Method for registering surgical instruments, electronic device and computer readable storage medium

Abstract

The application provides a method for registering a surgical instrument by using a registration device, which is used in a hip joint surgery navigation system, wherein the surgical instrument is connected with a first tracker, the registration device comprises a registration device body with a conical hole and a second tracker connected with the registration device body, and the registration method comprises the following steps: rotating a spherical working surface of the surgical instrument along a set direction in a state of keeping tangency with an inner surface of the conical hole; collecting a set of coordinate positions of a coordinate system O1 of the first tracker and a coordinate system O2 of the second tracker in a navigation system coordinate system simultaneously during the rotation; and obtaining a position X of a spherical center of the spherical working surface in the coordinate system O1 of the first tracker according to a matching relationship between the spherical working surface and the conical hole and the set of coordinate positions.

Description

Technical Field

[0001] This application relates to the field of medical devices, specifically to a method for registering surgical instruments, electronic devices, and computer-readable storage media. Background Technology

[0002] Surgical navigation systems are increasingly used in hip surgeries, such as hip replacement surgery. These systems accurately correlate patient imaging data with the patient's physiological anatomy, assisting surgeons in surgical planning and guiding the operation of surgical instruments. Surgical navigation systems make hip surgeries more precise, rapid, and safe.

[0003] Currently, surgical instruments used in hip surgery (such as acetabular reamers, cups, and acetabular trial molds) cannot be tracked by surgical navigation systems. Therefore, a tracker is required to connect the surgical instruments via a connector. When the tracker is being tracked by the surgical navigation system, the position of the surgical instruments can be tracked based on the relative position of the tracker and the surgical instruments, and the position of the surgical instruments can be calculated. The process of determining the relative position of the surgical instruments and the tracker is called surgical instrument registration.

[0004] In hip surgery, surgical instruments and trackers are typically used as two separate components, with no possibility of reinstallation. Furthermore, the dimensions, interfaces, and other geometric information of the surgical instruments and connectors are unknown parameters for the navigation system. Therefore, to achieve accurate navigation and ensure the smooth progress of the surgery, it is necessary to quickly and accurately determine the relative positional relationship between the surgical instruments and the tracker during the procedure; that is, to perform high-precision registration of the surgical instruments. Summary of the Invention

[0005] To address the problem of quickly and accurately determining the relative position of surgical instruments and trackers when information such as the size of surgical instruments is unknown, this application provides a method for registering surgical instruments using a registration device in a hip joint surgery navigation system. The surgical instruments are connected to a first tracker. The registration device includes a registration device body with a conical aperture and a second tracker connected thereto. The method includes:

[0006] The spherical working surface of the surgical instrument is rotated in a set direction while remaining tangent to the inner surface of the conical hole;

[0007] During the rotation process, a set of coordinate poses of the first tracker's coordinate system O1 and the second tracker's coordinate system O2 in the navigation system coordinate system are simultaneously acquired;

[0008] Based on the fit between the spherical working surface and the conical hole, and the set of coordinate poses, the position X of the center of the spherical working surface in the coordinate system O1 of the first tracker is obtained.

[0009] According to some embodiments of this application, obtaining the position X of the center of the spherical working surface in the coordinate system O1 of the first tracker includes:

[0010] The position X is calculated using the following formula.

[0011]

[0012] Among them, [O1,O2] i Let k be the set of coordinate poses, and k be the number of coordinate poses in the set, i∈[1,k].

[0013] According to some embodiments of this application, the rotation along a predetermined direction includes:

[0014] The origin is the center of the spherical working surface;

[0015] Rotate about the axis of the conical bore; and / or

[0016] Rotate about the normal to the first plane containing the axis of the conical hole; and / or

[0017] Rotate about the normal of the second plane containing the axis of the conical hole, the second plane being perpendicular to the first plane.

