is oppositely arranged with the first surface.

[0129] In some embodiments, the second surface of the negative model is provided with a first interface for mounting a target for determining second coordinates of the marker points in the target coordinate system during surgery; or the second surface of the negative model is integrally provided with a target protruding from the second surface.

[0130] In some embodiments, the first determining unit comprises: a first determining subunit configured to determine a first transformation matrix between the first coordinates and the second coordinates by using a least square method; a first calculating subunit configured to calculate third coordinates of the marker points by transforming the first coordinates by using the first transformation matrix; a judging subunit configured to judge whether a difference between the third coordinates and the second coordinates of the marker points reaches a predetermined condition; and a second determining subunit configured to, if yes, take the first transformation matrix as a registration matrix of the image coordinate system and the target coordinate system.

[0131] In some embodiments, the second obtaining unit comprises: a first obtaining subunit configured to obtain fourth coordinates of the marker points in the negative model coordinate system determined before surgery; a second obtaining subunit configured to obtain poses of the target on the negative model and the target of the target coordinate system in the target coordinate system; the second surface of the negative model is provided with a target protruding from the second surface, and the second surface is oppositely arranged with the first surface; a third determining subunit configured to determine a second transformation matrix from the negative model coordinate system to the target coordinate system according to the poses of the target on the negative model and the target of the target coordinate system in the target coordinate system; and a first transforming subunit configured to transform the fourth coordinates of the marker points to the target coordinate system to obtain second coordinates of the marker points in the target coordinate system according to the second transformation matrix.

[0132] In some embodiments, the second obtaining unit comprises: a third obtaining subunit, configured to obtain fifth coordinates of each target point of the target on the negative model in the image coordinate system; a second surface of the negative model is provided with a target protruding from the second surface, and the second surface is oppositely arranged with the first surface; a fourth determining subunit, configured to establish a negative model target coordinate system based on the fifth coordinates of each target point on the negative model target in the image coordinate system, and determine a third transformation matrix between the image coordinate system and the negative model target coordinate system; a fourth obtaining subunit, configured to obtain poses of the target on the negative model and the target on the target coordinate system in the target coordinate system respectively; a fifth determining subunit, configured to determine a fourth transformation matrix from the negative model target coordinate system to the target coordinate system according to the poses of the target on the negative model and the target on the target coordinate system in the target coordinate system respectively; and a second transformation subunit, configured to take the target points on the negative model target as marker points, and transform the fifth coordinates of each target point of the target on the negative model in the image coordinate system to second coordinates of each marker point in the target coordinate system according to the third transformation matrix and the fourth transformation matrix.

[0133] In some embodiments, the second obtaining unit further comprises: a fifth obtaining subunit, configured to obtain a first positional relationship between a check point on the second surface of the negative model and the target of the negative model; the first positional relationship is determined before surgery; and a sixth obtaining subunit, configured to obtain a second positional relationship between the check point and the target on the negative model after the negative model is attached to the target surface of the hard tissue; the fourth obtaining subunit performs the obtaining of the poses of the target on the negative model and the target on the target coordinate system in the target coordinate system in a case where a deviation between the first positional relationship and the second positional relationship is within a second predetermined threshold range.

[0134] In some embodiments, the device further comprises: a third obtaining unit, configured to obtain an image of the hard tissue; a reconstruction unit, configured to reconstruct a three-dimensional model image of the hard tissue according to the image of the hard tissue; and a marking unit, configured to mark a target surface exposed during surgery on the three-dimensional model image of the hard tissue, and determine a three-dimensional model image of the negative model according to the marked target surface.

[0135] The present specification provides a navigation trolley, which can be used to implement Figure 3 the hard tissue registration method.

[0136] The present specification provides a hard tissue registration system, which comprises a controller, a probe and an optical tracking system. The probe and the optical tracking system are configured to obtain coordinates of target points; the controller is configured to perform Figure 3 the hard tissue registration method.

[0137] The specification provides a computer storage medium storing computer program instructions, which, when executed, implement Figure 3 the steps of the method.

[0138] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related 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-mentioned embodiment methods. 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 the specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other. Each embodiment mainly describes the differences from other embodiments. In particular, for hardware+program type embodiments, since they are basically similar to method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0140] The above describes specific embodiments of the 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 an order different than the order in the embodiments and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous or possible.

[0141] Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, the same function can be achieved by logically programming the method steps to make the controller in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered as a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0142] The above merely describes examples of the embodiments of the present specification and is not intended to limit the embodiments of the present specification. The embodiments of the present specification can have various changes and modifications for those skilled in the art.

Claims

1. A registration device for hard tissue, characterized in that, include: The first acquisition unit is used to acquire the first coordinates of multiple marker points on the negative model in the image coordinate system; The first surface of the negative model is fitted and matched with the target surface of the hard tissue model; the image coordinate system is a coordinate system determined when the hard tissue is photographed before surgery; the negative model and the marker points on the negative model are designed and made according to the hard tissue image; a first interface is provided on the second surface of the negative model, the first interface is used to install a target, the target is used to determine the second coordinates of each marker point in the target coordinate system during surgery; or, the second surface of the negative model is integrally provided with a target protruding from the second surface; The second acquisition unit is used to acquire the second coordinates of each marker point in the target coordinate system after the first surface of the negative model is attached to the target surface of the hard tissue; The first determining unit is used to determine the registration matrix between the image coordinate system and the target coordinate system based on the first coordinate and the second coordinate. The registration matrix is ​​used to automatically control the robotic arm to move to the predetermined position planned before surgery.