[0018] According to some embodiments of this application, the number k of the set of coordinate poses is greater than or equal to 4;

[0019] According to some embodiments of this application, the number k of the set of coordinate poses is between 20 and 100.

[0020] According to some embodiments of this application, the rotation positions corresponding to the collection of multiple sets of coordinate poses during the rotation process meet a preset dispersion requirement.

[0021] According to some embodiments of this application, the surgical instrument registration method further includes:

[0022] Based on the known diameter sequence of the spherical working surfaces of surgical instruments, the position X of the center of the spherical working surface in the coordinate system O1 of the first tracker is corrected.

[0023] According to some embodiments of this application, the correction includes:

[0024] The position X of the center of the obtained spherical working surface in the coordinate system O1 of the first tracker is taken as the initial position X0;

[0025] The diameter R of the spherical working surface is determined based on the initial position X0, the geometric information of the conical hole, and the diameter sequence.

[0026] Based on the diameter R and geometric relationship of the spherical working surface, determine the coordinate P of the center of the spherical working surface in the coordinate system O2 of the second tracker;

[0027] Based on the coordinate P and the set of coordinate poses, the position X of the center of the spherical working surface in the coordinate system O1 of the first tracker is recalculated.

[0028] According to some embodiments of this application, the method is based on the initial position X0, the geometric information of the conical hole, and the diameter sequence R. j Determining the diameter R of the spherical working surface includes:

[0029] The diameter R of the spherical working surface is calculated using the following formula:

[0030]

[0031] Where O is the position of the vertex of the conical hole in the coordinate system O2 of the second tracker. Let θ be the vector of the axis of the conical hole in the coordinate system O2 of the second tracker, and let R be the half-angle of the conical surface of the conical hole. j Let j be the sequence of diameters of the spherical working surface of a known surgical instrument, where j ∈ [1, n].

[0032] According to some embodiments of this application, determining the coordinate P of the center of the spherical working surface in the coordinate system O2 of the second tracker includes:

[0033] The coordinate P is calculated using the following formula.

[0034]

[0035] According to some embodiments of this application, the step of basing the coordinates P and the set of coordinate poses [O1, O2] is... i Calculating the position X of the center of the spherical working surface in the coordinate system O1 of the first tracker includes:

[0036] The position X is calculated using the following formula.

[0037]

[0038] According to another aspect of this application, an electronic device for registering surgical instruments is also provided, comprising:

[0039] One or more processors;

[0040] Storage device for storing one or more programs;

[0041] When the one or more programs are executed by the one or more processors, the one or more processors implement the above method.

[0042] According to another aspect of this application, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the above-described method.

[0043] According to another aspect of this application, this application also provides a registration device for surgical instruments, comprising:

[0044] The registration device body has a conical bore inner surface, which serves to accommodate the spherical working surface of the surgical instrument.

[0045] The second tracker is rigidly connected to the registration device body; wherein...

[0046] The positions of the vertex, axis, and cone half-angle of the conical hole in the coordinate system O2 of the second tracker are calibrated by a measuring device.

[0047] According to another aspect of this application, this application also provides a surgical assistance system, comprising:

[0048] The aforementioned registration device;

[0049] The surgical instrument has a spherical working surface that is tangent to and rotates with the inner surface of the conical hole of the registration device body;

[0050] The first tracker is rigidly connected to the surgical instrument;

[0051] The navigation system is capable of identifying the poses of the first tracker's coordinate system O1 and the second tracker's coordinate system O2 within the navigation system's coordinate system.

[0052] The method for registering surgical instruments provided in this application utilizes the mechanical cooperation between a registration device and the surgical instrument. A navigation system acquires the positions and orientations of the trackers on both the registration device and the surgical instrument, enabling rapid and accurate registration of the surgical instruments. Furthermore, the registration method provided in this application can also determine the diameter of the surgical instruments used in the surgery, providing guidance for the surgeon's operation. Given that the diameter of the surgical instrument is known and the positions of the surgical instrument and the first tracker have been calibrated, the registration method provided in this application can also evaluate the known calibration results. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings, without exceeding the scope of protection claimed by this application.

[0054] Figure 1 A schematic diagram of a surgical instrument according to an example embodiment of this application is shown;

[0055] Figure 2 A schematic diagram of a registration device according to an example embodiment of this application is shown;

[0056] Figure 3 A flowchart of a surgical instrument registration method according to a first embodiment of the present application is shown;

[0057] Figure 4 A schematic diagram of a surgical instrument registration scheme according to an example embodiment of this application is shown;

[0058] Figure 5 A schematic diagram showing the rotation direction of a surgical instrument according to an example embodiment of this application. Figure 1 ;

[0059] Figure 6 A schematic diagram showing the rotation direction of a surgical instrument according to an example embodiment of this application. Figure 2 ;

[0060] Figure 7 A flowchart of a surgical instrument registration method according to a second embodiment of the present application is shown;

[0061] Figure 8 A block diagram of an electronic device for surgical instrument registration according to an example embodiment of this application is shown. Detailed Implementation

[0062] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] The terms "first," "second," etc., used in this application are used to distinguish different objects, not to describe a predetermined order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0064] In this document, the term "embodiment" means that a predetermined feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0065] Figure 1 A schematic diagram of a surgical instrument according to an example embodiment of this application is shown.

[0066] In hip replacement surgery, in order for surgical instruments 110, such as the acetabular reamer, cup, and acetabular trial mold, to be tracked by the navigation system, a first tracker 120 needs to be equipped for the surgical instruments 110, such as... Figure 1 As shown. The surgical instrument 110 has a spherical working surface 111, which can be rigidly connected to the first tracker via a connecting rod 130. Assuming the origin of the coordinate system of the first tracker 120 is O1, and the center of the spherical working surface 111 of the surgical instrument 110 is P, the registration process of the surgical instrument involves determining the relative position coordinate X of the center P of the spherical working surface 111 with respect to the origin O1 of the coordinate system.

[0067] Figure 2 A schematic diagram of a registration device according to an example embodiment of this application is shown.

[0068] To achieve the registration of surgical instruments used in hip replacement surgery, this application utilizes a registration device 200, such as... Figure 2 As shown, registration is completed through the mechanical interaction between the registration device and the surgical instruments. See also Figure 2 The registration device 200 may include a registration device body 210 having a conical bore inner surface 211. The conical bore inner surface 211 is used to accommodate... Figure 1The spherical working surface 111 of the surgical instrument 110 is mechanically engaged with it. The registration device 200 may also include a second tracker 220, which is rigidly connected to the registration device body 210. Assuming the origin of the coordinate system of the second tracker 220 is O2, the positions of the vertex O of the conical hole, the axis z, and the half-angle θ of the conical surface relative to the origin O2 can be determined preoperatively using high-precision equipment (e.g., a coordinate measuring machine).

[0069] Figure 3 A schematic diagram of a surgical instrument registration scheme according to an example embodiment of this application is shown.

[0070] The surgical instrument registration method provided in this application utilizes the mechanical cooperation between the registration device 200 and the surgical instrument 110. For example... Figure 3 During the registration process, the surgical instrument 110 is mounted onto the registration device body 210, specifically by placing the spherical working surface 111 of the surgical instrument's tip into the conical hole 211 of the registration device body 210. At this time, the spherical working surface 111 of the surgical instrument's tip is tangent to the inner surface of the conical hole 211 of the registration device body 210. In this tangent engagement state, when the spherical working surface 111 of the surgical instrument's tip rotates within the conical hole 211, the center P of the spherical working surface 111 remains unchanged relative to the inner surface of the conical hole 211 of the registration device body 210. Based on this, by acquiring multiple coordinate poses of the first tracker 120's origin O1 and the second tracker 220's origin O2 under the navigation system, the relative position coordinate X of the center P of the spherical working surface 111 relative to the origin O1 can be obtained through coordinate transformation.