2. The apparatus according to claim 1, characterized in that, The marker point is located on the second surface of the negative model, which is positioned opposite to the first surface.

3. The apparatus according to claim 1, characterized in that, The first determining unit includes: The first determining subunit is used to determine the first transformation matrix between the first coordinate and the second coordinate using the least squares method; The first calculation subunit is used to calculate the third coordinates of each marker point obtained by transforming the first coordinates using the first transformation matrix. The judgment subunit is used to determine whether the difference between the third coordinate and the second coordinate of each marker point meets a predetermined condition; The second determining subunit is used to, if so, use the first transformation matrix as the registration matrix between the image coordinate system and the target coordinate system.

4. The apparatus according to claim 1, characterized in that, The second acquisition unit includes: The first acquisition subunit is used to acquire the fourth coordinates of each marker point determined before surgery in the negative model coordinate system; The second acquisition subunit is used to acquire the poses of the target on the negative model and the target in the target coordinate system in the target coordinate system respectively; the second surface of the negative model is provided with a target protruding from the second surface, and the second surface is arranged opposite to the first surface; The third determining subunit is used to determine the second transformation matrix from the negative model coordinate system to the target coordinate system based on the poses of the target on the negative model and the target in the target coordinate system in the target coordinate system, respectively. The first transformation subunit is used to transform the fourth coordinates of each marker point to the target coordinate system according to the second transformation matrix, so as to obtain the second coordinates of each marker point in the target coordinate system.

5. The apparatus according to claim 1, characterized in that, The second acquisition unit includes: The third acquisition subunit is used to acquire the fifth coordinates of each target point on the negative model in the image coordinate system; the second surface of the negative model is provided with a target protruding from the second surface, and the second surface is arranged opposite to the first surface; The fourth determining subunit is used to establish the negative model target coordinate system based on the fifth coordinates of each target point on the negative model target in the image coordinate system, and to determine the third transformation matrix between the image coordinate system and the negative model target coordinate system. The fourth acquisition subunit is used to acquire the poses of the target of the negative model and the target of the target coordinate system in the target coordinate system, respectively. The fifth determining subunit is used to determine the fourth transformation matrix from the negative model target coordinate system to the target coordinate system based on the poses of the target of the negative model and the target of the target coordinate system in the target coordinate system, respectively. The second transformation subunit is used to take the target points on the negative model target as marker points, and transform the fifth coordinates of each target point on the negative model target in the image coordinate system to the second coordinates of each marker point in the target coordinate system according to the third transformation matrix and the fourth transformation matrix.

6. The apparatus according to claim 5, characterized in that, The second acquisition unit further includes: The fifth acquisition subunit is used to acquire a first positional relationship between the verification point on the second surface of the negative model and the target of the negative model; the first positional relationship is determined preoperatively. The sixth acquisition subunit is used to acquire the second positional relationship between the verification point and the target on the negative model after the negative model is attached to the target surface of hard tissue; When the deviation between the first positional relationship and the second positional relationship is within a second predetermined threshold range, the fourth acquisition subunit performs the acquisition of the poses of the target on the negative model and the target in the target coordinate system in the target coordinate system.

7. The apparatus according to claim 1, characterized in that, The device further includes: The third acquisition unit is used to acquire images of the hard tissue; The reconstruction unit is used to reconstruct a three-dimensional model image of the hard tissue based on the image of the hard tissue; A marking unit is used to mark the target surface exposed during surgery on the three-dimensional model image of the hard tissue, and to determine the three-dimensional model image of the negative model based on the marked target surface.

8. A navigation trolley, characterized in that, Perform a hard tissue registration method, wherein the hard tissue configuration method includes: The first coordinates of multiple marker points on the negative model in the image coordinate system are obtained; the first surface of the negative model is fitted and matched with the target surface of the hard tissue model; the image coordinate system is a coordinate system determined when the hard tissue is photographed before surgery, and the negative model is designed and manufactured based on the image of the hard tissue; a first interface is provided on the second surface of the negative model, the first interface is used to install a target, and the target is used to determine the second coordinates of each marker point in the target coordinate system during surgery; or, the second surface of the negative model is integrally provided with a target protruding from the second surface; After the first surface of the negative model is attached to the target surface of the hard tissue, the second coordinates of each marker point in the target coordinate system are obtained; The registration matrix between the image coordinate system and the target coordinate system is determined based on the first coordinate and the second coordinate.

9. The navigation vehicle according to claim 8, characterized in that, The marker point is located on the second surface of the negative model, which is positioned opposite to the first surface.