[0071] Figure 4 A flowchart of a surgical instrument registration method according to a first embodiment of this application is shown.

[0072] like Figure 4 As shown, the surgical instrument registration method provided in this application includes the following steps:

[0073] In step S410, the spherical working surface of the surgical instrument is rotated along a predetermined direction while remaining tangent to the inner surface of the conical bore. According to an example embodiment of this application, the predetermined direction may be... Figure 5 The direction of movement indicated in the diagram can also be Figure 6 The direction of movement is indicated in the diagram. According to a preferred embodiment of this application, the following is employed: Figure 5 The direction of movement is indicated in the diagram.

[0074] like Figure 5As shown, the spherical working surface 111 of the surgical instrument can move within the conical surface 221 in directions R1 and R2. Moving in direction R1 means moving around the first plane containing the axis of the conical hole 211 (perpendicular to the center P of the spherical working surface 111 as the origin). Figure 5 Rotate along the normal of the plane in the middle; move in direction R2, that is, around the center P of the spherical working surface 111 as the origin, around the second plane (e.g., the axis of the conical hole 211) that is perpendicular to the first plane. Figure 5 The normal to the plane in the image rotates. For example... Figure 6 As shown, the spherical working surface 110 of the surgical instrument can also move within the conical surface 221 along the direction R3 of the arc-shaped trajectory. Moving along the direction R3 means rotating around the axis of the conical hole 211 with the center P of the spherical working surface 111 as the origin.

[0075] In step S420, during the rotation process, a set of coordinate poses of the first tracker's coordinate system O1 and the second tracker's coordinate system O2 in the navigation system coordinate system are simultaneously acquired.

[0076] According to an example embodiment of this application, the coordinate pose of the first tracker's coordinate system O1 and the second tracker's coordinate system O2 in the navigation system coordinate system can be represented as [O1, O2]. i , i∈[1,k], where k represents the number of poses acquired. To ensure the accuracy of registration, the number of poses acquired, k, is greater than or equal to 4; according to a preferred embodiment, the value of k ranges from 10 to 1000; according to a more preferred embodiment, the value of k ranges from 20 to 100.

[0077] Furthermore, according to some embodiments of this application, to ensure registration accuracy, the acquisition positions of the coordinate system O1 of the first tracker and the coordinate system O2 of the second tracker need to meet a preset dispersion requirement, namely, [O1, O2]. i The corresponding sampling locations are [O1, O2]. i+1 The corresponding acquisition positions need to meet a preset dispersion requirement. For example, if the relative pose of six degrees of freedom is simplified to Euler angles and offsets, the acquisition pose should be [O1, O2]. i With [O1,O2] i+1 The three Euler angles between them satisfy a three-dimensional discreteness. If the angles are divided into different intervals, the required pose is [O1, O2]. i With [O1,O2] i+1A certain number of poses can be acquired across different angle ranges. For example, the variance of each Euler angle can be calculated, with at least two Euler angles required to have variances greater than a fixed threshold; alternatively, the covariance matrix of three Euler angles can be used to represent the three-dimensional dispersion. During the registration process, the operator can be guided to acquire data multiple times to ensure the required dispersion of the acquired data, thereby reducing registration errors.

[0078] According to some embodiments of this application, a set of coordinate poses of the first tracker's coordinate system O1 and the second tracker's coordinate system O2 in the navigation system coordinate system can be represented as [O1, O2]. i Furthermore, filtering can be applied to the system to reduce measurement errors in the navigation system and further improve registration accuracy.

[0079] In step S430, based on the fit relationship between the spherical working surface and the conical hole and the set of coordinate poses, the position X of the center of the spherical working surface in the coordinate system O1 of the first tracker is obtained.

[0080] according to Figure 3 The surgical instrument shown is configured to fit between its spherical working surface 111 and the inner surface 211 of the conical bore 211. When the spherical working surface 111 of the surgical instrument rotates within the conical bore 211, the center of the spherical working surface 111 is a stationary point relative to the registration device body 210. The position X of the center P of the spherical working surface in the coordinate system O1 of the first tracker can be calculated using the following formula.

[0081]

[0082] Among them, [O1,O2] i Let k be the set of coordinate poses, and k be the number of coordinate poses in the set, i∈[1,k].

[0083] In the above calculation process, each collected data O 1i Or O 2i Each includes the tracker's origin position information and the surgical instrument's six degrees of freedom tracking posture information. Therefore, O 1i O 2i This can be considered an equivalent rigid transformation matrix. Based on the mechanical fit between the registration device body 210 and the spherical working surface 111, the position of the sphere's center remains constant during each measurement. Therefore, the distance between the X obtained after coordinate transformation and its mean value... It is very small. Therefore, based on multiple sets of measurement data and by using the aforementioned minimization calculation function argmin... X Then the position X can be calculated.

[0084] Therefore, the surgical instrument registration method provided in this application, through the mechanical cooperation between the registration device body and the surgical instrument, utilizes a navigation system to track and collect the positions and orientations of the first tracker of the surgical instrument and the second tracker of the registration device body, thereby quickly completing the registration of the surgical instrument.

[0085] Figure 7 A flowchart of a surgical instrument registration method according to a second embodiment of the present application is shown.

[0086] In surgical practice, although the dimensions of surgical instruments are usually unknown, the dimensional sequence of surgical instruments generally conforms to certain standards. For example, the diameter sequence R of commonly used acetabular reamers is... j This is known. Based on this, according to another embodiment of this application, it is possible to... Figure 4 Based on the sphere center coordinates X obtained by the surgical instrument registration method shown, and according to the known diameter sequence R of the spherical working surface of the surgical instrument... j The position X of the center of the spherical working surface in the coordinate system O1 of the first tracker is corrected.

[0087] like Figure 7 As shown, a surgical instrument registration method according to another embodiment of this application includes the following steps:

[0088] In step S710, the position X of the center of the spherical working surface in the coordinate system O1 of the first tracker is taken as the initial position X0, that is, according to... Figure 4 The method described herein uses a set of coordinate poses [O1, O2] acquired from the coordinate system O1 of the first tracker and the coordinate system O2 of the second tracker in the navigation system coordinate system. i Calculate the initial position X0:

[0089]

[0090] In step S720, the diameter R of the spherical working surface is determined based on the initial position X0, the geometric information of the conical hole, and the diameter sequence. According to an example embodiment of this application, the diameter R of the spherical working surface of the surgical instrument can be calculated using the following formula:

[0091]

[0092] Where O is the position of the vertex of the conical hole in the coordinate system O2 of the second tracker. Let θ be the vector of the axis of the conical hole in the coordinate system O2 of the second tracker, and let R be the half-angle of the conical surface of the conical hole. j Let j be the sequence of diameters of the spherical working surface of a known surgical instrument, where j ∈ [1, n].

[0093] In step S730, based on the diameter R and geometric relationship of the spherical working surface, the coordinates P of the center of the spherical working surface in the coordinate system O2 of the second tracker are determined. According to an example embodiment of this application, the coordinates P can be calculated using the following formula:

[0094]

[0095] In step S740, based on the coordinates P and the set of coordinate poses, the position X of the center of the spherical working surface in the coordinate system O1 of the first tracker is recalculated. According to an example embodiment of this application, the optimized position X can be calculated using the following formula:

[0096]

[0097] The registration accuracy is further improved by correcting the initial registration results based on the known diameter sequence of surgical instruments. Following the same principle and implementation process, the registration method provided in this application can also register the axis of a spherical working part.