10. The navigation vehicle according to claim 8, characterized in that, Determining the registration matrix between the image coordinate system and the target coordinate system based on the first coordinate and the second coordinate includes: The first transformation matrix between the first coordinate and the second coordinate is determined using the least squares method. The first coordinates of each marker point are calculated using the third coordinates obtained by transforming the first transformation matrix. Determine whether the difference between the third coordinate and the second coordinate of each marker point meets a predetermined condition; If so, the first transformation matrix is ​​used as the registration matrix between the image coordinate system and the target coordinate system.

11. The navigation vehicle according to claim 8, characterized in that, Obtain the second coordinates of each marker point in the target coordinate system, including: Obtain the fourth coordinates of each marker point determined preoperatively in the negative model coordinate system; The poses of the target on the negative model and the target in the target coordinate system are obtained respectively in the target coordinate system; the second surface of the negative model is provided with a target protruding from the second surface, and the second surface is set opposite to the first surface; Based on the poses of the target on the negative model and the target in the target coordinate system in the target coordinate system, a second transformation matrix from the negative model coordinate system to the target coordinate system is determined. According to the second transformation matrix, the fourth coordinates of each marker point are transformed to the target coordinate system to obtain the second coordinates of each marker point in the target coordinate system.

12. The navigation vehicle according to claim 8, characterized in that, Obtain the second coordinates of each marker point in the target coordinate system, including: Obtain the fifth coordinates of each target point on the negative model in the image coordinate system; the second surface of the negative model is provided with a target protruding from the second surface, and the second surface is set opposite to the first surface; Based on the fifth coordinates of each target point on the negative model target in the image coordinate system, a negative model target coordinate system is established, and the third transformation matrix between the image coordinate system and the negative model target coordinate system is determined. Obtain the poses of the target in the negative model and the target in the target coordinate system in the target coordinate system; Based on the poses of the target in the negative model and the target in the target coordinate system in the target coordinate system, a fourth transformation matrix from the negative model target coordinate system to the target coordinate system is determined. Using the target points on the negative model target as marker points, and according to the third transformation matrix and the fourth transformation matrix, the fifth coordinates of each target point on the negative model target in the image coordinate system are transformed to the second coordinates of each marker point in the target coordinate system.

13. The navigation vehicle according to claim 12, characterized in that, Before obtaining the poses of the target in the negative model and the target in the target coordinate system in the target coordinate system, the method further includes: Obtain a first positional relationship between the verification point on the second surface of the negative model and the target of the negative model; the first positional relationship is determined preoperatively. After the negative model is attached to the target surface of hard tissue, a second positional relationship between the verification point and the target on the negative model is obtained; When the deviation between the first positional relationship and the second positional relationship is within a second predetermined threshold range, the process of obtaining the poses of the target on the negative model and the target in the target coordinate system in the target coordinate system is performed.

14. The navigation vehicle according to claim 8, characterized in that, Before obtaining the first coordinates of multiple marker points on the negative model in the image coordinate system, the following steps are also included: Acquire images of the hard tissue; Based on the image of the hard tissue, a three-dimensional model image of the hard tissue is reconstructed; The target surface exposed during surgery is marked on the three-dimensional model image of the hard tissue, and the three-dimensional model image of the negative model is determined based on the marked target surface.

15. A registration system for hard tissue, characterized in that, include: Probe and optical tracking system used to obtain the coordinates of the target point; A controller is configured to execute a registration method for hard tissues performed by a navigation vehicle, the method comprising: The first coordinates of multiple marker points on the negative model in the image coordinate system are obtained; the first surface of the negative model is fitted and matched with the target surface of the hard tissue model; the image coordinate system is a coordinate system determined when the hard tissue is photographed before surgery, and the negative model is designed and manufactured based on the image of the hard tissue; a first interface is provided on the second surface of the negative model, the first interface is used to install a target, and the target is used to determine the second coordinates of each marker point in the target coordinate system during surgery; or, the second surface of the negative model is integrally provided with a target protruding from the second surface; After the first surface of the negative model is attached to the target surface of the hard tissue, the second coordinates of each marker point in the target coordinate system are obtained; The registration matrix between the image coordinate system and the target coordinate system is determined based on the first coordinate and the second coordinate. The registration matrix is ​​used to automatically control the robotic arm to move to the predetermined position planned before surgery.

16. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, which, when executed, implement the steps of a hard-structure registration method performed by the navigation vehicle. The method includes: The first coordinates of multiple marker points on the negative model in the image coordinate system are obtained; the first surface of the negative model is fitted and matched with the target surface of the hard tissue model; the image coordinate system is a coordinate system determined when the hard tissue is photographed before surgery, and the negative model is designed and manufactured based on the image of the hard tissue; a first interface is provided on the second surface of the negative model, the first interface is used to install a target, and the target is used to determine the second coordinates of each marker point in the target coordinate system during surgery; or, the second surface of the negative model is integrally provided with a target protruding from the second surface; After the first surface of the negative model is attached to the target surface of the hard tissue, the second coordinates of each marker point in the target coordinate system are obtained; The registration matrix between the image coordinate system and the target coordinate system is determined based on the first coordinate and the second coordinate. The registration matrix is ​​used to automatically control the robotic arm to move to the predetermined position planned before surgery.

Images