[0098] The spherical working part mounted on the tip of the surgical instrument can be a prosthesis or trial mold on the acetabular side, typically a hemispherical rotating body. During surgery, the spherical working part needs to enter the patient's body along a preset axis of rotation. The axis of rotation of the spherical working part coincides with the axis of the connecting rod of the surgical instrument; therefore, the axis of the spherical working part can be registered by obtaining the axis of the connecting rod of the surgical instrument.

[0099] For example, before surgery, when the first tracker is installed onto the connecting rod of the surgical instrument, the position of the intersection point Q of the mounting component and the connecting rod axis relative to the first tracker can be determined during product manufacturing. The spherical position X of the spherical working part can be obtained through the aforementioned registration method, and thus the axis of the spherical working part can be represented as XQ.

[0100] Furthermore, the method for registering surgical instruments provided in this application can also determine the diameter of the surgical instruments used in the surgery, providing guidance for the surgeon's operation. When the diameter of the surgical instrument is known and the positions of the surgical instrument and the first tracker have been calibrated, the registration method provided in this application can also evaluate the known calibration results.

[0101] Figure 8 A block diagram of an electronic device for surgical instrument registration according to an example embodiment of this application is shown.

[0102] This application also provides an electronic device 800 for registering surgical instruments. Figure 8 The electronic device 800 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0103] like Figure 8 As shown, the electronic device 800 is presented in the form of a general-purpose computing device. The components of the electronic device 800 may include, but are not limited to: at least one processing unit 810, at least one storage unit 820, and a bus 830 connecting different system components (including the storage unit 820 and the processing unit 810).

[0104] The storage unit 820 stores program code, which can be executed by the processing unit 810, causing the processing unit 810 to perform the surgical instrument registration method according to the embodiments of this application as described in this specification.

[0105] Storage unit 820 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 8201 and / or cache memory 8202, and may further include a read-only memory (ROM) 8203.

[0106] The storage unit 820 may also include a program / utility 8204 having a set (at least one) of program modules 8205, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0107] Bus 830 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0108] Electronic device 800 can also communicate with one or more external devices 8001 (e.g., touchscreen, keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 800, and / or with any device that enables electronic device 800 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 850. Furthermore, electronic device 800 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 860. Network adapter 860 can communicate with other modules of electronic device 800 via bus 830. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 900, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0109] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described surgical instrument registration method.

[0110] This application also provides a surgical assistance system, including Figure 2 The registration device shown includes a surgical instrument with a spherical working surface, a first tracker, and a navigation system. The registration device comprises a registration device body and a second tracker. The registration device body has a conical inner surface for accommodating the spherical working surface of the surgical instrument. The first tracker is rigidly connected to the surgical instrument, and the second tracker is rigidly connected to the registration device body. The navigation system can identify the pose of the first tracker's coordinate system O1 and the second tracker's coordinate system O2 within the navigation system's coordinate system. During data acquisition, the spherical working surface of the surgical instrument remains tangent to and rotates within the conical inner surface of the registration device body.

[0111] According to some embodiments of this application, the positions of the vertex, axis, and half-angle of the conical hole in the coordinate system O2 of the second tracker can be calibrated using a measuring device. Based on a set of coordinate poses acquired from the coordinate systems O1 and O2 of the first and second trackers in the navigation system coordinate system, and the mechanical coordination relationship between the registration device and the surgical instruments, the registration of the surgical instruments can be accurately achieved.

[0112] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. Furthermore, any changes or modifications made by those skilled in the art based on the ideas of this application, and on the specific implementation methods and application scope of this application, are all within the scope of protection of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method of registering a surgical instrument using a registration device for use in a hip surgery navigation system, wherein, The surgical instrument is connected with a first tracker, and the registration device comprises a registration device body with a conical hole and a second tracker connected therewith, characterized in that the method comprises: rotating a spherical working surface of the surgical instrument in a set direction while keeping the spherical working surface tangent to an inner surface of the conical hole; collecting a set of coordinate positions of a coordinate system O1 of the first tracker and a coordinate system O2 of the second tracker under a navigation system coordinate system simultaneously during the rotation; obtaining a position X of a spherical center of the spherical working surface under the coordinate system O1 of the first tracker according to a matching relationship between the spherical working surface and the conical hole and the set of coordinate positions; wherein the rotating in the set direction comprises: taking the spherical center of the spherical working surface as an origin; rotating around an axis of the conical hole; and / or rotating around a normal line of a first plane in which the axis of the conical hole is located; and / or rotating around a normal line of a second plane in which the axis of the conical hole is located, the second plane being perpendicular to the first plane; wherein the method further comprises: correcting the position X of the spherical center of the spherical working surface under the coordinate system O1 of the first tracker according to a diameter sequence of the spherical working surface of the surgical instrument known in advance; the correction comprising: taking the obtained position X of the spherical center of the spherical working surface under the coordinate system O1 of the first tracker as an initial position X0; determining a diameter R of the spherical working surface according to the initial position X0, geometric information of the conical hole and the diameter sequence; determining a coordinate P of the spherical center of the spherical working surface under the coordinate system O2 of the second tracker according to the diameter R of the spherical working surface and geometric relationships; recomputing the position X of the spherical center of the spherical working surface under the coordinate system O1 of the first tracker according to the coordinate P and the set of coordinate positions.

2. The method of claim 1, wherein, the obtaining of the position X of the spherical center of the spherical working surface under the coordinate system O1 of the first tracker comprises: calculating the position X according to the following formula, wherein [O1, O2] i is the set of coordinate poses, k is the number of the set of coordinate poses, i ∈ [1, k].

3. The method of claim 2, wherein, a number k of the set of coordinate positions is greater than or equal to 4.

4. The method of claim 3, wherein, the number k of the set of coordinate positions ranges from 20 to 100.

5. The method of claim 1, wherein, corresponding rotating positions between a plurality of the set of coordinate positions collected during the rotation satisfy a preset dispersion requirement.

6. The method of claim 1, wherein, the determining of the diameter R of the spherical working surface according to the initial position X0, the geometric information of the conical hole and the diameter sequence comprises: calculating the diameter R of the spherical working surface according to the following formula, where O is the position of the apex of the conical hole in the coordinate system O2 of the second tracker, Z→ is the vector of the axis of the conical hole in the coordinate system O2 of the second tracker, θ is the half-angle of the conical surface of the conical hole, R j is the sequence of diameters of the spherical working surface of the surgical instrument known, j ∈ [1, n].

7. The method of claim 6, wherein, the determining of the coordinate P of the spherical center of the spherical working surface under the coordinate system O2 of the second tracker comprises: calculating the coordinate P according to the following formula, 。 8. The method of claim 1, wherein, The method comprises: calculating a position X of a spherical center of the spherical working surface in a coordinate system O1 of the first tracker according to the coordinate P and the set of coordinate poses [O1, O2] i , the position X of the spherical center of the spherical working surface in the coordinate system O1 of the first tracker comprises: calculating the position X according to the following formula, 。 9. An electronic device, comprising: comprising: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1-8.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method according to any one of claims 1-8.

11. A registration device for a surgical instrument, characterized by comprising: The registration device body has a conical inner surface for accommodating a spherical working surface of the surgical instrument; A second tracker is rigidly connected with the registration device body; wherein, The positions of the apex, axis and conical surface half-angle of the conical hole in the coordinate system O2 of the second tracker are calibrated by a measuring device.

12. A surgical assistance system, characterized by, Comprise: The registration device as claimed in claim 11; The surgical instrument has a spherical working surface which is tangent to the conical inner surface of the registration device body and rotates; A first tracker is rigidly connected with the surgical instrument; The navigation system can identify the poses of the coordinate origin O1 of the first tracker and the coordinate origin O2 of the second tracker in the coordinate system of the navigation system.

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